The term “haptics” refers to the science of sensing and manipulation through touch. Multiple
disciplines such as biomechanics, psychophysics, robotics, neuroscience, and software …

This work presents the Haptic Thimble, a novel wearable haptic device for surface
exploration. The Haptic Thimble combines rendering of surface orientation with fast transient …

This paper presents a novel haptic device providing both kinesthetic and cutaneous cues
informative of shape geometry at the contact point. The system is composed of a supporting …

This paper addresses the dynamic identification and model feed-forward control
implementation of a Novint Falcon haptic device. Firstly, inverse and forward kinematic …

A new 6-DOF parallel haptic device is developed and presented in this paper. The haptic
device consists of two 3-DOF parallel structures connected with a steering handle. The …

This paper presents a spherical joint actuator using an electrorheological (ER) fluid to make
a new haptic master which can be applicable to a robot-assisted cutting surgery. The …

This study presents the preliminary experimental results of a robot-assisted surgery system
featuring a six-degrees-of-freedom (6-dof) haptic master activated by magnetorheological …

When using a haptic device in unconstrained movement, the user should experience only
minor inertia. For certain tasks, the workspace of the device should be similar or even larger …

The tiger beetle can maintain its stability by controlling the interaction force between its legs
and an unstructured terrain while it runs. The biomimetic hexapod robot mimics a tiger …

In this work we present the design process, the characterization and testing of a novel three-
axis mechanical force sensor. This sensor is optimized for use in closed-loop force control of …