The HapticMaster: Rendering Haptics in MATLAB

Author

Abbruzzese, Kevin ; Foulds, Richard

Author_Institution

New Jersey Inst. of Technol., Newark, NJ, USA

fYear

2013

fDate

5-7 April 2013

Firstpage

205

Lastpage

206

Abstract

The FCS HapticMaster is a 3 degree of freedom robot that incorporates an admittance control paradigm. This device is capable of rendering haptic objects through the use of a HapticAPI. However, the HapticAPI relies on C++ source code and OpenGL for graphical display. MATLAB executable (MEX) functions may offer an alternative approach for rendering haptics. These subroutines allow MATLAB to execute C++ code directly in MATLAB, as if they were MATLAB functions. These MEX functions grant the ability to use the HapticMaster in MATLAB, gaining access to all the positive features of the software. This has prompted the development of virtual reality therapies in MATLAB that incorporate haptic features.

Keywords

C++ language; control engineering computing; haptic interfaces; medical computing; medical robotics; patient treatment; rendering (computer graphics); virtual reality; 3 degree of freedom robot; C++ source code; FCS HapticMaster; HapticAPI; MATLAB executable functions; MEX functions; OpenGL; admittance control paradigm; graphical display; haptic features; rendering haptic objects; subroutines; virtual reality therapy; Admittance; Force; Haptic interfaces; MATLAB; Medical treatment; Rendering (computer graphics); Virtual reality; HapticMaster; Haptics; MATLAB; MEX; Rehabilitation; Robot Therapy; Virtual Reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Bioengineering Conference (NEBEC), 2013 39th Annual Northeast

Conference_Location

Syracuse, NY

ISSN

2160-7001

Print_ISBN

978-1-4673-4928-4

Type

conf

DOI

10.1109/NEBEC.2013.144

Filename

6574430