Evaluation of a Portable fMRI Compatible Robotic Wrist Interface

This paper presents evaluation of a portable fMRI compatible haptic interface to study the brain correlates of sensorimotor control during wrist motion. The interface is actuated by a shielded DC motor located more than 2 m away from the 3T MR scanner's bore. The achievable wrist torque of the interface is up to 2 Nm, and the interface provides sufficient bandwidth for human motor control experiments. Ergonomic and fMRI compatibility testing with a 3T MR scanner showed that the interface is MR safe, compatible with a strong static magnetic field and radio frequency emission, and its operation does not affect the quality of the acquired images.