We have designed a six axis hand controller for telerobotic 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 ).
V. Hayward, C. Nemri, X. Chen, B. Duplat
Six axis hand controller