PHANTOM

A family of force-feedback haptic devices originally developed by SensAble Technologies (now part of 3D Systems). PHANTOM devices use a pen-like stylus that users grasp while motors apply forces to create the sensation of touching virtual objects or being guided along trajectories. The PHANTOM Omni (later Geomagic Touch) is widely used in accessibility research for exploring haptic interfaces, tactile graphics, and trajectory-based learning for blind and visually impaired users. The device provides six degrees of freedom for position sensing and three degrees of freedom for force feedback, making it suitable for precise spatial interaction tasks.