A six DOF haptic interface has been designed and a prototype
implemented. The integrated approach which has been followed solves
several problems in terms of precision, cost and complexity.
The device is intended to be operated with a
multi-digit precision grasp (like a pen) which makes it suitable for a
large number of applications. It is electrically actuated, all the
motors are grounded, and motion is transmitted by stiff polymeric
tendons. Position and force is sensed via optical transducers that we
developed and integrated into the design. See Figure .
V. Hayward, O. Astley, F. Reynier, X. Chen
Six DOF haptic interface.