HAPTIC DEVICES

Model	Company	Feedback	Body Part	Price
Phantom Desktop	Sensable Technologies	Back friction 0.06N Max force exerted 6.4N Stiffness 3.5N/mm Inertia <75g	One finger	96KF HT 8% discount for education
6 DOF good response
Phantom Premium 1.5 6DOF	Sensable Technologies	Force and torque feedback Back friction 0.04N Max force exerted 8.5N Stiffness 3.5N/mm Inertia <75g		432,2KF HT 8% discount for education
Phantom Premium 3.0 6DOF	Sensable Technologies	Force and torque feedback Back friction 0.02N Max force exerted 22N Stiffness 1N/mm Inertia <155g		501,7KF HT 8% discount for education
Freedom 6S	MPB Technologies	Back friction 0.06N Max force/torque 2.5 N Stiffness 2.5 N/mm Inertia 150g	Hand	???
6 DOF
CyberForce	Virtual Technologies	force-feedback armature that conveys grounded forces to the hand and arm, serves as a six-degree-of-freedom positional tracker that measures translation and rotation of the hand in three dimensions. CyberForce is an option designed to work CyberGrasp.	Hand/arm	???
CyberGrasp	Virtual Technologies	force-reflecting exoskeleton that fits over a CyberGlove Maximum Continuous Force:12 N per finger Force resolution: 12-bit resolution Workspace: 1 meter radius hemisphere	resistive force feedback to each finger	???