Force sense presenting apparatus

A force sense presenting apparatus comprising a right hand force sense presenting unit and a left-hand force sense presenting unit, each of said force sense presenting units comprising:

• an end effector having first, second, third and fourth wire contact points;
• an upper frame and a lower frame positioned above and below said end effector, respectively;
• first and second motors at one side and another side, respectively, of said upper frame;
• third and fourth motors at said one side and said other side, respectively, of said upper frame;
• fifth and sixth motors at one side and another side, respectively, of said lower frame;
• seventh and eighth motors at said and said other side, respectively, of said lower frame;
• first and second wires connected between wire exits of each of said first and second motors and said first wire contact point;
• third and fourth wires connected between a wire exit of each of said third and fourth motors and said second wire contact point;
• fifth and sixth wires connected between a wire exit of each of said fifth and sixth motors and said third wire contact point;
• and
• seventh and eighth wires connected between a wire exit of each of said seventh and eighth motors and said fourth wire contact point,
• wherein:
• said one side of said upper frame of said right-hand force sense presenting unit is linearly coupled to said one side of said upper frame of said left-hand force sense presenting unit,
• said force sense presenting apparatus further comprises:
• a right-hand rear-coupled frame coupling an approximately middle location of said upper frame in said right-hand force sense presenting unit to said one side of said lower frame in said right-hand force sense presenting unit so that said upper frame and said lower frame in said right-hand force sense presenting unit are approximately T-shaped viewed from the top;
• and
• a left-hand rear-coupled frame coupling an approximately middle location of said upper frame in said left-hand force sense presenting unit to said one side of said lower frame in said left-hand force sense presenting unit so that said upper frame and said lower frame in said left-hand force sense presenting unit are approximately T-shaped viewed from the top, and
• the end effector of said right-hand force sense presenting unit and the end effector of said left-hand force sense presenting unit cooperate with each other.