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It is composed of two platforms moving with respect to each other, actuated by two servomotors housed in one of structures. The device implements a rigid coupling mechanism between the two platforms, based on a three-legged 3-4R constrained parallel linkage, with the two servomotors actuating two of these legs. The device can apply position\/kinesthetic haptic feedback to the user hand(s). This paper presents the device and its kinematics, together with a human subjects experiment where we evaluate its capabilities to provide meaningful directional information.<\/jats:p>","DOI":"10.1007\/978-3-031-06249-0_23","type":"book-chapter","created":{"date-parts":[[2022,5,19]],"date-time":"2022-05-19T16:05:38Z","timestamp":1652976338000},"page":"198-206","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Design of a 2-DoF Haptic Device for Motion Guidance"],"prefix":"10.1007","author":[{"given":"Lisheng","family":"Kuang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Maud","family":"Marchal","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marco","family":"Aggravi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Paolo Robuffo","family":"Giordano","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Claudio","family":"Pacchierotti","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,5,20]]},"reference":[{"issue":"1","key":"23_CR1","doi-asserted-by":"publisher","first-page":"706","DOI":"10.1109\/TIE.2019.2899551","volume":"67","author":"F Chinello","year":"2019","unstructured":"Chinello, F., Malvezzi, M., Prattichizzo, D., Pacchierotti, C.: A modular wearable finger interface for cutaneous and kinesthetic interaction: control and evaluation. 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