Publications by Dominique Chapuis

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The choice of an adequate actuation method is a central issue in the development of any mechatronic device and strongly determines the dynamic performances of the system. This choice is particularly difficult for robotic systems working within a magnetic r ...

Humans experience the self as localized within their body. This aspect of bodily self-consciousness can be experimentally manipulated by exposing individuals to conflicting multisensory input, or can be abnormal following focal brain injury. Recent technol ...

This paper presents a safe, electrically powered MR-compatible actuator with a large range of output impedance, which can be used at the entry of the scanner bore. This actuator is composed of an ultrasonic motor (USM) and a torque-controlled electrorheolo ...

This paper describes a two-degrees-of-freedom haptic interface to investigate the brain mechanisms of human motor control, which is capable of safely and gently interacting with human arm motion during functional magnetic resonance imaging (fMRI). A hydros ...

Force/torque sensors compatible with magnetic resonance imaging (MRI) are required to develop haptic interfaces for neuroscientific investigations and robotic tools for interventional MRI. In this paper, we analyze the mechanical structure of classical and MRI compatible sensors from literature and demonstrate the critical role of the mechanical design on the sensing performance. A simple and efficient torque sensor based on light intensity measurement over optical fibers is introduced, which allows to plac

We are developing haptic interfaces compatible with functional magnetic resonance imaging (fMRI) to study the brain mechanisms of motor control in humans. This paper describes the different phases of our project, examines the constraints and presents possible solutions. The constraints imposed by the harsh yet sensitive MR environment as well as the smooth and safe control required for interaction with human motion demand a novel robotic technology. Our concept is based on a hydrostatic masterslave system

Functional brain exploration methodologies such as functional magnetic resonance imaging (fMRI) are critical tools to study perceptual and cognitive processes. In order to develop complex and well-controlled fMRI paradigms, researchers are interested in us ...

This paper describes the development of a 2-DOF electrostatic haptic joystick designed for neuroscience studies in an MRI/fMRI. The joystick is fabricated using non-magnetic materials and actuated by two high-power electrostatic motor units which produce v ...

In this paper, we describe a biomimetic-fabric-based sensing glove that can be used to monitor hand posture and gesture. Our device is made of a distributed sensor network of piezoresistive conductive elastomers integrated into an elastic fabric. This solu ...

Functional Magnetic Resonance Imagery (fMRI) is an imaging technique allowing the observation of brain activity. Haptic interfaces can be used in conjunction with fMRI to stimulate the subject while measuring brain activity. Using robotic stimulation over ...

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 i ...

Diamagnetic levitation is the only passive levitation at room temperature. It is interesting to use this principle for a contactless conveyor in applications where friction and wear-particle contamination should be avoided such as in a microfactory. Using ...

This paper proposes an instrumented handle with multimodal augmented haptic feedback, which can be integrated into a conventional white cane to extend the haptic exploration range of visually impaired users. The information extracted from the environment t ...

We investigated the neuronal processing of the physiologically particularly important precision grip (opposition of index finger and thumb) by the combination of functional magnetic resonance imaging (fMRI) and an MR-compatible haptic interface. Ten health ...

This paper investigates a cable transmission to remotely actuate MR compatible robots over a distance of several meters. Such a transmission could be an interesting solution for haptic interfaces for neuroscience studies performing force feedback during fu ...

In haptics, the forces to be displayed vary widely in terms of magnitude and bandwidth. A single actuator can hardly comply with these requirements. It has thus been proposed to combine electrical motors and passive devices in a hybrid actuator to cover a ...

We are developing haptic interfaces compatible with functional Magnetic Resonance Imaging (fMRI) for neuroscience studies. The presented prototype with one rotary degree of freedom is actuated by a traveling wave ultrasonic motor operating under admittance ...

Magnetic levitation is an interesting concept in applications where friction and wear-particle contamination should be avoided. In this respect, a former study has shown that diamagnetic levitation, in conjunction with an electrodynamic impulse drive, is a ...

MOSAIC is the Multi-Object Spectrograph for the ESO-ELT (European Southern Observatory-Extremely Large Telescope). The Laboratoire d'Astrophysique de Marseille (LAM) is in charge of the “Assembly, Integration, Test and Verification (AIT/V)” activities for ...

Dominique Chapuis

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Actuation Methods for Applications in MR Environments

Neuroscience robotics to investigate multisensory integration and bodily awareness

A hybrid ultrasonic motor and electrorheological fluid clutch actuator for force-feedback in MRI/fMRI

A 2-DOF fMRI compatible haptic interface to investigate the neural control of arm movements

Design of a simple MRI/fMRI compatible force/torque sensor

fMRI Compatible Haptic Interfaces to Investigate Human Motor Control

Active Mechatronic Interface for Haptic Perception Studies with Functional Magnetic Resonance Imaging: Compatibility and Design Criteria

Development of a 2-DOF Electrostatic Haptic Joystick for MRI/fMRI Applications

Sensing clove for brain studies: Design and assessment of its compatibility for fMRI with a robust test

Application of ultrasonic motors to MR-compatible haptic interfaces

Hybrid Ultrasonic Motor and Electrorheological Clutch System for MR-Compatible Haptic Rendering

Preliminary Investigations on a Diamagnetically Levitated Linear Conveyor

Augmented White Cane with Multimodal Haptic Feedback

Supplementary motor area and anterior intraparietal area integrate fine-graded timing and force control during precision grip

Investigation of a Cable Transmission for the Actuation of MR Compatible Haptic Interfaces

A Haptic Knob with a Hybrid Ultrasonic Motor and Powder Clutch Actuator

FMRI compatible haptic interface actuated with traveling wave ultrasonic motor

Position Controlled Diamagnetic Linear Conveyor

A Versatile MRI/fMRI Compatible Spherical 2-Dof Haptic Interface

MOSAIC on the ELT: Front-End and instrument AITV planification