| Presentation | 2005-03-30 Development of MRI Compatible Manipulandum Using Ultrasonic Motors Takahiro SHIMIZU, Jun IZAWA, Shigeki TOYAMA, Koji ITO, |
|---|---|
| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | Magnetically compatible robots are required as haptic interfaces for neuroscience studies. The purpose of this paper is to develop an MR compatible robot using ultrasonic motors, which is able to work within an MRI/fMRI scanner and to acquire MRI images continuously during arm motions. In addition, the impedance control method of ultrasonic motors is discussed. The characteristic of voltage phase and motor torque is investigated experimentally, and these results are used for the impedance control of ultrasonic motors. The position dependent force fields and velocity dependent force fields are produced for the purpose of fMRI tests. And the effectiveness of these fields is tested with a force sensor. Also, MR compatibility is verified experimentally. Finally, some brain activities are investigated with fMRI during finger movements. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | fMRI / Manipulandum / MR compatibility / Ultrasonic motor / Impedance control |
| Paper # | MBE2004-128 |
| Date of Issue |
| Conference Information | |
| Committee | MBE |
|---|---|
| Conference Date | 2005/3/23(1days) |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Chair | |
| Vice Chair | |
| Secretary | |
| Assistant | |
| Paper Information | |
| Registration To | ME and Bio Cybernetics (MBE) |
|---|---|
| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Development of MRI Compatible Manipulandum Using Ultrasonic Motors |
| Sub Title (in English) | |
| Keyword(1) | fMRI |
| Keyword(2) | Manipulandum |
| Keyword(3) | MR compatibility |
| Keyword(4) | Ultrasonic motor |
| Keyword(5) | Impedance control |
| 1st Author's Name | Takahiro SHIMIZU |
| 1st Author's Affiliation | Department of Computational Intelligence and Systems Science, Tokyo Institute of Technology() |
| 2nd Author's Name | Jun IZAWA |
| 2nd Author's Affiliation | NTT Communication Science Labs |
| 3rd Author's Name | Shigeki TOYAMA |
| 3rd Author's Affiliation | Mechanical Systems Engineering, Tokyo University of Agriculture and Technology |
| 4th Author's Name | Koji ITO |
| 4th Author's Affiliation | Department of Computational Intelligence and Systems Science, Tokyo Institute of Technology |
| Date | 2005-03-30 |
| Paper # | MBE2004-128 |
| Volume (vol) | vol.104 |
| Number (no) | 757 |
| Page | pp.pp.- |
| #Pages | 4 |
| Date of Issue | |