The controller enables the user to input a position signal to a robot through the movement of the controller arms. The arms are all attached to a point where the pen is placed. The pen is able to move in 3 dimensions.

3D (xyz) Translation Capable

The controller also has the ability to convey force to the user when the robot touches an object. This is achieved using three motors at the base (see below) that, when acting together, "push" against the user's pen motion.

Motors at the base of haptic device

The motors at the base provide large forces (upwards of 20N). Also, the controller can provide more than 6 inches of motion in any direction. This is beyond any current commercial product.

The controller is simple to install into any PC, via the USB port. Once installed, it is just a matter of running a haptic-compatible application.