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A haptic interface compatible with the Magnetic Resonance (MR) imaging technique allows tracking of the neural correlates of specific haptic interactions and investigations of reparative plasticity in the sensorimotor cortex, with the aid of functional MR imaging (fMRI). In this paper, we present an fMRI compatible haptic interface with pneumatic actuation(More)
Magnetic Resonance Imaging (MRI) and its functional applications (fMRI) play increasing roles in diagnostic and basic neuroscience. In contrast to the high demand for MR-compatible devices and robotic systems in both academic and practical fields, MR-compatibility has been a tough hurdle for developers. Since traditional electromagnetic components interact(More)
Robotic and mechatronic devices that work compatibly with magnetic resonance imaging (MRI) are applied in diagnostic MRI, image-guided surgery, neurorehabilitation and neuroscience. MRI-compatible mechatronic systems must address the challenges imposed by the scanner’s electromagnetic fields. We have developed objective quantitative evaluation criteria for(More)
Longitudinal studies to evaluate the effect of rehabilitative therapies require an objective, reproducible and quantitative means for testing function in vivo. An fMRI assessment tool for upper extremity related brain activation using an MRI-compatible manipulandum was developed and tested for use in neurorehabilitation research. Fifteen healthy,(More)
In this work, we studied human head motions during upper extremity motor task, conducted in functional magnetic resonance imaging (fMRI) studies. The experiments were performed on a mock up of the MRI bench. Three kinds of linear movements in the caudal-cranial, left-right and anterior-posterior directions, a reaching movement as well as single joint(More)
Dexterous hand and arm function are crucial for execution of activities of daily living (ADLs). However, it remains difficult for patients with neurological deficits, such as stroke, to recover the lost function. In this paper, a versatile haptic interface, omega. 7, has been employed to interact with the patient to perform designed dexterous manipulation(More)
Disabilities after neural injury such as stroke bring tremendous burden to the patients, families and society. Besides the conventional constrained-induced training with the paretic arm, bilateral rehabilitation training involves both the ipsilateral and contralateral sides of the neural injury, fits well the fact that both arms are needed in common(More)
Humanoid robots can be of great assistance to accomplish dexterous manipulation tasks for the impaired and elderly people, but diversity of the environments and complexity of autonomous algorithms still keep as challenging obstacles. In this paper, we proposed a gesture-based telemanipulation scheme to control the NAO humanoid robot. Taking advantage of the(More)
Series elastic actuators (SEAs) are growingly important in physical human-robot interaction (HRI) due to their inherent safety and compliance. Cable-driven SEAs also allow flexible installation and remote torque transmission, etc. However, there are still challenges for the impedance control of cable-driven SEAs, such as the reduced bandwidth caused by the(More)