The final mechanism effecter and its translation to a virtual space are done by mapping a single point having coordinate frame x, y, z in the axis labelled surface contact point SCP, god-object, haptic interface point HIP Popescu, 1999, Proxy Phantom Omni or hdTool Novint Falcon.
La representación del efector final del dispositivo háptico en el entorno virtual se realiza mediante un solo punto con coordenadas en los ejes x, y, z, denominado SCP surface contact point, God-Object, HIP haptic interface point Popescu, 1999, proxy para el Phantom Omni o hdlTool para el Novint Falcon.