Magnetically compatible robots are required as haptic interfaces for enhancing neuroscience studies. The purpose of this paper is to develop an MRI compatible robot using ultrasonic motors, which is able to work within an MRI/ fMRI scanner and to acquire MR images continuously during hand motions. We propose a Manipulandum for hand motion. We measured the force distribution and joint angles of digits, and developed a new link model of a Manipulandum for hand motion. Our Manipulandum hand has one feature. It is the compact exoskeleton mechanism using ‘New link model’. ‘New link model’ was composed of 4-link mechanism, 6-link mechanism and 7-link mechanism, and one actuator of ‘enew link model’ is able to move all joints within the digits. However, these link mechanisms are limited in the movement. Finally, MRI compatibility of our manipulandum is verified experimentally.