We present a new mechanical design for a 3-DOF haptic device with spherical kinematics (pitch, yaw, and prismatic radial). All motors are grounded in the base to decrease inertia and increase compactness near the user's hand. An aluminum-aluminum friction differential allows for actuation of pitch and yaw with mechanical robustness while allowing a cable transmission to route through its center. This novel cabling system provides simple, compact, and high-performance actuation of the radial DOF independent of motions in pitch and yaw. We show that the device's capabilities are suitable for general haptic rendering, as well as specialized applications of spherical kinematics such as laparoscopic surgery simulation.
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