Magister-P is an open architecture haptic device with 6 d.o.f. force feedback. Magister-P is based on a modification of a 6-6 Gough platform. The device has been tested on our laboratory for manipulating a real slave robot (a Mitsubishi PA-10) and as a haptic device for a surgical simulator.
The main characteristic is the open architecture that allows the Magister-P to be configured as an impedance or admittance display.