Martín, José SanTriviño, GraciánCesar Mendoza and Isabel Navazo2014-02-012014-02-0120063-905673-61-4https://doi.org/10.2312/PE/vriphys/vriphys06/127-128When a haptic interface is going to be used as a part of a computational system a design criteria consist of maximizing the coincidence between the application 3D space and the physical volume where the haptic device provides the maximum performance. A well known parameter to evaluate the performance of a mechanical manipulator is the manipulability. This paper explains in detail the analysis of manipulability of the Phantom Omni haptic interface including the study of the manipulability distribution into its real workspace boundaries.Categories and Subject Descriptors (according to ACM CCS): I.3.4 [Computer Graphics]: Graphics Utilities: Virtual Device Interfaces H.5.2 [User Interfaces]: Haptic I/O, Input Devices and Strategies