Abstract
This paper presents a planar 4 wire driven 3-DOF mechanism. For a planar haptic interface, this device could provide planar forces and moment feedback to the human operator. The particular end-effector geometric configuration overcomes manipulability problems arising from other recent planar wire haptic interfaces [R.L. Williams II, Int. J. Virtual Reality 3 (3) (1998) 13]. Moreover, an explicit forward kinematic pose solution is obtained by introducing a modified wire configuration. Complete kinematic and manipulability analyses are presented.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
