Compact, Parallel, High-Fidelity 7-DOF Haptic Device

Researchers in the Stanford Robotics Lab have developed a compact high-fidelity haptic teleoperation system which shows accurate and isotropic behavior in translation and rotation. Its new 7-degree-of-freedom cable-driven paired parallel architecture provides precise motion with low inertia, minimal joint clearance and minimal friction in freespace, and excellent force feedback within a large stiffness bandwidth while in contact. The device is compact, lightweight, and portable, making it easy to integrate in any workstation. An ergonomic actuated gripper, integrated inside the handle, provides an additional grasping degree of freedom and fingertip force feedback. Paired with the workspace mapping controller (see Stanford docket S19-192),the system motions and forces are imperceptibly drifted and scaled to deliver precise remote control and high perception in any environment, making it attractive for a range of applications including medical and surgical robotics, and telerobotics in hazardous environments.

Stage of Development – Prototype
The Stanford Robotics Lab researchers are using the high-fidelity haptic device with their workspace mapping controller in industrial applications and underwater explorations. Research is ongoing.