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Torque with 3 degrees of freedom?

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Hi, I'm thinking of purchasing a haptic device of either 3 degrees of freedom (DOF) or 6 DOF. 3 DOF devices are almost 10 times cheaper therefore i'd obviously prefer one of these. I wondered if is possible to simulate effects of torque when interacting with a deformable object given that with 3 DOF you cant rotate about any coordinate axis?

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