CABLE-SUSPENDED HAPTIC INTERFACE
Résumé
A cable-suspended haptic interface (CSHI) concept is
presented. The goal is to create an input/output device to
provide six-degree-of-freedom (dof) wrench (force and
moment) feedback to a human operator in virtual reality or
remote applications. Compared to commercially-available
haptic interfaces for virtual reality applications, the present
concept is driving for lighter, safer, crisper, more dexterous,
and more economical operation. The CSHI concept is
presented, along with the required mathematical
transformations for use of the device.