A flexible framework for mobile based haptic rendering

The present paper discusses a framework for creating flexible rehabilitation exercises on a mobile haptic interface. The approach is based on a combination of high level interactive scripting with a flexible real-time haptic control algorithm. The control problem has been decomposed into primitives such that the real-time issues are managed at low level on the mobile system, while a high level control can interact with the user through powerful and flexible scripting. The control architecture is flexible enough to operate haptic rendering on wireless mobile devices. Overall the system allows to create a large variety of rehabilitation exercises that can all share the same methodology for their parametrization and assessment. The rationale of the design and the implementation of the different control level will be provided. Design experiments, based on a rehabilitation game scenario will also be discussed.