Virtuose 3D Desktop  

The Virtuose 3D Desktop is a haptic device specifically designed for bidirectional interactivity with virtual 3D applications. It provides 3 degrees-of-freedom (DOF) with force-feedback, and 3 DOF with position feedback. Its work space and its small overall dimensions intend it for a use on individual workstations, equipped with a standard monitor.

The Virtuose 3D Desktop is composed of two main articulated segments fixed on a rotating base. The second segment ends with an articulated wrist, which can rotate around three concurrent axes. As a consequence, the haptic interface is a 6 degrees-of-freedom device, with force-feedback on the 3 first axes. The structure of the Virtuose 6D Desktop makes it possible to work in a volume of 521 x 370 x 400 mm. The center of the square is 30 cm from the base of the device. The resolution in position is of 0.01 mm.

















Technical Characteristics:

6 degrees of freedom position feedback
3 degrees of freedom active force-feedback
Operational workspace corresponding to the movements of the lower arm pivoting around the elbow: 521 x 370 x 400 mm and 270° x 120° x 250°
Continuous force of 3N (Maximum force of 10 N)
Passive weight balancing with springs
Tool fixation through a standard 1/8th inch axis for easy customization
Lightweight, no specific equipment needed for transport
Support of both impedance (force) and admittance (position) control
Development kit (API) available for Microsoft Windows and Linux (32 and 64 bits)
Communication through Ethernet/UDP


Number of motors: 3
Type of motors: DC
Output power of the motors: 60W in 48V
Power supply: 100-240 VAC one-phase
Power consumption: Less than 200W
Peak maximum force: 10 N
Peak continuous force: 3 N
Apparent Inertia: 150g
Weight of the haptic arm: 3.4 kg
Weight of the power supply: 2.1 kg

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