The Inca 6D cable-driven haptic device is based on the SpidarTM of Professor Sato.
Technical Specifications
| Maximum force on transmission cable | 37.5 N |
| Continuous force on transmission cable | 12.5 N |
| Winding length of transmission cable | 2.5 m |
| Force of pre-tension cable | 5 N |
| Winding length of pre-tension cable | 1.0 m |
| Length measurement resolution | 7.10-6 m |
| Dimensions of actuator | 0.1 x 0.2 x 0.3 m |
| Weight of actuator | 2,5 kg |
| Weight balancing | Static, partial (mechanical, with springs) |
| Number of buttons | 3 (1 clutch, 2 application-specific) |
| Tool changer | Yes |
