Sigma7 haptic device's parallel structure provides 7 DoF in total, grouped in 3 sub-components of translation, rotation and grasping. Encoders are used to measure joint orientations and motors provide torque feedback on all 7 DoF (up to 20N and 400 mNm). The device has a workspace of ∅ 190 x 130 mm for translation, 235 x 140 x 200 deg for rotation and 25mm for grasping.

The sigma.7 haptic device features some unique characteristic that make it the interface of choice for the most advanced multiple point-of-contact touch-enabled applications.
Force Feedback: the Sigma7 features a delta-based parallel structure and custom-designed motors dedicated to high-performance force-feedback.
Torque Feedback: the Sigma7 features an active wrist that produces high-fidelity torque feedback, as well as active gravity compensation.
Active grasping: the Sigma7 offers 7 active degree-of-freedom, including a grasping mechanism.
Quality: the Sigma7 is designed for superior performance - no plastic components are used for any critical mechanical component of the device for unrivaled reliability and haptic quality.
Accuracy: a dedicated procedure provides one-time, drift-free calibration.
Stiffness: due to their unique patented parallel kinematics structure, the sigma.7 haptic device offers unequaled closed loop stiffness, allowing for crisper realism.
Comfort: all Sigma7 causes minimal user fatigue, thanks to their ergonomic design and active gravity compensation.
Safety: an onboard CPU monitors velocity in real time and enables electromagnetic damping on the haptic device if a problem occurs on the host computer.
Ease-Of-Use: the Sigma7 comes with the Force Dimension SDK, which provides a simple, flexible and powerful way of developing haptic applications.