The HapticSpider: a 7-DoF Wearable Device for Cutaneous Interaction with the Palm
Abstract
This paper introduces a 7-degrees-of-freedom (7-DoF) hand-mounted haptic device, the “HapticSpider”. It is composed of a parallel mechanism characterised by eight legs with an articulated diamond-shaped structure, in turn connected to an origami-like shape-changing end-effector. The device can render surface and edge touch simulations
as well as apply normal, shear, and twist forces to the palm. This paper presents the device’s mechanical structure, a summary of its kinematic model, actuation control, and preliminary device evaluation, characterizing its workspace and force output.
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