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Objective: This study shows the force/torque control strategy for therobotized TMS system whose TMS coil's floor is incurved. The strategyconsidered the adhesion and friction between the coil and the subject's head.Methods: Hybrid position/force control and proportional torque were used forthe strategy. The force magnitude applied for the force control was scheduledby the error between the coil's current position and the target point. Results:The larger desired force for the force controller makes the error quickly. Byscheduling the force magnitude applied for the force control, the low errorbetween the coil's current and target positions is maintained with therelatively small force after the larger force is applied for around 10 seconds.The proportional torque made the adhesion better by locating the contact areabetween the coil and the head close to the coil. I was shown by checking the${\tau}_c/F_c$ value from the experimental results. While the head slowly movedaway from the coil during the TMS treatment, the coil still interacted with thehead. Using that characteristic, the coil could locate the new target pointusing the force/torque strategy without any trajectory planning. Conclusion:The proposed force/torque controller enhanced the adhesion between the incurvedTMS coil and the subject's head. It also reduced the error quickly byscheduling the magnitude of the force applied. Significance: This studyproposes the robotized TMS system's force/torque control strategy consideringthe physical characteristics from the contact between the incurved TMS coilcase and the subject's head.

Manipulator control of the Robotized TMS System with Incurved TMS Coil Case