Kinematic analysis for a novel design of MRI-compatible torque sensor

In this paper, the design of a novel MRI-compatible torque sensor is proposed. The sensor is based on an optical measurement, with a particular architecture to provide a very low cross-sensitivity. Its structure allows to simultaneously tune the sensor stiffness and the measurement amplitude of the optical sensor. To do so, kinematic singularities of parallel structures are used as well as the principles of dissociated metrology structure. The design of the sensor is first introduced by a kinematic analysis, before detailing its behavior using Finite Element Analysis. A prototype is finally introduced with first experimental results.