
162 Virtual Reality: Concepts and Technologies
Figure 8.13 Virtuose 6D Medical. (Illustration: CEA-LIST, with permission)
This defect can be limited by getting rid of the helical linkage, which guarantees
a fixed distance between the ends of the two branches. This solution has been used
on the Twin Pantograph Haptic Interface developed towards the end of the 90’s by
the University of British Columbia in Canada (Stocco & Salcudean, 1996). This inter-
face only has 5 degrees of freedom, since rotation around the axis of the pen is not
possible. It was industrialised and marketed by the Quanser company under the name
5DOFHaptic Wand. This interface only ...