Kinesthetic Feedback During 2DOF Wrist Movements via a Novel MR-Compatible Robot.

  title={Kinesthetic Feedback During 2DOF Wrist Movements via a Novel MR-Compatible Robot.},
  author={Andrew Erwin and Marcia Kilchenman O'Malley and David B. Ress and Fabrizio Sergi},
  journal={IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society},
  volume={25 9},
  • Andrew ErwinM. O'Malley F. Sergi
  • Published 2017
  • Engineering
  • IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society
We demonstrate the interaction control capabilities of the MR-SoftWrist, a novel MR-compatible robot capable of applying accurate kinesthetic feedback to wrist pointing movements executed during fMRI. The MR-SoftWrist, based on a novel design that combines parallel piezoelectric actuation with compliant force feedback, is capable of delivering 1.5 N [Formula: see text] of torque to the wrist of an interacting subject about the flexion/extension and radial/ulnar deviation axes. The robot… 

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