Title :
Hybrid Ultrasonic Motor and Electrorheological Clutch System for MR-Compatible Haptic Rendering
Author :
Chapuis, Dominique ; Gassert, Roger ; Burdet, Etienne ; Bleuler, Hannes
Author_Institution :
Laboratoire de Syst. Robotiques, Ecole Polytech. Fed. de Lausanne
Abstract :
Using haptic interfaces in combination with functional magnetic resonance imaging (fMRI) could lead to important insights into the brain mechanisms of human motor control and related dysfunctions. However, in addition to the usual requirements for haptic interfaces (e.g. smooth force control, back-drivability, low friction and inertia) these devices must also be MR safe and MR compatible. Previous MR-compatible actuation methods for force-feedback present drawbacks with respect to conventional haptic interfaces. Here, we present a novel MR-compatible actuator designed especially for impedance control and to meet the requirements for haptic interfaces. It consists of an ultrasonic motor controlled in speed combined with an electrorheological fluid brake which modulates the output torque over a differential gear. The entire system is integrated into a compact housing with an encoder at the output
Keywords :
angular velocity control; clutches; electrorheology; force feedback; gears; haptic interfaces; magnetorheology; robots; ultrasonic motors; MR-compatible haptic rendering; differential gear; electrorheological clutch system; electrorheological fluid brake; force-feedback; functional magnetic resonance imaging; haptic interfaces; hybrid ultrasonic motor; impedance control; Actuators; Force control; Friction; Haptic interfaces; Humans; Impedance; Magnetic resonance imaging; Motor drives; Rendering (computer graphics); Torque control;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0259-X
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282040