Sounds like it. I worked for a few months building demos for the "SensAble Phantom" (not Omni). It was limited in that it gave force-feedback only against the

Sounds like it. I worked for a few months building demos for the "SensAble Phantom" (not Omni). It was limited in that it gave force-feedback only against the sphere at the tip. The orientation of the pen could not be restricted. We attempted to simulate feedback on more DOF through leverage, but it was lacking: like using a mouse to simulate a steering wheel in a driving game.