Compliant force-feedback actuation for accurate robot-mediated sensorimotor interaction protocols during fMRI

Fabrizio Sergi, Andrew Erwin, Brian Cera, Marcia K. O'Malley
2014 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics  
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 the
more » ... rs design, we show how the choice between colocated and non co-located actuation influences the design of a wrist exoskeleton, to be used for robot-mediated protocols during fMRI, resulting in a parallel robot design and in a serial robot design respectively.
doi:10.1109/biorob.2014.6913920 dblp:conf/biorob/SergiECO14 fatcat:2f7yjhec4nck7lv6lgtb237t2a