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Journal of Sensors
Volume 2017 (2017), Article ID 8162512, 12 pages
Research Article

Design of a 3-DOF Parallel Hand-Controller

School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China

Correspondence should be addressed to Aiguo Song

Received 25 April 2017; Revised 5 September 2017; Accepted 12 September 2017; Published 16 October 2017

Academic Editor: Jaime Lloret

Copyright © 2017 Chengcheng Zhu and Aiguo Song. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Hand-controllers, as human-machine-interface (HMI) devices, can transfer the position information of the operator’s hands into the virtual environment to control the target objects or a real robot directly. At the same time, the haptic information from the virtual environment or the sensors on the real robot can be displayed to the operator. It helps human perceive haptic information more truly with feedback force. A parallel hand-controller is designed in this paper. It is simplified from the traditional delta haptic device. The swing arms in conventional delta devices are replaced with the slider rail modules. The base consists of two hexagons and several links. For the use of the linear sliding modules instead of swing arms, the arc movement is replaced by linear movement. So that, the calculating amount of the position positive solution and the force inverse solution is reduced for the simplification of the motion. The kinematics, static mechanics, and dynamic mechanics are analyzed in this paper. What is more, two demonstration applications are developed to verify the performance of the designed hand-controller.