
Hardware devices of force feedback interfaces 167
Figure 8.18 Haptic Gear. (Illustration: Hirose Lab, University of Tokyo, with permission)
freedom with force feedback is fixed on the forearm of the user. It weighs 500 g and
the force feedback is approx. 2 N, which is relatively limited.
The generic portable interfaces can also use a tight rope architecture whose struc-
ture is very light. This is the case of Haptic Gear developed by the University of Tokyo
(Hirose et al., 2001). This interface is composed of a base fixed on the back of the user
integrating 4 motor units connected to the hand-held pen by 4 tight ropes (Figure 8.18).
Its total weight ...