Haptics Symposium 2012 Recap

In recent years, the use of haptics within the MRI environment has increased, particularly for fMRI procedures. However, the demanding MRI environment has made the development of high performance devices very difficult, as most common actuation approaches are not well suited to the high-strength magnetic fields present in the MR-bore.

We presented a poster at the Haptics Symposium in March 2012 at Vancouver, Canada on an alternative actuation concept using the motion of parallel ultrasonic motors including the development of a suitable control approach, experimental validation, and an analytical investigation of achievable virtual admittances.

Haptic System Block Diagram

Assumed system model


Haptic System Testbed

Parallel actuation testbed with an input knob


Frequency Response of Haptic System Model

Frequency Response of Haptic System Model based on experiments


 Parallel Actuation Testbed Demonstration




Parthiban, C.; Esser, C.; Zinn, M.R.; , “Evaluation of a parallel actuation approach for MR-compatible haptics,” Haptics Symposium (HAPTICS), 2012 IEEE , vol., no., pp.563-570, 4-7 March 2012