Development of a 7-DOF Wire Driven Haptic Device for Palm Grasp

In this paper, we propose a wire-driven 7-DOF haptic device for gripping operation using palm. The aim is to realize a total of 7-DOF force display by using a total of 8 wires, not only for 6-DOF force display of translation and rotation of the end effector, but also for gripping operation using the palm. The proposed haptic device was developed. As an evaluation experiment of the proposed system, rigid body operations by using palm were measured in VR world. As a result, it was confirmed that the device generates torque for the palm and the manipulating force simultaneously. It is possible to display high tracking and force ability to the VR object.