Low-cost 5-DOF haptic stylus interaction using two Phantom Omni devices

This paper introduces a haptic interface providing 5-DOF stylus interaction for applications requiring 3-DOF force and 2-DOF torque feedback. The interface employs two coupled Phantom Omni devices each offering 3-DOF force feedback and 6-DOF position sensing. The interface uses an inexpensive lightweight coupling and no additional actuators enabling the interface to maintain low inertia and stylus interaction, both similar to the original Phantom Omni device. The interface also maintains unconstrained rotation about the stylus’ longitudinal axis aiding in handheld manipulation. Kinematic analysis of the 5-DOF interface is presented and the usable workspace of the device is demonstrated.