The Phantom® Premium™ haptic devices fulfill the requirements of a vast range of research and commercial applications

With ranges of motion approximating hand movement pivoting at the wrist or elbow, the Phantom Premium can fulfill the requirements of manufacturing verification, machine component visualization, medical research and simulation, and an assortment of other haptically-enabled 3D applications.

Four models make up the Phantom Premium line of haptic devices:

  • Phantom Premium 1.5
  • 1.5 HF (High Force)
  • 1.5 6DOF
  • 1.5 HF/6DOF

While the models are designed with different ranges of motion and specifications, each Phantom Premium haptic device is constructed for maximum durability and simple PC connection via the parallel port (EPP) interface.

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Phantom Premium 1.5 Features

The Phantom Premium 1.5 haptic device provides a range of motion approximating lower arm movement pivoting at the elbow. This device includes a passive stylus and thimble gimbal and provides three degrees of freedom positional sensing and three degrees of freedom force feedback. You can purchase an encoder stylus gimbal separately, enabling the measurement of pitch, roll, and yaw. A 6DOF device is available for applying forces on all 6 axis. A Phantom Premium 1.5 HF (High Force) device is also available and includes a built-in gear box option that provides higher forces. 

Phantom Premium 1-5

Phantom Premium Technical Specifications

Device Specification

6DOF

Premium 1.5

HF
Work Volume
Translation
 ~ 28 x 27 x 9 in 710 x
687 x 225 mm 180
X
 167
Y
Z
 103
Rotation
Yaw
 297 Available option
Pitch
 260
Roll
 335
Range of motion
 Hand movement pivoting at the elbow
Workspace
Translation
 15 W x 10.5 H x 7.5 D in
381 W x 267 H x 191 D mm
Footprint Dimensions
~ 13 W x 10 D in
330 W x 254 D mm
Weight
 35 lbs
Nominal position resolution
Translation
 860 dpi / 0.03mm 3784 dpi / 0.007mm
Rotation
Yaw & Pitch
 0.0023 degrees
Roll
 0.0080 degrees
Maximum exertable force and torque at orthogonal arms
Translation
 1.9 lbf / 8.5 N 8.4 lbf / 37.5 N
Rotation
Yaw & Pitch
 73 oz-in/515 mNm N/A
Roll
 24 oz-in/170 mNm N/A
Continuous exertable force and torque (24 hrs) at orthogonal arms
Translation
 0.3 lbf / 1.4 N 1.4 lbf / 6.2 N
Rotation
Yaw & Pitch
 73 oz-in/515 mNm N/A
Roll
 24 oz-in/170 mNm N/A
Backdrive friction
 0.15 oz / 0.04 N 0.75 oz / 0.2 N
Inertia (at tip)
 ~0.17 lbm / ~75g ~0.33 lbm / ~150g
Stiffness
 20 lbf in-1 / 3.5 N mm-1
Force feedback
 X, Y, Z; Roll, Pitch, Yaw X, Y, Z
Position sensing/input
 X, Y, Z; Roll, Pitch, Yaw X, Y, Z (Roll, Pitch, Yaw available)
Optional end effectors
 Customizable;Thumb pad (pinch), scissors Customizable; available encoder gimbal stylus
Servoloop rate
 up to 8KHz
Interface
 USB 2.0/3.0, or a powered USB 2.0/3.0 hub
Power
 24V DC 9.2A 221W
Phantom SDK, Unreal, Unity, compatibility
 Yes

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