The cobotic hand controller: Design, control and performance of a novel haptic display

Eric L. Faulring*, J. Edward Colgate, Michael A. Peshkin

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

37 Scopus citations


The design, control and performance of the Cobotic Hand Controller, a novel, six-degree-of-freedom, admittance controlled haptic display is examined. A highly geared admittance architecture is often used to render high impedances with reasonable sized actuators for a haptic display. The Cobotic Hand Controller is an extremely faithful realization of an admittance display, since it is capable of obtaining an infinite gear ratio and can render infinite impedances (up to its own structural stiffness). The incorporation of continuously variable transmissions utilizing hardened steel elements in dry-friction rolling contact provide the Cobotic Hand Controller with high bandwidth, low power requirements, and an extremely wide stable dynamic range. Here, an admittance based control algorithm for powered cobots, a novel solution to the actuation redundancy of this device, and a heuristic to avoid slip in the transmissions are described. The performance of the Cobotic Hand Controller is measured in terms of dynamic range.

Original languageEnglish (US)
Pages (from-to)1099-1119
Number of pages21
JournalInternational Journal of Robotics Research
Issue number11
StatePublished - Nov 2006


  • Admittance display
  • Cobots
  • Continuously variable transmission
  • Haptics
  • Traction drive

ASJC Scopus subject areas

  • Software
  • Modeling and Simulation
  • Mechanical Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Applied Mathematics


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