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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Interaction Control Capabilities of an MR-Compatible Compliant Actuator for Wrist Sensorimotor Protocols During fMRI
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Interaction Control Capabilities of an MR-Compatible Compliant Actuator for Wrist Sensorimotor Protocols During fMRI

机译：fMRI期间腕部感觉运动协议的MR兼容兼容执行器的交互控制能力

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摘要

This paper describes the mechatronic design and characterization of a novel MR-compatible actuation system designed for a parallel force-feedback exoskeleton for measurement and/or assistance of wrist pointing movements during functional neuroimaging. The developed actuator is based on the interposition of custom compliant elements in series between a nonbackdrivable MR-compatible ultrasonic piezoelectric motor and the actuator output. The inclusion of physical compliance allows estimation of interaction force, enabling force-feedback control and stable rendering of a wide range of haptic environments during continuous scanning. Through accurate inner-loop velocity compensation and force-feedback control, the actuator is capable of displaying both a low-impedance mode and a high stiffness mode. These modes enable the execution of shared haptic protocols during continuous functional magnetic resonance imaging. The detailed experimental characterization of the actuation system is presented, including a backdrivability analysis, demonstrating an achievable impedance range of 22 dB, within a bandwidth of 4 Hz (for low stiffness). The stiffness control bandwidth depends on the specific value of stiffness: a bandwidth of 4 Hz is achieved at low stiffness (10% of the physical springs stiffness), while 8 Hz is demonstrated at higher stiffness. Moreover, coupled stability is demonstrated also for stiffness values substantially (25%) higher than the physical stiffness of the spring. Finally, compatibility tests conducted in a 3T scanner are presented, validating the potential of inclusion of the actuator in an exoskeleton system for support of wrist movements during continuous MR scanning, without significant reduction in image quality.
机译：本文介绍了一种新颖的MR兼容致动系统的机电设计和特性，该系统设计用于平行力反馈外骨骼，用于在功能性神经成像过程中测量和/或辅助手腕指向运动。所开发的执行器是基于在非反向驱动MR兼容的超声波压电电机和执行器输出之间串联插入的定制兼容元件。包含物理顺应性可以估算相互作用力，从而可以进行力反馈控制并在连续扫描过程中稳定呈现各种触觉环境。通过精确的内环速度补偿和力反馈控制，执行器能够显示低阻抗模式和高刚度模式。这些模式可以在连续功能磁共振成像期间执行共享的触觉协议。给出了致动系统的详细实验特征，包括反向驱动性分析，证明了在4 Hz的带宽内（对于低刚度）可实现的22 dB阻抗范围。刚度控制带宽取决于刚度的特定值：在低刚度（物理弹簧刚度的10％）下可达到4 Hz的带宽，而在更高的刚度下可实现8 Hz的带宽。此外，对于比弹簧的物理刚度高得多的刚度值（25％），也证明了耦合稳定性。最后，介绍了在3T扫描仪中进行的兼容性测试，验证了执行器包含在外骨骼系统中以支持连续MR扫描期间手腕运动的潜力，而不会显着降低图像质量。

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