Design and optimization of a purely rotational 3-DOF haptic device

The need for devices with high quality force feedback is raising due to the increasing usage of virtual environments capable to perform dexterous manipulation tasks. Actuator redundancy can improve the performances, e.g. enlarge the workspace and enhance the dexterity, on the workspace. Moreover, it can be necessary in order to efficiently control the device. One drawback is the increased difficulty in designing and optimizing the device. In this paper, the design and optimization process of a new purely rotational 3-DOF tendon driven haptic device with redundant actuation is described. In particular, the optimization of the driving system is analyzed and an algorithm for the computational task is proposed. Finally, the mechanical design is shown