The Phantom Haptic Interface: A Device for Probing Virtual Objects
2
Thomas H. Massie
J. Kenneth Salisburg
Proceedings of the 1994 ASME International Mechanical Engineering Congress and Exhibition, Chicago, VOL DSC 55-1, pp 295 - 302
1994 ASME
http://www.sensable.com/haptics/asme.htm
This paper describes the PHANToM haptic interface - a device which
measures a user's finger tip position and exerts a precisely
controlled force vector on the finger tip. The device has enabled
users to interact with and feel a wide variety of virtual objects and
will be used for control of remote manipulators. This paper discusses
the design rationale, novel kinematics and mechanics of the PHANToM. A
brief description of the programming of basic shape elements and
contact interactions is also given.