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The strong magnetic fields and limited space make it challenging to design the actuation for mechatronic systems intended to work in MRI environments. Hydraulic and pneumatic actuators can be made MRI-compatible and are promising solutions to drive robotic devices inside MRI environments. In this paper, two comparable haptic interface devices, one with(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)
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)
In this paper, we consider a special mixed H<sub>2</sub>/H<sub>&#x0221E;</sub> optimal control problem which is to obtain the optimal H<sub>2</sub> controller under H<sub>&#x0221E;</sub> norm and controller degree constraints for an SISO plant. The H<sub>&#x0221E;</sub> norm constraint on the controller is to achieve a certain level of closed-loop stability(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)
In this paper, we aim to obtain the optimal LQG controller under degree and robustness constraints. This is a mixed control problem of finding the full-order controller to provide the best nominal transient performance subject to a robust stability bound. Firstly, the set of desired controllers that meet both the degree and robust stability constraints are(More)
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