Development of a 3 DoF MR-Compatible Haptic Interface for Pointing and Reaching Movements

Klare, Stefan; Peer, Angelika; Buss, Martin

doi:10.1007/978-3-642-14075-4_30

Cited by 11 publications

(10 citation statements)

References 20 publications

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“…Finally, combined with the CHAI3D [18] haptics rendering platform, HFI can replicate a variety of manipulation tasks in immersive virtual simulations. Stepping beyond past experiments with unguided and unmonitored joint motions [2], and limited [12], [13] or planar [11] hand movements, HFI promises to reveal novel insights into human motor coordination and control.…”

Section: Conclusion and Discussionmentioning

confidence: 99%

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Haptic fMRI: Combining functional neuroimaging with haptics for studying the brain's motor control representation

Menon

Brantner

Aholt

et al. 2013

2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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Abstract-A challenging problem in motor control neuroimaging studies is the inability to perform complex human motor tasks given the Magnetic Resonance Imaging (MRI) scanner's disruptive magnetic fields and confined workspace. In this paper, we propose a novel experimental platform that combines Functional MRI (fMRI) neuroimaging, haptic virtual simulation environments, and an fMRI-compatible haptic device for real-time haptic interaction across the scanner workspace (above torso~.65x.40x.20m3 ). We implement this Haptic fMRI platform with a novel haptic device, the Haptic fMRI Interface (HFI), and demonstrate its suitability for motor neuroimaging studies. HFI has three degrees-of-freedom (DOF), uses electromagnetic motors to enable high-fidelity haptic rendering (>350Hz), integrates radio frequency (RF) shields to prevent electromagnetic interference with fMRI (temporal SNR >100), and is kinematically designed to minimize currents induced by the MRI scanner's magnetic field during motor displacement (<2cm). HFI possesses uniform inertial and force transmission properties across the workspace, and has low friction (.05-.30N). HFI's RF noise levels, in addition, are within a 3 Tesla fMRI scanner's baseline noise variation (~.85± .1%). Finally, HFI is haptically transparent and does not interfere with human motor tasks (tested for .4m reaches). By allowing fMRI experiments involving complex three-dimensional manipulation with haptic interaction, Haptic fMRI enables-for the first time-non-invasive neuroscience experiments involving interactive motor tasks, object manipulation, tactile perception, and visuo-motor integration.

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Section: Conclusion and Discussionmentioning

confidence: 99%

“…Since electromagnetic actuation complicates fMRI compatibility, much work has focused on elecro-active polymer [10], pneumatic [11], and hydraulic [12], [13] actuators. Recent research [14] has also studied the dynamic effects of cables connecting a remote actuator to an articulated joint in the MRI machine.…”

Section: Introductionmentioning

confidence: 99%

Haptic fMRI: Combining functional neuroimaging with haptics for studying the brain's motor control representation

Menon

Brantner

Aholt

et al. 2013

2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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“…Both of the devices provide one DoF and are based on cable transmissions from a remotely located dc motor. Moreover and similar to our own previous work of a device with three DoF [2], the soft-wrist [5], which is an MR-compatible device with two DoF actuated by USMs, has been presented. Recently, a device with five DoF, called the HFI-5 [6], was developed by Stanford University.…”

Section: Introductionmentioning

confidence: 54%

“…If required, the design of the haptic interface also allows one to easily change the link lengths and thus to adapt the haptic interface to velocity-focused tasks, if necessary. Since USMs have been employed in a broad variety of MR-compatible devices [2], [5], the MR-compatibility of our device is not surprising. However, our device contains the largest number of USMs, nine in total, ever tested to the best of our knowledge.…”

Section: Discussionmentioning

confidence: 88%

“…Actuation principles vary from remotely located dc-motors, over pneumatic and hydraulic actuators as well as electrostatic motors, to ultrasonic motors (USMs). The advantages and disadvantages of these actuation principles were discussed in [2]. The state-of-the-art has been extended since, and recent key developments were an MR-compatible gripper [3] as well as a wrist mechanism [4].…”

Section: Introductionmentioning

confidence: 99%

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An MR-Compatible Haptic Interface With Seven Degrees of Freedom

Kühne

Eschelbach

Aghaeifar

et al. 2018

IEEE/ASME Trans. Mechatron.

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Abstract-Functional magnetic resonance imaging (fMRI) is a powerful tool for neuroscience. It allows the visualization of active areas in the human brain. Combining this method with haptic interfaces allows one to conduct human motor control studies with an opportunity for standardized experimental conditions. However, only a small number of specialized MR-compatible haptic interfaces exist that were mostly built around specific research questions. The devices are designed for pure translational, rotational, or grasping movements. In this work, we present a novel MR-compatible haptic interface with seven degrees of freedom (DoF), which allows for both translations and rotations in three DoF each, as well as a two-finger precision grasp. The presented haptic interface is the first one with these capabilities and is designed as a universal tool for human motor control studies involving fMRI. It allows for the switching of the paradigm to reprogramming rather than redesigning when moving on to a new research question. We introduce its kinematics and control, along with results of MR compatibility tests and a preliminary fMRI study, showing the applicability of the device.

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