VISHARD10, a novel hyper-redundant haptic interface

This paper presents and discusses the design of a novel hyper-redundant haptic interface with 10 degrees-of-freedom (DOF). The use of additional joints allow:; a significantly larger workspace, while reducing the overall device size. Moreover, an increase in a variety of dexterity measures and a singularity robust redundancy resolution can be achieved. Numerical simulations of standard methods for inverse kinematics resolution, namely pseudo inverse control and the projection of some side criterion on the nullspace of the Jacobian are compared and evaluated.