Abstract

The datasets contain the data related to the first stage implementation of a haptic device towards a complete 3-D workspace twisted-string actuated haptic interface. In particular, a 2-D setup is presented, with the aim of preliminarly testing the behaviour of this novel haptic system, especially with respect to the adopted cable-based actuation solution. In particular, the component descriptions, kinematics of the planar device and the controller for teleoperation purposes are considered. The data are discussed in the following publication: L. Feenstra et al., "Towards a Twisted String Actuated Haptic Device: Experimental Testing of a 2-D Virtual Environment and Teleoperation Interface," 2021 20th International Conference on Advanced Robotics (ICAR), 2021, pp. 757-762, doi: 10.1109/ICAR53236.2021.9659420.