NDLI: Hybrid Ultrasonic Motor and Electrorheological Clutch System for MR-Compatible Haptic Rendering

Content Provider	IEEE Xplore Digital Library
Author	Chapuis, D. Gassert, R. Burdet, E. Bleuler, H.
Copyright Year	2006
Description	Author affiliation: Laboratoire de Syst. Robotiques, Ecole Polytech. Fed. de Lausanne (Chapuis, D.; Gassert, R.)
Abstract	Using haptic interfaces in combination with functional magnetic resonance imaging (fMRI) could lead to important insights into the brain mechanisms of human motor control and related dysfunctions. However, in addition to the usual requirements for haptic interfaces (e.g. smooth force control, back-drivability, low friction and inertia) these devices must also be MR safe and MR compatible. Previous MR-compatible actuation methods for force-feedback present drawbacks with respect to conventional haptic interfaces. Here, we present a novel MR-compatible actuator designed especially for impedance control and to meet the requirements for haptic interfaces. It consists of an ultrasonic motor controlled in speed combined with an electrorheological fluid brake which modulates the output torque over a differential gear. The entire system is integrated into a compact housing with an encoder at the output
Starting Page	1553
Ending Page	1557
File Size	143711
Page Count	5
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.282040
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Rendering (computer graphics) Magnetic resonance imaging Humans Motor drives Force control Friction Actuators Impedance Torque control
Content Type	Text
Resource Type	Article

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