Publication

2-DOF fMRI-Compatible Haptic Interface for Bimanual Motor Tasks with Grip/Load Force Measurement

Résumé

Robotic systems are invaluable tools for the investigation of sensorimotor control of action, as they can influence motion in a controlled manner and precisely record timing, trajectory and interaction forces. In order to better understand the dynamics of human action, it is also necessary to examine the related brain function. Functional magnetic resonance imaging (fMRI) is a valuable tool to measure task related changes in brain activation and combine these two approaches, but poses severe constraints on the development of robotic devices. Here, we present a two- degrees-of-freedom haptic interface for bimanual motor tasks with grip and load force measurement, which adheres to the stringent compatibility and safety requirements of fMRI. The robotic technology is based on earlier developments, which evolved through material compatibility tests and developments made within Touch-HapSys. The highly flexible hydrostatic transmission allows placing the two linear actuators with a stroke of 30 cm in various manners for interaction with single-handed or bimanual movements. As an extension, they can be fixed to an adjustable table to actuate an XY-stage for interaction with planar movements over a workspace of 15×15 cm 2. This system opens up new ways of exploring the nature of amplitude (force and position) and timing constraints in the sensorimotor control of action in healthy subjects and neurological patients.

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Concepts associés (32)
Robotic sensing
Robotic sensing is a subarea of robotics science intended to provide sensing capabilities to robots. Robotic sensing provides robots with the ability to sense their environments and is typically used as feedback to enable robots to adjust their behavior based on sensed input. Robot sensing includes the ability to see, touch, hear and move and associated algorithms to process and make use of environmental feedback and sensory data.
Robotique
thumb|upright=1.5|Nao, un robot humanoïde. thumb|upright=1.5|Des robots industriels au travail dans une usine. La robotique est l'ensemble des techniques permettant la conception et la réalisation de machines automatiques ou de robots. L'ATILF donne la définition suivante du robot : « il effectue, grâce à un système de commande automatique à base de microprocesseur, une tâche précise pour laquelle il a été conçu dans le domaine industriel, scientifique, militaire ou domestique ».
Bras manipulateur
vignette|Bras manipulateur d'un robot industriel Kuka en 2003. Un bras manipulateur est le bras d'un robot généralement programmable, avec des fonctions similaires à un bras humain. Les liens de ce manipulateur sont reliés par des axes permettant, soit de mouvement de rotation (comme dans un robot articulé) et/ou de translation (linéaire) de déplacement. Dans le cas d'une imitation complète d'un bras humain, un bras manipulateur a donc de rotation et de translation sur son élément terminal.
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