Jaeyoung Park

Design of a Parallel Haptic Device with Gravity Compensation by using its System Weight

This paper proposes a 6 degree of freedom (DoF) manipulator for haptic application. The proposed haptic device, named GHap, is designed based on the four-bar-linkage mechanism for linear motion with the ring-type gimbal mechanism. To improve the force display ability, the device is designed to compe…