The Premium 3.0 haptic device provides a range of motion approximating full arm movement pivoting at the shoulder. This device includes either a finger sled or a handle gimbal (choice of one) and provides 3 degrees of freedom positional sensing and 3 degrees of freedom force feedback. An encoder stylus gimbal can be purchased separately, enabling the measurement of an additional 3 degrees of positional sensing (pitch, roll & yaw). The encoder-stylus, finger sled and handle gimbal arm assemblies may also be purchased separately and can be installed by the user. The Premium 3.0 device connects to the PC via the parallel port (EPP) interface.