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Conference Papers Year : 2022

Design of a 2-DoF Haptic Device for Motion Guidance


We present a 2-degrees-of-freedom (2-DoF) haptic device, which can be either used as a grounded or a hand-held device. It is composed of two platforms moving with respect to each other, actuated by two servomotors housed in one of structures. The device implements a rigid coupling mechanism between the two platforms, based on a threelegged 3-4R constrained parallel linkage, with the two servomotors actuating two of these legs. The device can apply position/kinesthetic haptic feedback to the user hand(s). This paper presents the device and its kinematics, together with a human subjects experiment where we evaluate its capabilities to provide meaningful directional information.
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Dates and versions

hal-03614070 , version 1 (19-03-2022)



  • HAL Id : hal-03614070 , version 1


Lisheng Kuang, Maud Marchal, Marco Aggravi, Paolo Robuffo Giordano, Claudio Pacchierotti. Design of a 2-DoF Haptic Device for Motion Guidance. EuroHaptics 2022 - International conference on Haptics: Science, Technology, Applications, May 2022, Hamburg, Germany. pp.1-8. ⟨hal-03614070⟩
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