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Sensable Open Haptics™ Toolkit
Author:Hannah  From:EduVR  Hits:  UpdateTime:2007/12/26 17:11:34  Inputer:admin  Editor:cathy

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Version 3.0 of the OpenHaptics toolkit for Linux is now available!
Version 3.0 of the OpenHaptics software development toolkit dramatically simplifies and speeds the touch-enabling of computer applications.Designed to work with SensAble's PHANTOM force-feedback haptic devices, version 3.0 includes the new QuickHaptics micro API, which enables any professional with even passing familiarity with C++ to quickly and easily add the kinesthetic feel of what users see and/or hear on a computer screen.

Introducing the New QuickHaptics Micro API
Write a simple graphic/haptics application using 8 lines of programming code instead of 300!QuickHaptics enables rapid program design and deployment, and is ideal for mash-ups into existing applications, trying out new ideas, and creating haptic examples. Using graphic and haptic function calls that encapsulate the logical steps for typical haptic applications, QuickHaptics makes it incredibly faster andeasier to write new haptic applications, or to add haptics to existing applications.

The OpenHaptics toolkit includes the QuickHaptics micro API, Haptic Device API (HDAPI),the Haptic Library API (HLAPI),PHANTOM Device Drivers (PDD), utilities,and source code examples.

Features in OpenHaptics v3.0
Linux support, including support for 7 DOF option, pinch grips, and customized grips OpenHaptics now provides support and installers for most of the common Linux distros such as the latest versions of OpenSuse, Fedora, and Ubuntu. RPM, DEBIAN and TGZ packages are provided for easy installation across various linux distros.Use OpenHaptics to develop Linux applications that require 7DOF positional sensing. Utilize SensAble s interchangeable snap-on end effectors or design your own custom grip for 6DOF PHANTOMs.
Vista support Use OpenHaptics on the latest computers running Vista, or continue running XP.
Depth of penetration Continuously monitor the depth of penetration from the Surface contact point, and set different force parameters accordingly. Ideal for simulations, such as an epidural injection, that mimic the feel of a needle passing through different layers of tissue.
Support for standard 3D model file formats Load 3D models with textures in a single command. Support for 3DS, OBJ, STL, and PLY eliminates the need to convert 3D models to special formats prior to programming.
Adjust torque parameters on 6DOF devices Make individual adjustments to the torque parameters for pitch, roll, and yaw on the gimbal.
New demos and source code examples Jump-start your application development with new demos and examples that show you how to:

  • Integrate QuickHaptics with lower-levels of OpenHaptics;
  • Use haptics to place a medical tool in the correct position;
  • Define your own force model;
  • Set different material properties depending on depth of penetration.

    OpenHaptics v3.0 is available for Microsoft Windows 32-bit and 64-bit XP and Vista, as well as for Linux.

    OpenHaptics- System Requirements:

    OpenHaptics v3.0 for win32 and x64 Windows Vista and XP

  • Intel Pentium 4 or higher
  • 512 MB free disk space
  • 1GB RAM
  • Depending on PHANTOM model: Parallel Port (EPPMode port built into the motherboard is recommended) or FireWire 1394a*

    2.Software: Windows XP (SP2) or Vista; win32 or x64

    3.Compilers: Microsoft Visual C++ 2005 or Visual C++2003 (supports 32-bit only)
    May require recompiling HDU and HLU Utility libraries

    4.Drivers: PHANTOM Device Driver v4.2.B122 or above

    5.One of the supported PHANTOM haptic devices. Please note that PCI-based PHANTOM Premium devices are not supported.
  • PHANTOM Omni (FireWire IEEE 1394a)*
  • PHANTOM Desktop (Parallel Port)
  • PHANTOM Premium 1.0, 1.5, 1.5 High Force, 3.0 (Parallel Port)
  • PHANTOM Premium 1.5/6DOF, 1.5HF/6DOF, 3.0/6DOF (Parallel Port)
  • NOTE: the PHANTOM Communication Converter (PCC) is available for Parallel Port devices to be used with a FireWire interface.

    OpenHaptics v3.0 for Linux

  • Intel Pentium 4 or higher. To interface with the SensAble Desktop or Premium devices, EPP mode parallel-port built into the motherboard is required.
  • 512 MB disk space and 1 GB RAM.

  • Most Linux distributions are supported
  • Kernel 2.6.30 or higher
  • raw1394 kernel module
  • Mesa OpenGL with GLX interface to the X Window System. Make sure that glxgears runs on your system
  • GLUT OpenGL Utility Toolkit
  • MesaGLw Mesa Widget Library . Requires the Motif bindings (built with ./configure --enable-motif)
  • FreeType2 Portable font engine (

    3.Compilers: gcc 4.x

    4.Drivers: PHANTOM Device Drivers v 4.3-2 or above

    5.One of the Supported PHANTOM Models.
  • PHANTOM Omni (FireWire IEEE 1394a)*
  • PHANTOM Desktop (Parallel Port)
  • PHANTOM Premium 1.0, 1.5, 3.0 (Parallel Port)
  • PHANTOM Premium 1.5/6DOF, 3.0/6DOF (Parallel Port)

    6.Note: the following configurations are NOT Supported
  • High Force PHANTOM Premium devices
  • PHANTOM Communication Converter
  • Dual PHANTOM Configurations
  • PCI-based PHANTOM Premium devices
  • Available for Download at SensAble's Developer Support Center (DSC)

    OpenHaptics v2.0 for Mac OS X

  • PowerPC G3, G4, or G5 processor
  • 256MB of physical RAM
  • Built-in FireWire 1394a*

    2.Software: Mac OS X 10.3 or 10.4, Xcode 1.5 or 2.1

    3.Compilers: gcc 3.x
    Supports only the PHANTOM Omni (FireWire IEEE 1394a)

    4.Note: No separate PDD is required for OpenHaptics for Mac OS X.
  • thefacts
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    Sensable Open Haptics™ Toolkit

        Up-to-date price lists in your preferred currency.
    Model USD
    product_software_sensable_freeform OpenHaptics Toolkit Software and Basic Developer, OpenHaptics Support and Updates (initial purchase)
    Price is per seat, includes: OpenHaptics™ toolkit software and perpetual software license - This haptics toolkit is patterned after the OpenGL® API, making it familiar to graphics programmers and facilitating integration with OpenGL applications. The OpenHaptics toolkit includes the lower-level HDAPI. Basic Developer OpenHaptics software support and updates (1 year) includes: - Source code examples - Access to the SensAble online Developer Support Center and forum - Documentation
    Price on
    product_software_sensable_freeform Basic Developer OpenHaptics Software Unit, Support and Updates (annual renewal)
    Basic Developer OpenHaptics software support and updates (1 year) includes: - Source code examples - Access to the SensAble online Developer Support Center and forum - Documentation
    Price on
        If you have not found the info you want above, try here.
     q How do I install my license for the OpenHaptics toolkit for Windows
     a Pick a directory to store your license file. This file has the filename license.lic. Now set an environment variable named OH_SDK_LICENSE_PATH to be the path to that directory. For example, if your license key is stored in the directory C:\OpenHapticsLicense, and your license key is in C:\OpenHapticsLicense\license.lic, then OH_SDK_LICENSE_PATH should have the value C:\OpenHapticsLicense
        PDFs, downloadable videos and miscellaneous items of use.
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