The human wrist contributes greatly to the mobility of the arm/hand system, empowering
dexterity and manipulation capabilities. However, both robotic and prosthetic research …

Minimally invasive surgery, including laparoscopic and thoracoscopic procedures, benefits
patients in terms of improved postoperative outcomes and short recovery time. The …

A haptic interface was designed and developed for use in manipulation tasks. The
mechanism consists of a closed kinematic chain. The force feedback mechanism consists of …

This article is the first of a two-part series intended as an introduction to haptic interfaces.
Together they provide a general introduction to haptic interfaces, their construction, and …

Haptic interfaces can recreate the experience of touch and are necessary to improve human–
robot interactions. However, at present, haptic interfaces are either electromechanical …

A new class of six-degree-of-freedom (DOFs) spatial parallel platform mechanism is
considered in this paper. The architecture consists of a mobile platform connected to the …

This paper presents a new solution to haptic based teleoperation to control a large-sized
slave robot for space exploration, which includes two specially designed haptic joysticks, a …

A number of haptic devices have recently become available on the commercial market, and
these devices are becoming common not only in research but in consumer use as well. In …

This article presents an active ball joint mechanism (ABENICS) enhanced by interactions of
spherical gears. The gear-based joint drives three rotational degrees of freedom (RDoF) …

Both prosthetic and robotic research communities have tended to focus on hand/gripper
development. However, the wrist unit could enable higher mobility of the end effector and …