This paper introduces a novel type of actuator for force-reflection to haptic master interfaces. The actuator is based on a DC motor that is relocated from the mechanism joint by means of bowden cable transmissions. After an introduction and formulation of the project goals, the paper highlights some important bowden cable transmission characteristics that influence the design of the necessary hardware. Next, a hardware prototype is presented that has been built to analyze the transmis-sion characteristics of the bowden cable transmissions between actuator and robotic joint. The prototype was used next to investigate achievable actuator performance in force-feedback control with a slave. Results are presented, which show good performance and contact stability in a 4 channel control scheme. The actuator has low movement resistance in free motion and can reflect high torques during hard contact situations with a slave.

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