"PHANToM" Haptic Interface

A "PHANToM" is a haptic device sold by Sensable Technologies.
(Pictures from Sensable Technologies website)

"PHANToMs" are available in a variety of sizes and quality of construction (see Sensable's PHANToM page). The sturdiest models are the "Premium" models. They also now have a very small model that interfaces with the firewire port of a PC, called an Omni that's available for about $2,000.

Current Phantom Setup:

Link Lengths:

From Shoulder to Elbow : 0.205m
From elbow to the roller : 0.265m (the phantom has a small gimbal attached to its tip which is then connected to the Contact display)

Gear Ratios:(Needs to be checked)

For the phantom arm : 10
For the base : 12.5

Power Supply to the Phantom:

The code has been written so that the maximum current that can be sent to the phantom has been restricted to 1.39 Amps through the phantom arm (elbow and shoulder) and 1.26 Amps through the phantom base. The current values especially through the base will be changed after doing some initial experiments.

-- WillP? - 21 Oct 2004 -- SureshSainath? - 28 Nov 2004