JRM Vol.21 No.1 pp. 20-27
doi: 10.20965/jrm.2009.p0020


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

October 1, 2007
May 12, 2008
February 20, 2009
MRI compatibility, ultrasonic motor manipulandum, arm movement, hand motions

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.

Cite this article as:
Toshiyuki Aodai and Shigeki Toyama, “Development of MRI Compatible Manipulandum for Hand and Arm Movement,” J. Robot. Mechatron., Vol.21, No.1, pp. 20-27, 2009.
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