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Abstract
In our previous work, we proposed a spherical haptic interface which has unlimited workspace. It requires compact omni-directional wheels to drive a sphere. However, the conventional omni-wheel that consists with two wheels has a significant drawback that introduces geometric inconsistency. Recently, the omni-wheel with single wheel was introduced, but it is difficult to make it compact. In this paper, we propose a new omni-directional wheel which is based on "Omni-Ball." It achieves both consistent driving and compact design. A prototype model is designed and developed. In addition, a design approach based on slip property is introduced.
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