PHANSIM: A Simulink Toolkit For the SenSable PHANToM Haptic Devices

• Author(s) / Creator(s)

  • Alireza Mohammadi
  • Mahdi Tavakoli
  • Ali Jazayeri

• The PHANToM R devices (SensAble Technologies Inc., MA, USA) provide the users in industry and academia with an opportunity for research and education in virtual reality, haptics, robot motion control and teleoperation. Traditionally, one has to develop C/C++ codes using the OpenHaptics R software de- velopment kit (SDK) in order to use these devices. The PHAN- SIM Toolkit is an academic/non-commercial Simul- ink toolkit for real-time motion control and teleoperation of the PHAN- ToM haptic devices. This toolkit facilitates using the PHAN- ToM haptic devices in Simulink. The usefulness of this toolkit is demonstrated through two illustrative experiments using two different types of PHANToM products, namely the Omni and the Premium 1.5 models. (Video: https://www.youtube.com/watch?v=rAAa9hKRcW4)

• Date created

  2011-06-05

• Subjects / Keywords

  • Teleoperation
  • Simulink
  • MATLAB
  • Haptic
  • PHANToM
  • Toolkit
  • PHANSIM

• Type of Item

  Conference/Workshop Presentation

• DOI

  https://doi.org/10.7939/r3-g4d4-ae47

• License

  Attribution-NonCommercial 4.0 International