Abstract
This paper presents a master–slave finger exoskeleton developed to allow subjects whose brain activity is being measured by functional magnetic resonance imaging (fMRI) to remotely perform tasks. The MRI environment requires the device to be free from metal components and strongly immobilized, which can reduce the device’s versatility and ease of setup. To overcome these limitations, we designed a finger exoskeleton using pneumatic artificial muscles, which can be made metal–free and used for not only actuators but also sensors. We also proposed a symmetric, bilateral control method for the device, and experimentally validated device performance and its control method.
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This work was supported by JSPS KAKENHI Grant Number 26700025, 23220004, 24000012, 15H01665.
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Urino, T., Ikemoto, S., Hosoda, K. (2017). Development of a Master–Slave Finger Exoskeleton Driven by Pneumatic Artificial Muscles. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_7
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DOI: https://doi.org/10.1007/978-3-319-48036-7_7
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