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A Two DOF Planar Haptic Interface: The Pantograph

V. Hayward, C. Ramstein (CiTi)

We have designed a desktop haptic interface (a programmable force feedback mouse, so to speak). Several prototypes have been constructed to date. Prominent features of this device include a large workspace, low friction, low inertia, high rigidity and a minimal intrusion in the work area. Programmed mechanical models are used to kinesthetically describe the features of an interface. These models are analogous to iconic representations in conventional graphic interfaces. Users, acting and perceiving through the haptic channel, simultaneously perceive simulated objects through the visual and auditory channels,

The Pantograph


Many versions have been produced and used for experimental purposes. Presently, Haptic Technologies Inc., Montréal is marketing one version equipped with an embedded processor.

Commercial version of the Pantograph


Annual Report

Fri Nov 26 23:00:32 GMT 1999