Design of life-size haptic environments

Brake-actuated haptic devices, a subset of passive haptic devices, are not yet common, so their capabilities and limitations are only super cially understood. In this paper, we identify an optimal kinematics, and introduce a prototype of a life-size brake-actuated haptic device. With the new device, we conducted experiments with human subjects to evaluate the e cacy of passively created virtual environments. We identi ed key performance drawbacks that modern robotics theories fail to anticipate and overcome, and investigated design methods that can avoid such drawbacks.