The Phantom® Premium™ haptic devices fulfill the requirements of a vast range of research and commercial applications

With ranges of motion approximating hand movement pivoting at the wrist or elbow, the Phantom Premium can fulfill the requirements of manufacturing verification, machine component visualization, medical research and simulation, and an assortment of other haptically-enabled 3D applications.

Four models make up the Phantom Premium line of haptic devices:

  • Phantom Premium 1.5
  • 1.5 HF (High Force)
  • 1.5 6DOF
  • 1.5 HF/6DOF

While the models are designed with different ranges of motion and specifications, each Phantom Premium haptic device is constructed for maximum durability and simple PC connection via the parallel port (EPP) interface.

PHANTOM Premium 1.0 Haptic Device

Phantom Premium 1.5 Features

The Phantom Premium 1.5 haptic device provides a range of motion approximating lower arm movement pivoting at the elbow. This device includes a passive stylus and thimble gimbal and provides three degrees of freedom positional sensing and three degrees of freedom force feedback. You can purchase an encoder stylus gimbal separately, enabling the measurement of pitch, roll, and yaw. A 6DOF device is available for applying forces on all 6 axis. A Phantom Premium 1.5 HF (High Force) device is also available and includes a built-in gear box option that provides higher forces. 

Phantom Premium 1-5

Phantom Premium Technical Specifications

Property

Premium 1.5

Premium 1.5/6DOF

Premium 1.5 High Force

Premium 1.5 High Force/6DOF
Workspace
Translational

15 W x 10.5 H x 7.5 D in
381 W x 267 H x 191 D mm

15 W x 10.5 H x 7.5 D in
381 W x 267 H x 191 D mm
Rotational
Yaw
Pitch
Roll


297 degrees/5.18 radians
260 degrees/4.54 radians
335 degrees/5.85 radians


297 degrees/5.18 radians
260 degrees/4.54 radians
335 degrees/5.85 radians
Range of motion

Lower arm movement pivoting at elbow

Lower arm movement pivoting at elbow
Nominal position resolution
Translational

860 dpi/0.03mm

3784 dpi/0.007mm
Rotational
Yaw & Pitch
Roll

0.0023 degrees/0.00004 radians
0.0080 degrees/0.00014 radians

0.0023 degrees/0.00004 radians
0.0080 degrees/0.00014 radians
Maximum exertable force and torque at nominal position (orthogonal arms)
Translational

1.9 lbf/8.5 N

8.4 lbf/37.5 N
Rotational
Yaw & Pitch
Roll

73 oz-in/515 mNm
24 oz-in/170 mNm

73 oz-in/515 mNm
24 oz-in/170 mNm
Stiffness

20 lbf in-1
3.5 N mm-1

20 lbf in-1
3.5 N mm-1
Force feedback
(6 degrees of Freedom)

x, y, z

x, y, z, Tx, Ty, Tz

x, y, z

x, y, z, Tx, Ty, Tz
Position sensing/input
(6 degrees of Freedom)

x, y, z, roll, pitch, yaw

x, y, z, roll, pitch, yaw
Interface

Parallel port

Parallel port
Optional end effectors

Encoder gimbal

Thumb pad (pinch), scissors

HF Encoder gimbal

Thumb pad (pinch), scissors
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