Haptic Rendering for Under-Actuated 6/3-DOF Haptic Devices

  • Petr KadlečekEmail author
  • Petr Kmoch
  • Jaroslav Křivánek
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8619)


Under-actuated 6/3-DOF haptic devices are mostly used for simple 3-DOF point-based haptic interaction because of missing torque feedback. In this work, we present a system involving sensory substitution and pseudo-haptic feedback that effectively simulate torque feedback using visuo-tactile cues. The proposed system was implemented into a 6-DOF haptic rendering algorithm and tested on an under-actuated haptic device in a user study. We found that by applying our torque simulation system, the torque perception increases significantly and that 6/3-DOF devices can be used in complex tasks involving 6-DOF interactions.


Haptic rendering 6/3 Degrees of freedom Under-actuated 



The work was supported by the GA UK 2062214 and SVV-2014-260103 grants. Models of teeth and the ear used in the user study were downloaded from and


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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Petr Kadleček
    • 1
    Email author
  • Petr Kmoch
    • 1
  • Jaroslav Křivánek
    • 1
  1. 1.Faculty of Mathematics and PhysicsCharles University in PraguePragueCzech Republic

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