| 摘要 |
A haptic device comprising a base member (4), an end-effector (6), a parallel kinematics structure arranged between the base plate and the end-effector and providing at least three degrees of freedom including at least three translational degrees of freedom in relation to the end-effector, and at least one passive gravity compensation means being adapted to exert forces and/or torques on the parallel kinematics structure for at least partial compensation of gravity related forces and/or torques acting in at least one of the three translational degrees of freedom.
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