V2. CABLE DRIVEN IMPEDANCE HAPTIC DEVICE

Extension of MS Thesis

Extension of the MS Thesis work

1. Redesign of the testbed to reduce cable slack

     - 3D printed 608 bearing housing

     - 20 mm steel shaft -> 8mm aluminum shaft

     - Custom fabricated capstan

     - Closed-loop cable driven system (2->1 motor)

2. Improve the non-linear model