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A Two DOF Planar Haptic Interface: The Pantograph

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 (Fig. 6.5). Although this design is now five years old, it still supports a number of experiments.

Figure 6.5: The Pantographfig

Many versions have been produced and experimented with. Presently, Haptic Technologies Inc., Montréal is marketing one version equiped with an embedded processor. A newer product has evolved from the original design named the PenCat/Pro. (Figures 6.6 and 6.7). V. Hayward, C. Ramstein (Haptic Technologies Inc.)

Figure 6.6 Commercial version of the Pantograph


Figure 6.7: The PenCat/Pro

Annual Report

Mon Jun 26 21:22:20 GMT 2000