SEMAPHORO-2D : Design of a 2 degrees of freedom haptic interface to study communication through forces

Many physical tasks require the cooperation of multiple individuals. It is known that during the execution of a joint manipulation task, the forces they exchange carry information. However, how this information is transmitted and interpreted remains partially unclear, necessitating specific devices to increase our knowledge. Even the most technologically advanced devices are generally the result of delicate compromises between the complexity of allowed movements and the controllability of the system’s joints. In this paper, we present the design of the SEMAPHORO-2D, a versatile haptic device with two actuated degrees of freedom. This mechatronic system enables accurate measurement of the forces generated by the users and the creation of a highly rigid and stable bilateral teleoperation link between two partners.