2010 | OriginalPaper | Chapter
A New Planar 4-DOF Spring and Cable Driven Force Feedback Device
Authors : Yi Yang, Yuru Zhang, Betty Lemaire-Semail
Published in: Haptics: Generating and Perceiving Tangible Sensations
Publisher: Springer Berlin Heidelberg
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This paper presents a new planar Spring & Cable driven Force feedback Device (SCAFD). The new device uses fewer cables to realize multi-finger grasp and manipulation feedback. The principle and cable tension calculation of the planar SCAFD are explained. The result of an example of virtual grasp task shows that the device can realize 1-DOF grasp and 3-DOF manipulation force feedback on a plane with only four cables and a spring.