HFD-6

Force Feedback Device

HFD-6 is a six degree of freedom force feedback device that combines hand pose capture and force feedback functions. It can combine force perception, touch, and VR to achieve hand eye coordination and precise operation in VR interaction, bringing an immersive force feedback interactive experience.

This device has broken through key technologies such as fast and accurate positioning, dynamic gravity compensation, high frame rate force sensing refresh, plug and play without calibration, and compatibility with multiple simulation frameworks, forming multiple core invention patents.

After five design iterations, the structure and appearance design are novel, and the main technical indicators are comparable to internationally renowned brands, filling the gap in domestic commercial products. It has gained important applications in clinical surgical skills training, robot remote operation, virtual simulation experiment teaching and other fields.

Home Products HFD-6

Product Features

Pen Shaped End

Universal pen holder end design, making wrist movement flexible and suitable for the vast majority of application scenarios.
Parallel Mechanism

The high stiffness mechanism provides a stable operating experience.
Cartesian coordinate system

SDK takes the fixed platform as the origin and can fully access the position and posture information of the joystick in space.
Gravity Compensation

Helps improve the comfort of the user's grip and lifting experience when operating the device.
High Precision Force Feedback

3 degrees of freedom variable force feedback, feel the stiffness of virtual objects or the force exerted by robots from the end.
Easy to Operate

Directly use when powered on, no manual calibration required, handle button simulates virtual material grasping.
Operation and Translational Force Feedback

The device operation does not distinguish between left and right hands and can provide force feedback in the direction of spatial translation.
Two Handed or Multi Handed Operation

Provide SDK interface and implementation demo for dual/multi handed operation.

Product Specifications

Workspace	Translation	210210130 mm
Workspace	Rotate	240 x 115 x 320 deg
Force	Continuous Strength	8.5 N
Resolution	Linear Displacement	0.02 mm
Resolution	Rotational Displacement	0.005 deg
Stiffness		7.9 N/mm
Interface	Standard	USB 2.0
	Refresh Rate	4 KHz
	Universal Power Supply	110V - 240V
Operating Platform	Microsoft	Windows 7/8/10
Operating Platform	Linux	All Distributions
Software Development Kit	Device Layer	HFD_APId.dll/HFD_API.dll/HFD_API64d.dll/HFD_API64.dll
Software Development Kit	Application Layer	Unity3D API
Structure	A parallel mechanism based on Delta, decoupled from the end series rotating mechanism, with active gravity compensation function
Calibration	Using an absolute encoder for automatic calibration
User Input	1 programmable input button on the end handle
Safety	Overspeed automatic shutdown force feedback, entering electromagnetic damping state

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