Six Degree-of-Freedom Haptic System as a Desktop Virtual Prototyping Interface

This paper describes a new six degree of freedom haptic interface with a large translational and rotational range of motion. The 6DOF haptic interface is demonstrated with an example industrial-scale virtual prototyping simulation which shows a moderately complex object Interacting with an arbitrarily complex virtual environment, using a full-service collision detection and response package to calculate the force and torque response in all six degrees of freedom.