Cybernet developed a prototype 6 degree-of-freedom Cartesian coordinate universal handcontroller. The prototype featured an x-y-z stage attached to a 3-roll wrist and then to a handgrip. 3 constant force springs were used to provide continuous gravity compensation to make the device free-floating, 6 brushless motors provided force reflection, and 6 encoders provided position, velocity, and acceleration feedback. The device was designed to be driven through a flexible robotic digital servo subsystem, allowing users to build force-emitting environments. Target applications included commercial virtual reality environments, industrial or nonstandard robotic manipulation, and master-slave environments.


Human Computer Interaction


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