A novel parallel haptic device with 7 degrees of freedom

This paper introduces a novel parallel architecture that provides 6 DOF motion and 1 DOF grasping capabilities while all the motors are located at the base. Parallel robotic devices are widely used now in haptic applications, thanks to their high stiffness and low inertia, which improve the mechanical bandwidth of the device. Classical parallel haptic devices usually do not provide grasping capabilities since all motors are located on the base. Grasping capabilities is sometime desirable to allow the operator to feel the shape and stiffness of the manipulated objects. Thanks to a novel configurable platform, the grasping capability of this haptic device is part of the mechanical architecture itself and can be fully controlled by base-located motors.