
Hardware devices of force feedback interfaces 157
Figure 8.7 Virtuose 3D of CEA-LIST, copyright photo E. Joly/CEA-LIST, and Virtuose 6D 35–45.
(Illustration: Haption, with permission)
linkage), already used on the master arm of JPL C space teleoperation (McAffee &
Fiorini, 1991), is quite close to the previous one (Figure 8.8) (Avizzano et al., 2003).
Finally, the CEIT (Centro de Estudios e Investigaciones Técnicas de Gipuzkoa)
in Spain developed an interface with 6 degrees of freedom, including 3 with force
feedback, using a serial structure constituting a serial parallelogram with a slider link-
age, the Large Haptic Interface for Aeronautic Maintainability ...