The HapticMaster: Rendering Haptics in MATLAB

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.