VirSense: a novel haptic device with fixed-base motors and a gravity compensation system

Purpose – This paper aims to present the design and implementation of VirSense, a novel six-DOF haptic interface system, with an emphasis on its
gravity compensation and fixed-base motors.
Design/methodology/approach – In this paper, the design and manufacture of the VirSense robot and its comparison with the existing haptic
devices are presented. The kinematic analysis of the robot, design of the components, and manufacturing of the robot are explained as well.
Findings – The proposed system is employed to generate a Virtual Sense (VirSense) with fixed-base motors and a spring compensation system for
counterbalancing the torques generated by the weight of the links. The fixed bases of the motors reduce the system’s effective mass and inertia, which
is an important factor in haptic interface systems. A novel cabling system is used to transmit the motor torques to the end-effector. The spring-based
gravity compensation system causes more reduction in the effective mass and inertia.
Originality/value – This paper provides the details of the VirSense haptic device, its gravity compensation system, and a novel cabling power
transmission.