Abstract
There are haptic devices as devices that display the virtual reality to human. It is difficult to display the feeling of tactile sense either hardness or softness on hardware in past haptic device and it cannot display both tactile sense. This paper presents the design and development of a modified delta mechanism with variable stiffness. The proposed mechanism can be used as a haptic device to display virtual force and haptics. Since the stiffness at the endpoint of the mechanism is variable, the mechanism can display hardness as well as softness of a virtual object or virtual environment. Preliminary experiments are performed to validate the variable stiffness characteristics of the mechanism.
