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The paper presents an innovative integrated sensor-effector designed for use in exoskeletal haptic devices. The research efforts aimed to achieve high cost-effectiveness for a design assuring proper monitoring of joint rotations and providing passive force feedback. A review of market products revealed that there is space for new designs of haptic devices with such features. To determine the feasibility of the proposed solution, a series of simulations and experiments were conducted to verify the adopted design concept. The focus was set on an investigation of the force of attraction between one and two magnets interacting with a steel plate. Further, a physical model of an integrated joint was fabricated, and its performance was evaluated and compared to a similar commercially available device. The proposed solution is cost-effective due to the use of standard parts and inexpensive components. However, it is light and assures a 19 Nm braking torque adequate for the intended use as a haptic device for upper limbs.

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