A new cable-driven haptic device for integrating kinesthetic and cutaneous display

This paper presents a new cable-driven haptic device (CDHD) for displaying kinesthetic and cutaneous sensations in a human-scale virtual environment. The device includes a 3-DOF planar cable-driven mechanism to provide force feedback and a piezoceramics plate for tactile display. The 3-DOF planar CDHD can provide two-dimensional force feedback and one-dimensional torque feedback on a plane. The kinematics and statics models of the non-singularity configuration are analyzed. The resolution and the maximum continuous force/torque of the end effector are deduced. The new device can be utilized in various fields. Some of its applications are introduced.