Patent ID: 8667860

Claim:
A haptic device comprising an active gripper comprising a first contact surface ( 114 ) being adapted for contact by a first portion of a hand of a user, a second contact surface ( 112 ) being adapted for contact by a second portion of the user's hand, which hand's second portion being moveable in relation to the hand's first portion; and a moveable member ( 118 ) arranged between the first contact surface ( 114 ) and the second contact surface ( 112 ) and being adapted to actively move the first contact surface ( 114 ) and the second contact surface ( 112 ) in relation to each other; a base plate ( 4 ); an end-effector ( 6 ); and a parallel kinematics structure arranged between the base plate ( 4 ) and the end-effector ( 6 ); the parallel kinematics structure providing three translational degrees of freedom on the end-effector ( 6 ) such that the orientation of the end-effector ( 6 ) is constant with respect to the base plate ( 4 ), wherein the parallel kinematics structure is a Delta parallel kinematics structure.