{"id":"https://openalex.org/W2037719473","doi":"https://doi.org/10.1109/roman.2010.5654678","title":"Mechanical design and optimization of a novel fMRI compatible haptic manipulator","display_name":"Mechanical design and optimization of a novel fMRI compatible haptic manipulator","publication_year":2010,"publication_date":"2010-09-01","ids":{"openalex":"https://openalex.org/W2037719473","doi":"https://doi.org/10.1109/roman.2010.5654678","mag":"2037719473"},"language":"en","primary_location":{"id":"doi:10.1109/roman.2010.5654678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2010.5654678","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"19th International Symposium in Robot and Human Interactive Communication","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101681600","display_name":"Siqiao Li","orcid":"https://orcid.org/0009-0007-3849-0761"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Siqiao Li","raw_affiliation_strings":["PERCRO Laboratory, Scuola Superiore Sant'' Anna, Pisa, Italy","PERCRO Laboratory, Scuola Superiore Santa Anna, via Rinaldo Piaggio, 34, 56025 - Pontedera (Pisa),Italy"],"affiliations":[{"raw_affiliation_string":"PERCRO Laboratory, Scuola Superiore Sant'' Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO Laboratory, Scuola Superiore Santa Anna, via Rinaldo Piaggio, 34, 56025 - Pontedera (Pisa),Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090204404","display_name":"Antonio Frisoli","orcid":"https://orcid.org/0000-0002-7126-4113"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Frisoli","raw_affiliation_strings":["PERCRO Laboratory, Scuola Superiore Sant'' Anna, Pisa, Italy","PERCRO Laboratory, Scuola Superiore Santa Anna, via Rinaldo Piaggio, 34, 56025 - Pontedera (Pisa),Italy"],"affiliations":[{"raw_affiliation_string":"PERCRO Laboratory, Scuola Superiore Sant'' Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO Laboratory, Scuola Superiore Santa Anna, via Rinaldo Piaggio, 34, 56025 - Pontedera (Pisa),Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089138290","display_name":"Massimiliano Solazzi","orcid":"https://orcid.org/0000-0002-9053-2814"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Massimiliano Solazzi","raw_affiliation_strings":["PERCRO Laboratory, Scuola Superiore Sant'' Anna, Pisa, Italy","PERCRO Laboratory, Scuola Superiore Santa Anna, via Rinaldo Piaggio, 34, 56025 - Pontedera (Pisa),Italy"],"affiliations":[{"raw_affiliation_string":"PERCRO Laboratory, Scuola Superiore Sant'' Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO Laboratory, Scuola Superiore Santa Anna, via Rinaldo Piaggio, 34, 56025 - Pontedera (Pisa),Italy","institution_ids":["https://openalex.org/I162290304"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057697306","display_name":"Massimo Bergamasco","orcid":"https://orcid.org/0000-0002-7418-2332"},"institutions":[{"id":"https://openalex.org/I162290304","display_name":"Scuola Superiore Sant'Anna","ror":"https://ror.org/025602r80","country_code":"IT","type":"education","lineage":["https://openalex.org/I162290304"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Massimo Bergamasco","raw_affiliation_strings":["PERCRO Laboratory, Scuola Superiore Sant'' Anna, Pisa, Italy","PERCRO Laboratory, Scuola Superiore Santa Anna, via Rinaldo Piaggio, 34, 56025 - Pontedera (Pisa),Italy"],"affiliations":[{"raw_affiliation_string":"PERCRO Laboratory, Scuola Superiore Sant'' Anna, Pisa, Italy","institution_ids":["https://openalex.org/I162290304"]},{"raw_affiliation_string":"PERCRO Laboratory, Scuola Superiore Santa Anna, via Rinaldo Piaggio, 34, 56025 - Pontedera (Pisa),Italy","institution_ids":["https://openalex.org/I162290304"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101681600"],"corresponding_institution_ids":["https://openalex.org/I162290304"],"apc_list":null,"apc_paid":null,"fwci":1.6491,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.84045532,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"1","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9840999841690063,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9840999841690063,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9836999773979187,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T11601","display_name":"Neuroscience and Neural Engineering","score":0.9815000295639038,"subfield":{"id":"https://openalex.org/subfields/2804","display_name":"Cellular and Molecular Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7326433658599854},{"id":"https://openalex.org/keywords/haptic-technology","display_name":"Haptic technology","score":0.6516802906990051},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.6452329754829407},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6183774471282959},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6099063158035278},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.5431787371635437},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4735616445541382},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.4154955744743347},{"id":"https://openalex.org/keywords/engineering-design-process","display_name":"Engineering design process","score":0.41376814246177673},{"id":"https://openalex.org/keywords/mechanical-design","display_name":"Mechanical design","score":0.41236838698387146},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.389018714427948},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36603012681007385},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.3457355797290802},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.32151347398757935},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2610188126564026},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.12058520317077637},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.11702194809913635},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11320117115974426},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09545233845710754}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7326433658599854},{"id":"https://openalex.org/C152086174","wikidata":"https://www.wikidata.org/wiki/Q3030571","display_name":"Haptic