Haptic input devices

摘要

A haptic input device comprises a hexapod or pentapod parallel linkage mechanism with force feedback effected by proportional control of magneto-restrictive fluid brakes constraining the measurement of the struts of the mechanism, through their base nodes. In the pentapod version of the haptic data input device, a haptic stylus is employed which includes an annular compliant feature that can be squeezed and whose squeeze pressure can be monitored.