Design and evaluation of a linear haptic device

The commercial development of haptic devices is very promising. Existing systems are often 6-degree-of-freedom mechanisms equipped with a stylus that acts as a tool. They exhibit force feedback for 3 or 6 degrees of freedom of their end-effector, depending on whether only forces or both forces and torques are rendered. Some planar devices are also used but oddly, one-degree-of-freedom linear haptic devices are quite rare. This lack can probably be explained by the necessary mechanical transformations that are required to achieve linear motions with rotary motors. In this paper, we review several possible structures and present the design of a new one-degree-of-freedom linear haptic device with a limited number of joints and a compact design, compatible with rotary actuation. We evaluate this device in the telemanipulation context.