Evaluation of a parallel actuation approach for MR-compatible haptics

In recent years, the use of haptics within the MRI environment has increased, particularly for fMRI procedures. However, the demanding MRI environment has made the development of high performance devices very difficult, as most common actuation approaches are not well suited to the high-strength magnetic fields present in the MR-bore. An alternative actuation concept has been proposed using the motion of parallel ultrasonic motors. In this paper we investigate the use of this new approach for MR-compatible haptic devices, including the development of a suitable control approach, experimental validation, and an analytical investigation of achievable virtual admittances. A prototype of this device is constructed and evaluated. Results demonstrate the viability of the proposed approach for MR-compatible applications.