1.
device description
6
11
4
9
6
5
12
8
10
7
3
2
1
figure 1 – sigma.7 haptic device overview
1.
device stand rear leg
7.
end-effector (grasping handle)
2.
device stand front legs
8.
pole mounting interface
3.
device stand pole
9.
power switch
4.
device main body
10.
power connector
5.
arms of translational base
11.
USB connector
6.
rotational wrist
12.
user I/O connector
