Berkeley-NASA Haptic System

Instrumented Haptic Interface Devices

Haptic interface devices are machines that are controlled by human
hand contact forces. These devices are necessary elements of virtual
reality machines. They may be programmed to give the human arm the
sensation of forces associated with various arbitrary maneuvers. As
examples, they can give the human the sensation that he/she is maneuvering
a mass, or pushing onto a spring or a damper. In general, these devices
may be programmed for any trajectory-dependent force. Several force
reflecting hand controllers for telerobotic systems were designed
and built to verify the theoretical derivations in haptic interface


Showing range of motion of haptic joystick

Showing fast responsiveness due to “direct drive” actuation