Figure 1
The fMRI compatible robotic stepping actuator MARCOS. Left: MARCOS in the 1.5T MR scanner. Right: Sketch of the MARCOS system (only 1 leg depicted for clarity). MARCOS is actuated by two pneumatic cylinders per leg. The reaction forces between the subject and the robot are measured through force sensors located in the knee orthosis attachment and the foot plate. The position of each cylinder piston is measured redundantly by optical encoders [26].