DESIGN OF A SIX DEGREES OF FREEDOM HAPTIC DEVICE

iii To my brother iv ACKNOWLEDGMENTS First of all, I wish to express my deepest gratitude and appreciation to my advisor Assist. Prof. Dr. Kemalettin Erbatur for all his guidance and assistance not only throughout this thesis but all my graduate study. It has been a pleasure to work with him. I would like to thank Prof. Dr. Asif Şabanoviç who initiated this study and always be patient and tolerant with me. I would also like to acknowledge the members of my defense committee: Assoc. Prof. Dr. Mustafa Unel, Assoc. Prof. Dr. Mahmut Akşit and Assist. Prof. Dr. Erkay Savaş for finding time to serve as my jurors and for their comments on this work. I have to thank İlker Sevgen in addition to his friendship for his efforts in the completion of this thesis and Mehmet Güler for his “ultra-precise ” manufacturing skills. Among my friends who contributed to the success of this thesis in any way, I am glad to mention the following names; Burak Yılmaz who is my part-time roommate and one of the smartest and passionate people I have ever known, Nusrettin Güleç who has been nothing but a real friend for almost seven years now, Özer Ulucay whom I can always count on, Arda Burnaz who supplied foods, drinks and his unconditional friendship, Esra Nur Şahinoğlu whose friendship was precious for me, Onur Özcan who is one of the most sincere person I have known, Deniz Güçlü who was always there fo