haptic device

Based on the design of the Delta robot which was developed at EPFL by Professor Raymond Clavel, the DELTA haptic device was designed at the VRAI Group and later commercialized by Force Dimension. Based on a parallel structure, the system is composed of three main arms which join together at the end-effector. The articulated arms are actuated by three motors which are all mounted onto the base of the device making it a highly robust system. The main distinctions of the DELTA haptic device mechanism are its low inertia, high stiffness and large range of forces. An interesting property of its kinematics model is the fact that the end-effector plate always remains parallel to the base of the device independently of its position, consequently allowing rotation motions of the user handle to be decoupled from any translations.

Overview of the Delta Haptic Device
S. Grange, F. Conti, P. Helmer, P. Rouiller, and C. Baur. Eurohaptics, Birmingham, England, July 2001.