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A Two DOF Planar Haptic Interface: The Pantograph

We have designed a desktop haptic interface (a programmable force feed-back 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, see Figure gif.
V. Hayward, C. Ramstein (CITI), J. Choksi, G. Lanvin

The Pantograph

Thierry Baron
Mon Nov 13 10:43:02 EST 1995