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Six Axis Hand Controller

V. Hayward, C. Nemri, X. Chen, B. Duplat 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 24). [handc.eps].55 Six axis hand controller hayward:figure20



Thierry Baron
Mon Apr 7 12:54:24 EDT 1997