Design and control of a hyper-redundant haptic interface

This paper presents the design concept of a hyper-redundant haptic interface with 10 actuated degrees-of-freedom (DOF). The kinematical redundancies allow a significantly larger workspace, while reducing the overall device size. Moreover, an increase in a variety of dexterity measures and a singularity robust redundancy resolution can be achieved. Numerical studies comparing the performance of local redundancy optimisation techniques are presented along with the results of hardware experiments for closed loop performance.