The PHANTOM 1.5/6DOF, 1.5 HighForce/6DOF and 3.0/6DOF devices allow users to explore application areas that require force feedback in six degrees of freedom (6DOF). Examples include virtual assembly, virtual prototyping, maintenance path planning, teleoperation, and molecular modeling. Simulating torque force feedback makes it possible to feel the collision and reaction forces and torques of a part in a virtual assembly path, or the rotational torques supported by a remote "slave" robot in a teleoperation environment. These devices provide force feedback in three translational degrees of freedom. Additionally, both systems provide torque feedback in three rotational degrees of freedom in the yaw, pitch and roll directions. The 1.5/6DOF and 1.5 HighForce/6DOF devices have a range of motion approximating lower arm movement pivoting at the elbow. The 3.0/6 DOF has a range of motion approximating full arm movement pivoting at the shoulder. The PHANTOM 1.5/6DOF, 1.5 HighForce/6DOF, and 3.0/6DOF devices connect to the PC via the parallel port (EPP) interface.

Supported OS platforms for the Premium model 1.5/6DOF include Windows® 2000/XP, RedHat Linux 9, RedHat Fedora™, and SUSE 9.0.

Supported OS platforms for the Premium model 1.5 High Force/6DOF include Windows® 2000 and XP. Support for RedHat Fedora™ and SUSE 9.0 is planned.

Supported OS platforms for the Premium model 3.0/6DOF include Windows® 2000/XP, RedHat Fedora™, and SUSE 9.0.