Answers are grounded in this paper and cite their sources.
The OpenHaptics/spl trade/ toolkit is a haptics library developed by SensAble Technologies, Inc/spl reg/. It is patterned after the OpenGL/spl reg/ API, making it familiar to graphics programmers and facilitating integration with existing OpenGL applications. OpenHaptics is composed of two layers: haptic device API (HDAPI) and haptic library API (HLAPI). HDAPI provides low-level access to the haptic device. HLAPI provides advanced haptic rendering capability. HDAPI and HLAPI are built on top of the PHANTOM/spl reg/ device drivers (PDD), the device drivers for PHANTOM series of haptic devices.
No takes yet. Share an insight, caveat, or question.
Itkowitz et al. (2005) studied this question.
Synapse has enriched one closely related paper. Consider it for comparative context: