PHANTOM Omni® Haptic Device The SensAble Technologies PHANTOM® product line of haptic devices makes it possible for users to touch and manipulate virtual objects. The PHANTOM Omni model is the most cost-effective haptic device available today. Portable design, compact footprint, and IEEE-1394a FireWire* port interface ensure quick installation and ease-of-use.
See the Technical Specifications below or in the PDF from the Related Links. - CE certified
- Six degree-of-freedom positional sensing
- Portable design and compact footprint for workplace flexibility
- Comfortable molded-rubber stylus with textured paint for long term use and secure grip
- Removable stylus for end-user customization
- Two integrated momentary switches on the stylus for ease-of-use, and end-user customization
- Wrist rest to maximize user comfort
- Compact workspace for ease-of-use
- Constructed of metal components and injection-molded plastics
- Stylus-docking inkwell for automatic workspace calibration
PHANTOM Omni Technical SpecificationForce feedback workspace | ~6.4 W x 4.8 H x 2.8 D in.
> 160 W x 120 H x 70 D mm. | Footprint (Physical area device base occupies on desk) | 6 5/8 W x 8 D in.
~168 W x 203 D mm. | Weight (device only) | 3 lbs. 15 oz. | Range of motion | Hand movement pivoting at wrist | Nominal position resolution | > 450 dpi.
~ 0.055 mm. | Backdrive friction | < 1 oz (0.26 N) | Maximum exertable force at nominal (orthogonal arms)position | 0.75 lbf. (3.3 N) | Continuous exertable force (24 hrs.) | > 0.2 lbf. (0.88 N) | Stiffness | X axis > 7.3 lbs. / in. (1.26 N / mm.)
Y axis > 13.4 lbs. / in. (2.31 N / mm.)
Z axis > 5.9 lbs. / in. (1.02 N / mm.) | Inertia (apparent mass at tip) | ~0.101 lbm. (45 g) | Force feedback | x, y, z | Position sensing [Stylus gimbal] | x, y, z (digital encoders)
[Pitch, roll, yaw (± 5% linearity potentiometers) | Interface | IEEE-1394 FireWire® port: 6-pin to 6-pin | Supported platforms | Intel or AMD-based PCs | OpenHaptics® Toolkit compatibility | Yes | Applications | Selected Types of Haptic Research, FreeForm® Modeling™ system, ClayTools™ system |
* The PHANTOM Omni device is IEEE 1394a compliant. However, SensAble is aware of customers that have experienced difficulties with the PHANTOM Omni device with certain IEEE 1394a chipsets such as those from Texas Instruments, Agere, and NEC. At SensAble, we have had great success with VIA chipsets. The reasons behind this are complex but our experience is that certain manufacturer's implementations of the IEEE specification for 1394a can vary widely. Manufacturers may use an assortment of chipsets when making their cards. Our test results indicate that VIA exceeds most or all IEEE standards. PHANTOM Omni devices, which require high I/O for the servo loop maintained for haptics, behave well with brand name manufacturers that use VIA chips. "No name" FireWire® cards and others do not test as well and packet loss is sometimes observed. SensAble does not officially qualify any particular manufacturer's card and chipset but is working with the IEEE organization and industry leaders to improve 1394. Additionally, SensAble highly recommends that customers using the PHANTOM Omni device purchase a 1394a FireWire card with VIA chipset. back to top |
|
