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SensAble PHANTOM™ |
Developed at MIT, the PHANTOM™ device's patented and elegant
design provides high-fidelity 3D force-feedback, the ability to
operate in an office/desktop environment, compatibility with
standard PCs and a universal design for a broad range of
applications. The PHANTOM haptic interface is distinguished from
other touch interfaces by what it isn't. It is not a bulky
exoskeletal device, a buzzing tactile stimulator or a vibrating
joystick. Five models are currently availble to meet varying needs.
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 The
PHANTOM Desktop delivers the functionality, ergonomics, aesthetics
and price-point necessary to support mainstream applications.
Designed with office desktops in mind, this model easily connects
to the computer via an extended parallel port (EPP) and is powered
by a compact, universal (110/230 VAC) power supply. An Encoder
Stylus, which provides 6-degree-of-freedom positional sensing, is
also standard with the PHANTOM Desktop. Portable design, compact
footprint, and simple parallel port interface ensure installation
and ease of use. |
 The
PHANTOM 1.5/6DOF is a desktop tool that allows for the exploration
of application areas requiring force feedback in six degrees of
freedom (6DOF). Examples of such applications include virtual
assembly, virtual prototyping, maintenance path planning,
teleoperation and molecular modeling. This model provides full
force and torque feedback to the user. Simulating torque force
feedback makes it possible to feel the collision and reaction
forces and torques of a part in a virtual assembly path, or the
rotational torques supported by a remote "slave" robot in a
teleoperation environment. |
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The original PHANTOM Premium models provide a broad range of
workspace, stiffness and motor force to accommodate the specific
requirements of different research projects. Systems are equipped
with a passive 3-degrees-of-freedom positional measurement for the
1.0 and 1.5 models. All include a power amplifier, interface card
(PCI) and 6-foot cables. Supported platforms include PCs running
Windows XP, 2000, Windows NT, and Red Hat Linux 7.2. |
The PHANTOM Premium 1.0 is a system capable of 6 degrees of
freedom input and 3 degrees of freedom output. This model provides
a workspace of 5 x 7 x 10 inches (12.7 x 17.8 x 25.4 cm) or the
range of motion approximate to the lower arm pivoting at the
user's wrist. |
The PHANTOM Premium 1.5 is suited for applications requiring a
larger range of hand motion. This model provides a workspace of
7.5 x 10.5 x 15 inches (19.1 x 26.7 x 38.1 cm), or the range of
motion approximate to the lower arm pivoting at the user's elbow. |
The PHANTOM Premium 3.0 provides the largest available workspace
of 16 x 23 x 33 inches (40.6 x 58.4 x 83.8 cm), approximating the
range of motion of one's arm pivoting at the shoulder. This model
provides more than twice the maximum exertable force while
maintaining the low friction and inertial levels of the smaller
PHANTOM models. |
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Feature Overview |
The PHANTOM™ hardware device represents a revolution in human
computer interface technology. Prior to its invention, computer
users only had the capability to interact with the machine through
the sense of sight, and more recently, sound. The sense of touch,
the most important sense in many tasks, has been conspicuously
absent. The PHANTOM device changes all of this. Just as the
monitor enables users to see computer generated images, and audio
speakers allow them to hear synthesized sounds, the PHANTOM device
makes it possible for users to touch and manipulate virtual
objects. Different models in the PHANTOM product line meet the
varying needs of both commercial and research customers.
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