Control strategies for a defective, wire-based, haptic interface

A portable haptic interface based on tensioned wires is presented and some control strategies are discussed. In this work defective configurations with 3 and 1 tensioned wires are considered, illustrating how in each case a proper control strategy may render to the operator a clear sensation of the interaction with the virtual environment. In this manner, simple, robust, light, portable devices can be designed and realized, allowing their use in a wide range of applications. In particular, the haptic device considered has been designed to be used by visually impaired people