Haptic interface II

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. 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.


Fig. 1 A spherical Haptic Interface




  1. Yuichi Tsumaki, Takeshi Ohgi, Arata Niiyama, Development of a Spherical Haptic Interface with Infinite Workspace, Proceedings of the International Symposium on Robotics and Intelligent Sensors, Nagoya, Japan, pp. 39-44, 2010.
  2. Yuichi Tsumaki, Takeshi Ohgi and Arata Niiyama, A Spherical Haptic Interface with Unlimited Workspace, International Journal on Smart Sensing and Intelligent Systems, Vol. 3, No. 3, pp. 376-388, 2010.

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