Haptics

Home Photos Modeling HIL Testing Design Work Plan Haptics Control Testing Documents Spec Sheets Sponsors Site Map

What are Haptics?

For information about the definition of what Haptics mean to the field of Robotics and Controls, click here.
 

The Personnel Haptic Interface Mechanism (PHANTOM)

Developed at MIT and produced commercially by Sensable Technologies, the Personnel Haptic Interface Mechanism (PHANTOM) is an active control device capable of 6 dof of control output and 3 dof of haptic force feedback. The PHANTOM has been previously used at the Intelligent Machine Dynamics Laboratory (IMDL) on the Hydraulically Actuated Lifter (HAL) project developed by Matthew Kontz, and Remote Teleoperation via the Internet by Ho Ching.

The intended use of the PHANTOM on the Robotic Backhoe project is to control the hydraulic cylinders with control signals generated from the PHANTOM's workspace position, while providing active feedback forces to the user's hand representing the digging force and tracking error.