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We propose and describe two novel force-feedback actuation systems to support accurate robot-mediated wrist motor protocols during fMRI: a co-located actuation approach and a remote actuation system based on a plastic cable-conduit transmission. To decouple the load from the non-linearities of the actuators/transmission and to enable force feedback, in both systems we include physical compliance and additional position and force sensing capabilities. Through a detailed description of thedoi:10.1109/biorob.2014.6913920 dblp:conf/biorob/SergiECO14 fatcat:2f7yjhec4nck7lv6lgtb237t2a