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Abstract This paper describes the PHANToM haptic interface - a device which measures a user’s finger tip position and exerts a precisely controlled force vector on the finger tip. The device has enabled users to interact with and feel a wide variety of virtual objects and will be used for control of remote manipulators. The paper discusses the design rationale, novel kinematics and mechanics of the PHANToM. A brief description of the programming of basic shape elements and contact interactions is also given.
Massie et al. (Sun,) studied this question.