Development of MRI Compatible Manipulandum for Hand and Arm Movement

摘要

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.