Haptic Interface for Virtual Reality based on Hybrid Cable-Driven Parallel Robot

Cable haptic devices can display forces while keeping a low intrusiveness. However, serious cable interferences can appear when serveral end-effectors or a high number of cables are required. The motivation behind this work is to propose a method to reduce the number of cables and enlarge the statics workspace while ensuring an appropriate force display through the cables. A hybrid n+1 planar cable haptic device architecture based on SPIDAR which includes a linear actuator is introduced in this paper. The process to design a small sized planar interface, as well as the kinematics model we used are detailed here. A sensorless force computation method is proposed and the haptic display results are presented.