Comparative Study of APIs and Frameworks for Haptic Application Development

The simulation of tactile sensation using haptic devices is increasingly investigated in conjunction with simulation and training. This work explores the most popular haptic frameworks and APIs. We provide a comprehensive review and comparison of their features and capabilities, from the perspective of a software developer. In order to compare the studied frameworks and APIs, we identified and applied a set of eleven criteria and we obtained a classification of platforms, from the perspective of these criteria. According to this classification, we decide on the best platform to develop a visuo-haptic prototype for liver diagnostics.