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Design and analysis of an fMRI compatible haptic robotRajh, Matej, 1979- ...Magnetic resonance (MR) compatible haptic devices have certain specific structural and operational properties, which are due to the magnetic field, and haptic requirements. Through the development of ... a haptic mechanism, which is compatible with a magnetic resonance environment, certain problems were solved, which are common to all robotic devices operating in an MR tunnel. This paper deals with the manipulability problem of a novel 3 DOF MR compatible haptic mechanism, considering limited space and its visualisation. An appropriate 3D visualisation method has been developed for analysing the manipulability characteristics of a haptic mechanism within an MR environment. Choosing a suitable driving system is one of the crucial design attributes for quality force transmission in haptic interfaces. This paper introduces certain adaptations, which have been done to enable the MR compatibility of a cable drive driven by an electric motor. It also presents the theoretical modelling of a cable drive for a 3 DOF MR compatible haptic mechanism, focusing on the hysteretic behaviour of polymeric cables.Source: Robotics and computer-integrated manufacturing. - ISSN 0736-5845 (Vol. 27, iss. 2, Apr. 2011, str. 267-275)Type of material - e-articlePublish date - 2011Language - englishCOBISS.SI-ID - 14289430
Author
Rajh, Matej, 1979- |
Glodež, Srečko |
Flašker, Jože |
Gotlih, Karl |
Kostanjevec, Tomaž
Topics
gibljivost |
haptika |
MR kompatibilnost |
omejen delovni prostor |
vrvni pogon |
magnetna resonanca |
manipulability |
haptics |
MR compatible |
limited workspace |
cable drive |
magnetic resonance
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source: Robotics and computer-integrated manufacturing. - ISSN 0736-5845 (Vol. 27, iss. 2, Apr. 2011, str. 267-275)
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DRS, in which the journal is indexed
Database name | Field | Year |
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Links to authors' personal bibliographies | Links to information on researchers in the SICRIS system |
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Rajh, Matej, 1979- | 27726 |
Glodež, Srečko | 13068 |
Flašker, Jože | 03014 |
Gotlih, Karl | 04965 |
Kostanjevec, Tomaž | 27829 |
Source: Personal bibliographies
and: SICRIS
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