We describe the hardware design, force-rendering approach, and evaluation of a new reconfigurable haptic interface consisting of a network of hybrid motor-brake actuation modules that apply forces via cables. Each module contains both a motor and a brake, enabling it to smoothly render active forces up to 6 N using its motor and collision forces up to 186 N using its passive one-way brake. The modular design, meanwhile, allows the system to deliver rich haptic feedback in a flexible number of DoF and widely ranging configurations.

翻译：本文介绍了一种新型可重构触觉界面的硬件设计、力渲染方法及性能评估。该系统由混合式电机-制动驱动模块网络构成，通过缆绳施加作用力。每个模块同时包含电机和制动器，使其能够利用电机平滑渲染高达6 N的主动力，并借助被动式单向制动器实现最高186 N的碰撞力渲染。模块化设计使系统能够在灵活的自由度数及多种构型配置下，提供丰富的触觉反馈。