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 de-vices each o ering 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 inter- action, 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 inter-face is presented and the usable workspace of the device is demonstrated.