Development of MRI Compatible Manipulandum for Hand and Arm Movement | Zendy

Toshiyuki Aodai | Zendy; Shigeki Toyama | Zendy

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Development of MRI Compatible Manipulandum for Hand and Arm Movement

Author(s) -

Toshiyuki Aodai,

Shigeki Toyama

Publication year - 2009

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2009.p0020

Subject(s) - kinematics , workspace , computer science , scanner , ultrasonic motor , magnetic resonance imaging , computer vision , artificial intelligence , simulation , acoustics , physics , medicine , classical mechanics , robot , vibration , radiology

The paper subscribes development of Magnetic Resonance Imaging (MRI) compatible using an ultrasonic motor, to work within the limits of MRI scanner workspace and environment, dimensions involving upper-limbs biomechanics. The manipulandum consists of hand mechanism and an arm-reaching mechanism having a two-degree-freedom (2DOF) haptic interface enabling human subject to conduct reaching movement comfortably within MRI workspace. The kinematics structure of the manipulandum is optimized for MRI space and movement. We have confirmed the manipulandum's MRI compatibility in experiments.

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