Patent ID: 7356448

Claim:
Input device operating on the parallel kinematic principle with haptic feedback for a computer, in particular for medical teleoperation with instruments, with a frame ( 10 ) which has three articulations ( 40 ), with a rod-shaped carrier element ( 30 ) which has a multiple articulation ( 50 ) and a further articulation ( 51 ; 60 ), with the carrier element ( 30 ) coupled to the frame ( 10 ) so as to be mobile by means of three force-sensitive linear actuators ( 21 ) which in each case act on the multiple articulation ( 50 ) and on the articulations ( 40 ) of the frame ( 10 ), forming a tripod, and with the rod-shaped carrier element ( 30 ) additionally coupled to the frame ( 10 ) by means of the further articulation ( 51 ; 60 ) as well so as to be able to move, and with a grip part ( 70 ) arranged on the carrier element, characterised in that the carrier element ( 30 ) has a further grip part ( 71 ) which is mobile relative to the first grip part ( 70 ), force-sensitive grip actuator ( 20 , 21 ; 90 ) is provided, and least one of the grip parts ( 70 , 71 ) is coupled to the force-sensitive grip actuator ( 20 , 21 ; 90 ).