The PHANToM Haptic Interface: A Device for Probing Virtual Objects

TLDR

The PHANToM haptic interface measures fingertip position and applies precise force vectors, enabling users to interact with virtual objects. Its design incorporates novel kinematics and mechanics, with software that programs basic shape elements and contact interactions. The device allows users to feel diverse virtual objects and can be employed to control remote manipulators. 1.

Abstract

1. Abstract 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.