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Six-Axis Hand Controller

Authors: [tex2html_wrap4288]V. Hayward, C. Nemri, X. Chen, B. Duplat

Investigator username: hayward

Category: robotics

Subcategory: manipulators and actuators

We have designed a six axis hand controller for telerobotics applications based on the iso-static (Stewart) platform concept. Its kinematics are optimized in order to decouple translations from rotations, (its kinematic map is orthogonal). This prevents hand translations from creating torques and rotations from creating forces. A recent redesign was carried out by B. Duplat. (See Figure 20).