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This paper presents a haptic interface with modular linear actuators whichcan address limitations of conventional devices based on rotatory joints. Theproposed haptic interface is composed of parallel linear actuators that providehigh backdrivability and small inertia. The performance of the haptic interfaceis compared with the conventional mechanisms in terms of force capability,reflected inertia, and structural stiffness. High stiffness, large range ofmotion with high force capability are achieved with the proposed mechanism,which are in trade-off relationships in traditional haptic interfaces. Thedevice can apply up to 83 N continuously, which is three times larger than mosthaptic devices. The theoretical minimum haptic force density and the stiffnessof the proposed mechanism were 1.3 to 1.9 times and 37 times of conventionalmechanisms in a similar condition, respectively. The system is also scalablebecause its structural stiffness only depends on the timing belt stiffness,while that of conventional haptic interfaces is inversely proportional to thecube of structural lengths. The modular actuator design enables change ofdegrees freedom (DOFs) for different applications. The proposed hapticinterface was tested by the interaction experiment with a virtual environmentwith rigid walls.

A Large Force Haptic Interface with Modular Linear Actuators