Fig. 3From: Enabling visually impaired people to learn three-dimensional tactile graphics with a 3DOF haptic mouseSections of TAMO3 mechanical components with emphasis on the kinematic chain. The levers attached to the servos have length \(L_{lever_{s}}\). They transmit the motion to three metallic rods that have length \(L_{rod_{s}}\). \(\hbox {C}_{{s}}\) is the coordinate array of lever centres of rotation and r is the tactor radiusBack to article page