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A Six DOF Haptic Interface

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 gif.
V. Hayward, O. Astley, F. Reynier, X. Chen

Six DOF haptic interface.

Thierry Baron
Mon Nov 13 10:43:02 EST 1995