Geomagic® Phantom® Premium™ 6DOF (Degrees of Freedom)

The premier haptic products in the Geomagic® Phantom® line, (formerly Sensable) Phantom Premium 6DOF haptic devices offer highly accurate 3D object manipulation and allow users to explore application areas that require force feedback in six degrees of freedom rather than three, such as virtual prototyping, maintenance path planning and molecular modeling.

In addition to force feedback along the x-, y- and z-axis, the Phantom Premium 6DOF haptic device simulates torque force feedback in three rotational degrees of freedom: yaw, pitch and roll. Incorporating six degrees of freedom, these motorized devices provide more complete touch-based feedback that allows users to feel collision and reaction torques on a part in a virtual assembly path or feel the rotational torques supported by a remote slave robot in a teleoperation environment.

The Phantom Premium 6DOF family of haptic devices is comprised of three models. The Phantom Premium 1.5/6DOF and 1.5HF/6DOF provide a range of motion approximating lower arm movement pivoting at the elbow. A larger haptic device, the Phantom Premium 3.0 6DOF provides a greater range of motion, approximating full arm movement pivoting at the shoulder.

Phantom Premium 6DOF devices can also be fitted with optional end effectors that provide pinch functionality, simulating a seventh degree of freedom, for application in medicine, manufacturing and more.

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Phantom Premium 1.5 and 1.5 High Force (HF) 6DOF Devices

The Phantom Premium 1.5/6DOF and 1.5HF/6DOF haptic devices provide a range of motion approximating lower arm movement pivoting at the elbow. These devices provide force feedback in three translational degrees of freedom as well as torque feedback in three rotational degrees of freedom in the yaw, pitch and roll directions. The Premium 1.5HF device includes a built-in gear box option that provides higher forces. The 1.5/6DOF and the 1.5HF/6DOF devices connect to the PC via the parallel port (EPP) interface.

The 1.5/6DOF and 1.5HF/6DOF devices now ship with chrome components. If you are using these devices with optical tracking equipment, please contact us.

 

Phantom Premium 3.0 6DOF

The 3.0/6DOF provides a range of motion approximating full arm movement pivoting at the shoulder. This device provides force feedback in three translational degrees of freedom as well as torque feedback in three rotational degrees of freedom in the yaw, pitch and roll directions. The 3.0/6DOF device connects to the PC via the parallel port (EPP) interface.

The 3.0/6DOF device now ships with chrome components. If you are using this device with optical tracking equipment, please contact us.

 

7 DOF Option for Phantom 6 DOF Devices

A new handle design for the PHANTOM 6 DOF family of haptic devices enables attaching interchangeable end effectors that provide pinch functionality -- 7 DOF positional sensing and 6 DOF haptic feedback. Take advantage of all the benefits of a full 6 DOF haptic controller plus the option to add two different pinch grips.

Read more details (PDF)

 

Applications

Six-DoF Haptic Rendering of Contact between Geometrically Complex Reduced Deformable Models

A paper by Jernej Barbič (Carnegie Mellon University), Doug L. James (Cornell University) on the topic of how to simulate haptic contact between a rigid object and a reduced FEM deformable object, both with complex geometry.
Time-critical distributed contact for 6-DoF haptic rendering of adaptively sampled reduced deformable models

 

OpenHaptics Toolkit with QuickHaptics micro API

Using the Phantom Premium with our QuickHaptics micro API enables rapid program design and deployment. With QuickHaptics you can write a simple graphic/haptics application using 8 lines of programming code instead of 300!

Academic version available at no charge.  Read More

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Features

  • Largest force-feedback workspaces and high-precision instruments meet the requirements of a broad range of research project or commercial applications
  • Sturdy design
  • Wide range of motion
  • 6-degree-of-freedom force feedback
  • Device connects to the PC via parallel port (EPP) interface
  • CE certified