Rice Univesrity Logo
    • FAQ
    • Deposit your work
    • Login
    View Item 
    •   Rice Scholarship Home
    • Faculty & Staff Research
    • Faculty Publications
    • View Item
    •   Rice Scholarship Home
    • Faculty & Staff Research
    • Faculty Publications
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

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

    Thumbnail
    Name:
    Erwin2017_MR_SoftWrist.pdf
    Size:
    3.751Mb
    Format:
    PDF
    View/Open
    Author
    Erwin, Andrew; O’Malley, Marcia K.; Ress, David; Sergi, Fabrizio
    Date
    2016
    Abstract
    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·m of torque to the wrist of an interacting subject about the flexion/extension and radial/ulnar axes. The robot workspace, defined by admissible wrist rotation angles, fully includes a circle with a 20 deg radius. Via dynamic characterization, we demonstrate capability for transparent operation with low (10% of maximum torque output) backdrivability torques at nominal speeds. Moreover, we demonstrate a 5.5 Hz stiffness control bandwidth for a 14 dB range of virtual stiffness values, corresponding to 25-125% of the device’s physical reflected stiffness in the nominal configuration. We finally validate the possibility of operation during fMRI via a case study involving one healthy subject. Our validation experiment demonstrates the capability of the device to apply kinesthetic feedback to elicit distinguishable kinetic and neural responses without significant degradation of image quality or task-induced head movements. With this study, we demonstrate the feasibility of MR-compatible devices like the MR-SoftWrist to be used in support of motor control experiments investigating wrist pointing under robot-applied force fields. Such future studies may elucidate fundamental neural mechanisms enabling robot-assisted motor skill learning, which is crucial for robot-aided neurorehabilitation.
    Citation
    Erwin, Andrew, O’Malley, Marcia K., Ress, David, et al.. "Kinesthetic Feedback during 2DOF Wrist Movements via a Novel MR-Compatible Robot." IEEE Transactions on Neural Systems and Rehabilitation Engineering, PP, no. 99 (2016) IEEE: https://doi.org/10.1109/TNSRE.2016.2634585.
    Published Version
    https://doi.org/10.1109/TNSRE.2016.2634585
    Type
    Journal article
    Publisher
    IEEE
    Citable link to this page
    https://hdl.handle.net/1911/96583
    Rights
    This is an author's peer-reviewed final manuscript, as accepted by the publisher. The published article is copyrighted by IEEE.
    Metadata
    Show full item record
    Collections
    • Faculty Publications [4990]
    • Mechanical Engineering Publications [151]

    Home | FAQ | Contact Us | Privacy Notice | Accessibility Statement
    Managed by the Digital Scholarship Services at Fondren Library, Rice University
    Physical Address: 6100 Main Street, Houston, Texas 77005
    Mailing Address: MS-44, P.O.BOX 1892, Houston, Texas 77251-1892
    Site Map

     

    Searching scope

    Browse

    Entire ArchiveCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsTypeThis CollectionBy Issue DateAuthorsTitlesSubjectsType

    My Account

    Login

    Statistics

    View Usage Statistics

    Home | FAQ | Contact Us | Privacy Notice | Accessibility Statement
    Managed by the Digital Scholarship Services at Fondren Library, Rice University
    Physical Address: 6100 Main Street, Houston, Texas 77005
    Mailing Address: MS-44, P.O.BOX 1892, Houston, Texas 77251-1892
    Site Map