Haptic Devices

It offers 3 active degrees-of-freedom in translation and was designed to display highfidelity, high-quality kinesthetic and tactile information. Thanks to its unique parallel mechanical conception, the Delta Haptic Device can convey a large range of forces over a large workspace, unlike other haptic structures which have either limited force capability or smaller workspace. In addition, parallel mechanics along with base-mounted actuators leads to high stiffness and very low inertia. These characteristics make the Delta Haptic Device one of the best haptic tools available today.

The DELTA-3-DOF can also be upgraded to the 6-DOF model.

Built with the same meticulous care as its 3-DOF counterpart, the 6-DOF DELTA haptic device is designed as a complete solution for the most demanding haptic applications.

It offers 6 active degrees-of-freedom in translation and rotation and was designed to display high-fidelity, high-quality kinesthetic and tactile information. Thanks to its unique parallel mechanical conception, the Delta Haptic Device can convey a large range of forces and torques over a large workspace, unlike other haptic structures which have either limited force capability or smaller workspace. In addition, parallel mechanics along with base-mounted actuators leads to high stiffness and very low inertia. These characteristics make the Delta Haptic Device one of the best haptic tools available today.

With its unique mechanical design, the DELTA-6-DOF is Force Dimension's most flexible and versatile haptic device.

The Haptic SDK is the software interface for all Force Dimension products. It enables users to easily add haptic capability to their application by hiding all the complexity of haptic device programming. With the Haptic SDK, programmers only need to add a few lines of C/C++ to their code to take full advantage of the Force Dimension haptic device high-fidelity force rendering.
The Haptic SDK provides out-of-the-box compatibility with most existing haptic visualization packages (see features for more details), which makes it even easier for simulation application developers to use Force Dimension haptic products.

For researchers and users who need to perform advanced control tasks, the Haptic SDK provides a range of low-level functions that make it possible to access and control every aspect of Force Dimension haptic devices.

Alongside its haptic software, Force Dimension provides the Robotic SDK targeted at robotic and collaborative application development. With the Robotic SDK, the haptic device can safely and elegantly move in space, opening the door to new ways for man and machine to collaborate.

Both the Haptic SDK and Robotic SDK are available for popular platforms including Windows, Linux and Mac OS, as well as real-time operating systems such as QNX and tenAsys INtime.

Over the course of the last 5 years, CHAI 3D has grown to become one of the most popular open-source multi-platform haptics rendering frameworks, and has been used in a large number of research and production projects, in such diverse areas as games, simulators, educational software, interactive art, scientific visualization, and medical applications. Written in C++, CHAI 3D has been designed to make it easier and more intuitive for developers to produce applications that combine 3D modeling with force-feedback rendering capabilities. By supporting different types of force-feedback devices, CHAI3D offers a unique interface to easily design and deploy advanced computer haptic solutions.

Modular Architecture:
CHAI3D combines an extensive number of force rendering algorithms, including the finger-proxy model, potential fields and implicit based models which allow programmers to easily develop sophisticated simulations with integrated force-feedback capabilities. The CHAI3D framework also provides the necessary data structures required to create multi-level scene-graphs which carry static, dynamic and articulated bodies. A lightweight OpenGL-based graphics engine provides the foundations for easy rendering of virtual environments using dedicated 3D graphic acceleration hardware. Object meshes, implicit shapes, surface materials and texture properties are all represented in well organized base classes that can easily be extended by the programmer to incorporate more advanced or application-specific features. CHAI3D also provides support for importing 3D files from professional applications such as Autodesk 3D Studio Max and Alias Wavefront.

Designing Extensions:
Support for third party components is achieved through well organized extension modules that independently complement the capabilities of the CHAI 3D core elements. Extension modules currently include the ODE and GEL dynamics engines for simulating rigid and deformable bodies in real time. Well documented templates are provided for developers who wish to integrate custom designed haptic display solutions. Thanks to its lightweight and modular architecture, CHAI3D can easily be combined with third party libraries including graphics or dynamics engines.

Support:
The CHAI3D framework is currently available for Windows, Mac OS X and Linux platforms (32-bit and 64-bit editions). Force Dimension currently leads the development of CHAI3D for professional applications by providing comprehensive technical support for research institutions and companies who wish to combine CHAI3D with Force Dimension’s family of haptic devices.