Abstract
The application of a passive-type force display system is desirable for its high safety. However, there are some directions and link positions for which it is difficult to display the force in a passive-type force display system using only passive elements. To solve this problem, a method for improvement of controllability using redundant brakes had been suggested. This method made it possible to display various force directions and various postures of virtual objects. In this paper, we develop a novel passive-type force display system using redundant brakes. In this system, the belt-pulley system is not used but the linkage system is used in order to transmit the force. This mechanism generates good force display.
