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. 2001 Oct 20;323(7318):912–915. doi: 10.1136/bmj.323.7318.912

Figure 2.

Figure 2

The PHANTOM haptic feedback device (SensAble Technologies, Cambridge MA, USA). The user holds a small stylus and explores, in this case, a 3D virtual molecular structure. Each time the 3D cursor makes contact with part of the structure, small motors work in tandem to restrict the movement of the stylus, thereby creating a sense of touch (reproduced with permission).