Design of a compact 6-DOF haptic interface

Y. Tsumaki, H. Naruse, D. N. Nenchev, M. Uchiyama

    Research output: Contribution to journalConference articlepeer-review

    108 Citations (Scopus)


    In this paper we propose a new compact 6-DOF haptic interface with large workspace. It contains a newly developed five bar spatial gimbal mechanism for orientation, placed on a modified Delta parallel-link mechanism. The motion range of each axis of the five bar mechanism is over ±70 degrees. Quick motions can be realized easily due to the parallelism inherent to both the modified Delta substructure and the five bar substructure.

    Original languageEnglish
    Pages (from-to)2580-2585
    Number of pages6
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Publication statusPublished - 1998 Jan 1
    EventProceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Leuven, Belgium
    Duration: 1998 May 161998 May 20

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering


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