Compact haptic interface includes a base and a yoke rotatably disposed within the base. Also disclosed is a method for quenching a heated metal part, which process comprises immersing said metal part in the quenching medium. The vessel also has two one-part shield segments, each affixed to at least to one of two stiffening rings. The transfer line is constructed so that gases produced during the burning of the RDC do not escape and pose a threat to the surroundings during functioning and so moisture does not enter the system during shelflife, transportation, or at any other time prior to functioning.