Haptic Device API (HDAPI)

The HDAPI provides low-level access to the haptic device, enables haptics programmers to render forces directly, offers control over configuring the runtime behavior of the drivers, and provides convenient utility features and debugging aids.

• Optimized interface to the SensAble PHANTOM® haptic devices, including the low-cost PHANTOM® Omni™ device
• Architected to be extensible and OS platform-independent
• Software control over:
  • User-definable haptic servo loop for ideal performance
  • Error handling and safety limits for an optimal user experience
  • Scheduling user-defined callbacks within the haptic thread for maximum control over synchronization
  • Direct access to encoder values and control over motor DAC values for advanced programming
• Includes API, utilities, and source code examples

Haptic Device API Functionality

Get Device State

• Position, orientation, velocity
• 3 coordinate spaces: Cartesian, joint, raw data I/O (encoder/DAC )
• Buttons

Get Device Characteristics

• Model, version, serial number
• Workspace dimensions, I/O DOF
• Motor temperature
• Max stiffness, max force, max velocity
• Calibration capabilities

Set Device State

• Force/torque in Cartesian space
• Motor DAC

Scheduler

• Synchronous and asynchronous user-defined callbacks
• Customizable scheduling of callbacks
• Facilitates synchronization of the haptics and graphics threads
• User-definable haptic servo loop rate

Enable / Disable

• Force: output, clamping, ramping
• Error reporting
• Software checks: max force, max velocity

Error Reporting and Handling

• Error categories, including:
  • Function
  • Force
  • Device
  • Haptic rendering
  • Scheduler
• Error stack

Device Calibration Interface

• Auto calibration
• Manual calibration

Utilities

• C++ haptic device wrapper
• Workspace-to-camera view mapping
• Vector and matrix math and geometry
• Snap constraints

HDAPI Diagram

Product specifications are subject to change without notice.