Abstract: A force feedback handle device with a degree-of-freedom includes: a driving part (1), a link part (2) and a frame part (3); wherein the driving part (1) and the link part (2) are both installed on a top board (9), and a rotation axis of the link part (2) coincides with a rotation axis of the driving part (1); the driving part (1), the link part (2) and the frame part (3) are fixed and connected by bolts. A working method of the force feedback handle device includes four steps. The force feedback device of the invention has low inertia and high stiffness performance, which improves overall interaction performance of the force feedback device. The structure is simple and a manufacturing cost is low.

Abstract: A robotic positioning apparatus configured for moving an element from an initial position to a target position. The apparatus includes a moveable member attachable to an element to be moved; at least one tensile support member for supporting the movable member; and at least one tensile positioning member for repositioning the moveable member. The at least one tensile positioning member is configured to maintain the at least one tensile support member in tension. The at least one tensile support member is configured to maintain an inclination of at least a portion of the moveable member during repositioning.