A TSA-Based Haptic Display with a Rhombus Structure for Rendering Linearized High Force

The Rhombic TSA-based Haptic Device (RTHD) is a novel parallel structure haptic device that combines a twisted string actuator (TSA) with a linearization mechanism. The RTHD consists of a simple mechanism that can render high linearized forces in the Y-direction throughout the workspace. The kinematic analysis demonstrates the advantages of the RTHD; simulation results compare the RTHD's renderable end-effector force and velocity profiles to a capstan-pulley-based pantograph-type haptic device.