C.E.A. Force Feedback Handle
This 6 dof handle is made up of a long cylindrical part allowing grasping by the hand and an upper mobile part linked to the lower part by 2 ball and socket joints and six cables. The configuration of the handle is identical to that of the Stewart platform. The handle is covered in foam which adheres well to the hand, the outer diameter is equal to 32 mm.
The handle is controlled by 7 motors run on identical continuous current, exerting a maximum torque of 1 Nm on the cables. The transmission is assured by flexible sheaths. The band width of the system is approximately 150 hertz. The angular displacement of the mobile part around the central spherical joint is 15° on the (x,y) axes and 60° on the (z) axis. The vertical movement is 20 mm.
During the simulation, the lower part of the handle is held solidly between the palm and the last three fingers (the middle, ring and little fingers) while the upper part exerts force on the index and thumb according to the direction of the force.
Video Demonstraion ( 86.3Mo, mpeg)
Video Demonstraion ( 16.1Mo, mpeg)
