3D Hapkit: A Low-Cost, Open-Source, 3-DOF Haptic Device Based on the Delta Parallel Mechanism

Abstract. We present our work on an open-source, low-cost, 3-Degree Of Freedom (3-DOF) haptic device for use in haptic education. The device is based on three open-source 1-DOF haptic devices in a delta configuration and can be produced using commonly available rapid prototyping methodologies such as 3D printing and laser cutting. We also demonstrate a simple interaction with a virtual environment.