Phantom Premium Haptic Devices

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 1.5 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.

Device Specification		6DOF	Premium 1.5	HF
Work Volume	Translation	~ 28 x 27 x 9 in 710 x
		687 x 225 mm 180
	X	167
	Y
	Z	103
	Rotation
	Yaw	297	Available option
	Pitch	260
	Roll	335
Range of motion		Hand movement pivoting at the elbow
Workspace	Translation	15 W x 10.5 H x 7.5 D in
		381 W x 267 H x 191 D mm
Footprint Dimensions
		~ 13 W x 10 D in
		330 W x 254 D mm
Weight		35 lbs
Nominal position resolution	Translation	860 dpi / 0.03mm		3784 dpi / 0.007mm
	Rotation
	Yaw & Pitch	0.0023 degrees
	Roll	0.0080 degrees
Maximum exertable force and torque at orthogonal arms	Translation	1.9 lbf / 8.5 N		8.4 lbf / 37.5 N
	Rotation
	Yaw & Pitch	73 oz-in/515 mNm	N/A
	Roll	24 oz-in/170 mNm	N/A
Continuous exertable force and torque (24 hrs) at orthogonal arms	Translation	0.3 lbf / 1.4 N		1.4 lbf / 6.2 N
	Rotation
	Yaw & Pitch	73 oz-in/515 mNm	N/A
	Roll	24 oz-in/170 mNm	N/A
Backdrive friction		0.15 oz / 0.04 N		0.75 oz / 0.2 N
Inertia (at tip)		~0.17 lbm / ~75g		~0.33 lbm / ~150g
Stiffness		20 lbf in-1 / 3.5 N mm-1
Force feedback		X, Y, Z; Roll, Pitch, Yaw		X, Y, Z
Position sensing/input		X, Y, Z; Roll, Pitch, Yaw		X, Y, Z (Roll, Pitch, Yaw available)
Optional end effectors		Customizable;Thumb pad (pinch), scissors	Customizable; available encoder gimbal stylus
Servoloop rate		up to 8KHz
Interface		USB 2.0/3.0, or a powered USB 2.0/3.0 hub
Power		24V DC 9.2A 221W
Phantom SDK, Unreal, Unity, compatibility		Yes