抄録
This paper describes design and implementation of an inner string haptic device. This device is designed analytically to improve performance of calculation. Therefore, it can calculate position and orientation more faithfully. It also can measure posture of 6 degrees of freedom (3 for translation, 3 for rotation) and display force of 6 degree of freedom. In addition, it has structure that strings are inside a grip, and it became possible to miniaturize by placing mechanics inside a grip.
