Design, Analysis, and Control of a 3-DOF Novel Haptic Device Displaying Stiffness, Texture, Shape, and Shear

Haptic devices providing various sensations have multiple applications spanning over many fields such as surgical training, robot-assisted minimal invasive surgery (MIS), military, space, and underwater exploration. Most of the existing haptic interfaces lack capability to effectively replicate remote environment due intricacies involved in all necessary simultaneously. In this paper, a novel device with three degrees freedom (DOF) is developed render high-fidelity touch like stiffness, texture, shape, shear concurrently. The proposed consists spherical segment affixed an array texture surfaces based on virtual/remote environment. can move 3-DOF, namely, pitch, roll, vertical motion. interface provides kinesthetic cues environmental tactile by combining movements actuators along segmented housing. A systematic kinematic analysis design presented. performance enhanced implementing hybrid control methodology that switches between impedance position control, thus making interaction realistic immersive. Experiments been performed device, results demonstrate its accuracy reproducing modalities feedback