A Universal MR-Compatible Haptic Interface for Motor Neuroscience

In this thesis, a universal magnetic resonance-compatible haptic interface for human motor control studies is presented. The device comprises of a novel kinematics, is based on a novel control method for its actuators, and offers seven degrees of freedom. Within this work, the device is validated in terms of magnetic resonance-compatibility, ergonomics, and safety. Moreover, a benchmark study for versatile haptic interfaces is proposed and carried out with the device.