technology","level":2,"score":0.6516802906990051},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.6452329754829407},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6183774471282959},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6099063158035278},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.5431787371635437},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4735616445541382},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.4154955744743347},{"id":"https://openalex.org/C34972735","wikidata":"https://www.wikidata.org/wiki/Q2920267","display_name":"Engineering design process","level":2,"score":0.41376814246177673},{"id":"https://openalex.org/C2985681428","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical design","level":2,"score":0.41236838698387146},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.389018714427948},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36603012681007385},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.3457355797290802},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.32151347398757935},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2610188126564026},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12058520317077637},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.11702194809913635},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11320117115974426},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09545233845710754},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/roman.2010.5654678","is_oa":false,"landing_page_url":"https://doi.org/10.1109/roman.2010.5654678","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"19th International Symposium in Robot and Human Interactive Communication","raw_type":"proceedings-article"},{"id":"pmh:oai:www.iris.sssup.it:11382/307105","is_oa":false,"landing_page_url":"http://hdl.handle.net/11382/307105","pdf_url":null,"source":{"id":"https://openalex.org/S4377196376","display_name":"CINECA IRIS Institutional Research Information System (Sant'Anna School of Advanced Studies)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I162290304","host_organization_name":"Scuola Superiore Sant'Anna","host_organization_lineage":["https://openalex.org/I162290304"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.550000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W55022225","https://openalex.org/W1990447791","https://openalex.org/W2102783152","https://openalex.org/W2104821212","https://openalex.org/W2107735390","https://openalex.org/W2108683256","https://openalex.org/W2109014519","https://openalex.org/W2117832730","https://openalex.org/W2124847571","https://openalex.org/W2136025022","https://openalex.org/W2136233533","https://openalex.org/W2136799366","https://openalex.org/W2147253183","https://openalex.org/W2159753438","https://openalex.org/W2169483621","https://openalex.org/W2173557768","https://openalex.org/W6679837037","https://openalex.org/W6685094702"],"related_works":["https://openalex.org/W156716224","https://openalex.org/W2111871955","https://openalex.org/W3175380930","https://openalex.org/W1989694608","https://openalex.org/W1988589118","https://openalex.org/W2249357689","https://openalex.org/W2060817419","https://openalex.org/W3154466662","https://openalex.org/W4292656433","https://openalex.org/W2058416556"],"abstract_inverted_index":{"In":[0],"this":[1,118],"paper,":[2],"we":[3],"present":[4],"the":[5,23,40,46,52,72,75,79,83,87,91,96,99,102,105,124,134,138,145,152,165],"mechanical":[6,107,125,146],"design":[7,126,156],"of":[8,25,28,54,74,101,112,123,151,162],"a":[9,55,110,159],"new":[10],"fMRI":[11,97],"compatible":[12],"haptic":[13],"interface":[14],"with":[15,42,59,148],"3DOFs,":[16],"based":[17],"on":[18,39],"electrical":[19],"DC":[20],"actuation,":[21],"for":[22,140],"study":[24],"brain":[26],"mechanisms":[27],"human":[29],"motor":[30],"control.":[31],"The":[32,154],"1DOF":[33],"manipulator,":[34],"which":[35],"was":[36,49,109,127],"evaluated":[37],"successfully":[38],"compatibility":[41],"fRMI":[43],"environment":[44,166],"in":[45,67,117,130,158],"preliminary":[47],"experiments,":[48],"extended":[50],"to":[51,70,90,132,137],"implementation":[53],"3DOFs":[56],"parallel":[57],"manipulator":[58],"3-":[60],"UPU":[61],"kinematics.":[62],"Kinematic":[63],"properties":[64],"were":[65],"studied":[66],"different":[68],"configurations":[69],"select":[71],"stroke":[73],"prismatic":[76],"joint":[77],"and":[78,86,104,143,167],"radius":[80],"difference":[81],"between":[82],"moving":[84],"platform":[85],"base.":[88],"Due":[89],"dimensional":[92],"constraints":[93],"imposed":[94],"by":[95],"environment,":[98],"choice":[100],"dimensions":[103],"adopted":[106],"solution":[108],"result":[111],"an":[113],"optimization":[114,122],"process":[115],"presented":[116],"work.":[119],"A":[120],"further":[121],"then":[128],"conducted":[129],"order":[131],"reduce":[133],"torque":[135],"requested":[136],"actuators":[139],"gravity":[141],"compensation":[142],"improve":[144],"stiffness":[147],"elastic":[149],"compliance":[150],"manipulator.":[153],"final":[155],"resulted":[157],"system":[160],"capable":[161],"satisfying":[163],"all":[164],"user":[168],"requirements.":[169]},"counts_by_year":[{"year":2021,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
