Tight cable structure for e.g. haptic interface, has displacement unit displacing mobile member with respect to platform that is suspended inside framework by suspension cables, where unit is distinct to winders/unwinders of cables

摘要

The structure has a rigid framework, and an element i.e. wrist (2), interacting with an exterior environment and including a platform (20) and a mobile member e.g. handle (16), that pivots about a rotational axis relative to the platform. The platform is suspended inside the framework by suspension cables (6.1-6.8) linked to winders/unwinders, where the structure is fixed to the framework. The platform is moved by winding and unwinding the cables on the winders/unwinders. A displacement unit displaces the mobile member with respect to the platform and is distinct to the winders/unwinders.