Development of a haptic device "DELTA-4" using parallel link mechanism

Jumpei Arata, Hiroyuki Kondo, Masamichi Sakaguchi, Hideo Fujimoto

Research output: Contribution to journalConference articlepeer-review

27 Citations (Scopus)


Nowadays, several haptic devices are commercialized and becoming common not only in research fields but also in consumer use. In this paper, a new parallel link mechanism "DELTA-4"is proposed for a new haptic device within high quality force display capability and operability. DELTA-4 consists of 3 DOF of translational motions. The key features of DELTA-4 comparing with conventional parallel link mechanisms are: a redundant actuation, a wide working area and a small footprint. The prototype is equipped with a 3 DOF of rotation mechanism, which its center of motions is located on the wrist position of an operator. An evaluation test of force display was conducted on a prototype of DELTA-4 mechanism.

Original languageEnglish
Article number5152402
Pages (from-to)294-300
Number of pages7
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - 2009
Externally publishedYes
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: May 12 2009May 17 2009

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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