A Spherical Haptic Interface with Unlimited Workspace


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International Journal on Smart Sensing and Intelligent Systems

Professor Subhas Chandra Mukhopadhyay

Exeley Inc. (New York)

Subject: Computational Science & Engineering, Engineering, Electrical & Electronic


eISSN: 1178-5608



VOLUME 3 , ISSUE 3 (September 2010) > List of articles

A Spherical Haptic Interface with Unlimited Workspace

Yuichi Tsumaki * / Takeshi Ohgi * / Arata Niiyama *

Keywords : Haptic interface, virtual reality, human interface, joystick, teleoperation,

Citation Information : International Journal on Smart Sensing and Intelligent Systems. Volume 3, Issue 3, Pages 376-388, DOI: https://doi.org/10.21307/ijssis-2017-398

License : (CC BY-NC-ND 4.0)

Published Online: 13-December-2017



Over the last two decades, various haptic interfaces have been developed. However, their workspace has been mechanically restricted. This limited workspace reduces operationality, because operation should be suspended at the boundary. In this paper, to tackle this problem, a spherical haptic interface is developed, which utilizes a ball as an interface with the human. The ball is driven by three DC motors through omni wheels. Consequently, unlimited workspace is achieved for orientation.
Furthermore, a novel artificial sensation is implemented by rolling the ball with the palm.

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