| 连续作用力 |
| Translational | 0.3 lbf | 1.4 N |
| Rotational, top 2 axes | 27 oz-in | 188 mNm |
| Rotational, handle axis | 7 oz-in | 48 mNm |
| 硬度 |
| Translational | 20 lbf/in | 3.5 N/mm |
| Rotational, top 2 axes -- greater than | 14.55 oz-in/deg | 5873 mNm/rad |
| Rotational, handle axis -- greater than | 14.55 oz-in/deg | 5873 mNm/rad |
| 惯性 |
| Translational | 0.2 lbm | 90 g |
| Rotational, shin -- small than | 0.24 lbm | 108 g |
| Rotational, middle --smaller than | 0.18 lbm | 80 g |
| Rotational, handle axis -- smaller than | 0.09 lbm | 40 g |
| Footprint | 10 in x 13 in | 25 cm x 33cm |
| Height | 14 in | 36 cm |
| Weight | 20 lbs | 9 g |
| 反作用力 |
| Translational | N/A | N/A |
| Rotational, top 2 axes | 0 degrees | 0 radians |
| Rotational, handle axis -- less than | 4degrees | 0.070 radians |
| 机械带宽 |
| Translational |
| Rotational -- roughly | 15.000 Hz |
| 自由度 |
| Force feedback | 6 degrees of freedom |
| Position sensing | 6 degrees of freedom |
| 系统要求 |
| Intel-based PCs | Windows 2000 or
Windows NT 4.0 with SP6
300 MHz Pentium processor
64 MB RAM
30 MB free disk space
Hardware graphics accelerator |
| SGI machines | Irix Version 6.5
64 MB RAM
30 MB free disk space
Hardware graphics accelerator |
