Advanced haptic devices for academic and commercial research and development. Technical Specifications

Property

Premum 1.5

Premum 1.5/6DOF

Premum 1.5 High Force

Premum 1.5 High Force/6DOF

Premum 3.0/6DOF

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

33 W x 23 H x 16 D in
838 W x 584 H x 406 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

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

Full arm movement pivoting at shoulder

Nominal position resolution

Translational

860 dpi/0.03mm

3784 dpi/0.007mm

> 1000 dpi/~0.02mm

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

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

4.9 lbf/22 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

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

5.7 lbf in-1
1 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

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

x, y, z, roll, pitch, yaw

Interface

Parallel port

Parallel port

Parallel port

Optional end effectors

Encoder gimbal

Thumb pad (pinch), scissors

HF Encoder gimbal

Thumb pad (pinch), scissors

Thumb pad (pinch), scissors