Description and performance analysis of a mobile force feedback stick-shaped handle

This paper focuses on the description and the performance analysis of a new type of force feedback handle with special features. This handle has the shape of a cylindrical stick whose upper part can move with respect to the lower part. The operator seizes both parts of this handle with his hand and can move around in the surrounding space, feeling reaction forces from the upper part. This manipulator has been integrated within a global control station. The experimental layout is provided with virtual environment generation which manages the interaction of the handle with the real world. The experiments we conducted have shown interesting results