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arXiv · 2603.08054

Rendering Forces With a Modular Cable System, Motors, and Brakes

Jan Ulrich Bartels·Alexander Achberger·Katherine J. Kuchenbecker·Michael Sedlmair
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Abstract

We describe the hardware design, force-rendering approach, and evaluation of a new reconfigurable haptic interface consisting of a network of hybrid motor-brake actuation modules that apply forces via cables. Each module contains both a motor and a brake, enabling it to smoothly render active forces up to 6 N using its motor and collision forces up to 186 N using its passive one-way brake. The modular design, meanwhile, allows the system to deliver rich haptic feedback in a flexible number of DoF and widely ranging configurations.

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Jan Ulrich Bartels, Alexander Achberger, Katherine J. Kuchenbecker, Michael Sedlmair. 2026-03-09. Rendering Forces With a Modular Cable System, Motors, and Brakes. https://arxiv.org/abs/2603.08054

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