Fig. 1From: Experiments and assessments of a 3-DOF haptic device for interactive operationAssembly drawing of the haptic device. (1) Base. (2) Cuboid frame. (3) Handle. (4) Bevel gears. (5) Y-axis actuator. (6) X-axis actuator. (7) Cylinder sleeve with Z-axis actuator. (8) Mounting holes for restoring rubber bands. (9) Restoring torsion springBack to article page