We describe the hardware design, force-rendering approach, and evaluation of a new reconfigurable haptic interface consisting of a network of hybrid motor-brake actuation modules that apply forces via cables. Each module contains both a motor and a brake, enabling it to smoothly render active forces up to 6 N using its motor and collision forces up to 186 N using its passive one-way brake. The modular design, meanwhile, allows the system to deliver rich haptic feedback in a flexible number of DoF and widely ranging configurations.
@article{arxiv.2603.08054,
title = {Rendering Forces With a Modular Cable System, Motors, and Brakes},
author = {Jan Ulrich Bartels and Alexander Achberger and Katherine J. Kuchenbecker and Michael Sedlmair},
journal= {arXiv preprint arXiv:2603.08054},
year = {2026}
}