Development of MRI Compatible Manipulandum for Hand and Arm Movement
Toshiyuki Aodai and Shigeki Toyama
Division of Mechanical System Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei, Tokyo 184-8588, Japan
The paper subscribes development of Magnetic Resonance Imaging (MRI) compatible using an ultrasonic motor, to work within the limits of MRI scanner workspace and environment, dimensions involving upper-limbs biomechanics. The manipulandum consists of hand mechanism and an arm-reaching mechanism having a two-degree-freedom (2DOF) haptic interface enabling human subject to conduct reaching movement comfortably within MRI workspace. The kinematics structure of the manipulandum is optimized for MRI space and movement. We have confirmed the manipulandum’s MRI compatibility in experiments.
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