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, ? de petites forces de friction

, ? un espace de travail important

, ? une grande raideur et un couple maximum important

, Ce système ne représente qu'une inertie de 100g pour un espace de travail de 20cm. 3.1.3 Virtuose d'Haption

L. Virtuose and ;. Friconneau, Elle constitue le fruit d'un savoir-faire du département de robotique du CEA. Le modèle 6D35-45 offre un retour d'effort à six degrés de liberté avec une force maximum de 35 N et un espace de travail sphérique de 450 mm de diamètre, voir figure B.22a) est une interface haptique à retour d'effort, commercialisée par Haption 14 à partir de, 1999.

L. Phantom, par des chercheurs du laboratoire d'Intelligence Artificielle du MIT (USA) dans le but de toucher et de manipuler des données graphiques 3D. Il est commercialisée par la société Sensable Technologie 15 et existe en 5 modèles. 14. Filiale du CEA (Commissariat à l'Energie Atomique et aux Energies Alternatives) 15

, Elle est le produit de recherche de l'équipe « Virtual Reality and Active Interface » de L'EPFL et est basée sur la structure du robot Delta, avec trois degrés de liberté en translation. Le OMEGA.7 17 , version récente, fournit un retour d'effort 3D actif, un espace de travail en translation de 160x110 mm et en rotation de 240x140x180 deg avec une force maximum de 12 N, L'interface Delta Haptic Device (voir figure B.23a) est commercialisée depuis 2001 sous le nom DELTA ou OMEGA par la société Force Dimension

L. Falcon and ;. Schill, Ce coût réduit permet une ouverture à un plus grand nombre d'applications et une plus grande accessibilité. On note par exemple des applications de téléopération de robots, voir figure B.23b) est une interface brevetée en 2006 (dépôt de brevet en 2005) assez similaire dans la conception à un Omega 3 mais de cout bien plus abordable (170?, contre 15 000? pour l'interface Omega), 2008.

. Shah, Des travaux ont été menés afin de concevoir des interfaces à 5 degrés de liberté (contre 3 pour un Falcon) en combinant plusieurs interfaces, tout en gardant un coût réduit

, ne sont pas au même niveau que les interfaces Omega. On mesure une raideur de 8N/mm pour une inertie similaire à un Omega 3 et un espace de travail réduit, Cependant, les caractéristiques de ce système (illustré en figure B.24), détaillées dans, 2009.

H. D. Le, B. Illustré-en-figure, and . Lee, est une interface commercialisée par Quanser constituée d'une combinaison de 2 interfaces séries de type Phantom, vol.25, 2010.