The Sensable Technologies PHANTOM product line of haptic devices makes it possible for users to touch and manipulate virtual objects. Different models in the PHANTOM product line meet the varying needs of both research and commercial customers. The PHANTOM Premium models are high-precision instruments and, within the PHANTOM product line, provide the largest workspaces and highest forces, and some offer 6DOF capabilities. The PHANTOM® Desktop™ device and PHANTOM® Omni™ device offer affordable desktop solutions. Of the two devices, the PHANTOM Desktop delivers higher fidelity, stronger forces, and lower friction, while the PHANTOM Omni is the most cost-effective haptic device available today.