Monash Epicyclic Parallel Manipulator (MEPaM)

The sense of touch is pivotal to the everyday activities undertaken by humans. Haptic devices are human-operated mechanisms that manipulate another object in a virtual or remote environment and reflect the touch interaction that the manipulated object experiences in its environment to the operator. MEPaM is a new design of a three-legged six-DOF parallel manipulator which uses a cable pulley system to allow all actuators to be mounted on the base. With all-grounded actuator configuration and light-weight links, MEPaM is an ideal solution for impedance haptic device, whose requirements are low inertia and high back-drivability.