Haptic interface device of the ground-based type comprising at least two separate rotary digital actuators

摘要

The interface is of ground-type and has two digital rotary actuators (4a, 5a) uncoupled and manipulated with finger tips. A torque measuring unit measures the torque applied on an axis of rotation of the actuator or an angular position of the actuator. A control unit has a motor (M) allowing the torque to be applied on the axis of the rotation of the actuator, where torque depends on the angular position of the actuator.