- Installing Falcon Drivers and Haptik Library
- Configuring Haptik Library to use Falcon
- Running Example programs with Haptik Library
- September 2012: Newer versions of Haptik Library released (1.2RC). DLLs from previous versions (1.1RC) now deprecated. See this comment.
- October 2010: Incompatibility with Version 4.x driver.
- November 2009: First Release.
NOTE: This tutorial has been tested with Haptik Library 1.1RC in 2009. More recent version of the library (1.2, released Feb 2012) are available now. This tutorial should be used as a guideline and is neither tested nor guaranteed to work with the latest version.
Installing Falcon Drivers and Haptik Library
- Download the Haptik Library 1.1RC and Falcon Plugin from the Haptik Library website:
- Haptik Library is compatible with 3.1.4 version and above (Update: It doesn’t seem to work with Version 4.x) of Novint Falcon Driver. Download & Install it.
Configuring Haptik Library to use Falcon
- Once done with the installation of the above, try runing sample programs provided with Haptik Libary on Matlab.
C:\Program Files\Siena Robotics and Systems Lab\Haptik Library\Matlab
- You will Haptik Library throwing an error: Haptik.Config.txt unavailable.
- Copy Haptik.Falcon.dll to
C:\Program Files\Siena Robotics and Systems Lab\Haptik Library\RSLib\Bin
- Update the config file:
C:\Program Files\Siena Robotics and Systems Lab\Haptik Library\Matlab\Haptik.Config.txtChange the line:
HaptikLibrary.plugin4_0 = Haptik.Spectre.dll to
HaptikLibrary.plugin4_0 = Haptik.Falcon.dll
- Relocate(or copy) the config file the application working directory.
Application working directory is given by:
Running Example programs with Haptik Library
- Viewing Available Haptik Devices:
 ‘Falcon ’ ‘Falcon’ ‘Novint’
>>Success! Matlab and Falcon can now talk!
- Run the horizontal_plane.m and play with it. You should be able to “feel” a horizontal plane.
This completes the tutorial! You might want to explore horizontal_plane.m for better understanding of things. If you intend to use Matlab / Haptik for programming, I recommend make a vertical_plane.m to get started.
Hope this helps you get started!
I recently wrote an article for a tech newsletter.
The Story of Touch
Once upon a time, there lived a legendary computer wizard called Dumbledore, who found modern gadgets very boring! He wanted computers to behave and feel like the real world! Having a keen interest in applied research, he set out on a journey to explore how humans perceive the materialistic world.
Humans interact with today’s gadgets in many ways. We punch in keystrokes, move the mouse, touch and tilt the iPhone and if you are Stephen Hawking, even use brain waves to command the computer to perform a certain task! And how do these gadgets respond to you? Mostly, just with visual and auditory output.
“Is that the end of it?” Dumbledore wondered … “Is this all what modern technology can do?!” discontented he went on to take a deeper look …
Humans he found, start by a visual scan of an object, like to hear its sound, and touch it – to feel its shape, size, texture and weight to satisfy their curiosity of exploring new & interesting things.
Dumbledore having gathered this new knowledge wanted to share this information with others, so he posted his findings online. Naruto – a student at IIT, having read Dumbledore’s blog, soon realized what today’s technology was truly missing – the sense of touch! Naruto called it: “Haptics-no-jutsu!”
What is this Hap-ticks??
What is Haptics?
The science of sensing and manipulation through touch is called Haptics. The word originated from Greek root: Haptesthai, meaning “to touch”. Analysis of Haptics is subdivided into three sub-domains:
- Human Haptics – how we perceive touch as neuro-physiological signals
- Machine Haptics – design, implementation and control of a human-computer-interface devices to send and receive force & torque
- Computer Haptics – simulation (encoding & rendering) and communication of haptic signals in digital environments
Recent advances in virtual reality and robotics enable the human tactual system to be stimulated electro-mechanically through force feedback devices! Such devices are known as Haptic interfaces. We have a device here at the Haptics Lab of IITB, where we could feel a simulated rock, sand, magnet and even ice! Imagine playing video games with Haptics! …
Why Study Haptics?
Naruto was very intelligent but lazy! It was not until he heard Srinivasan Sensei’s words that he was actually motivated to do Haptics research:
“Given the ever-increasing quantities and types of information that surround us, there is a critical need to explore new ways to interact with information. Our haptic system – with its tactile, kinesthetic and motor capabilities together with the associated cognitive processes – present a uniquely bidirectional information channel to our brain and offers such a fantastic medium!” – said Prof Srinivasan M.A, Director, Touch Lab, MIT
Naruto joined Dumbledore to realize many interdisciplinary applications of Haptics:
- surgical simulators for medical training
- remote diagnosis for telemedicine
- hearing aids for the deaf and interfaces for the blind
- video games than let the user feel and manipulate virtual solids, fluids and avatars
- giving students a feel of physical phenomena at nano or macro scales
- High risk training
- virtual concert rooms in which the user can login remotely to play a musical instrument
- art exhibits and museums that allow touching and feel of expensive and rare objects without the risk of corrupting them
- imagine flying the first plane built by Wright brothers
Naruto and Dumbledore decided to pass on their knowledge to the younger generation, which they believed could still fascinate the world with its awesomeness:
- Imagine using a touch-screen versus a keypad. A keypad feels much better because you can touch and feel the keys and is also less error prone as compared to a touch-screen without any Haptic feedback.
- One of the greatest things about Haptics is that it enables a non-visual feedback – an ability that could be used to aid the disabled. During the Haptics workshop (Techfest 2009) we prepared a gadget that aided deaf to hear using principles like bone-conduction!
Researchers even today continue to discover considerable benefits of implementing Haptics in modern-day systems. I reckon something new, better and versatile is yet to unveil! To-be-continued …
with Tapu Dum
Many thanks to Disha and Jyothi for their invaluable feedback!
A very neatly conducted workshop, driven by the open source initiative.
Since quite a few days, I have been inching to play some music. And today when I heard Abhisekh play tabla so passionately I just couldn’t resist asking him again to teach me Tabla.
Finally, we struck a deal – I teach him how to synthesize music Fruity Loops and he teaches me real music!
This is how the interesting conversation took place:
I sent him Nightmare files.
Abhisekh Sankaran wrote:
Dude! got the files! thanks! 🙂 Actually we’ll try to extend this nightmare even to the day maybe on a weekend! 😀 what say?
Manav Kataria wrote:
While coming back form the gym I heard you play tabla! Boy! you’re awesome. It was amazing to see your in all that passion!
Give me a few lessons please. I’ll teach you more of Fruity Loops Nightmare! Do we have a deal? 😉
Abhisekh Sankaran wrote:
arrey… I need to practice a lot… hands all rusted…. need to do more thinking too…. thats rusted as well… 😛
Ok I’ll give a few lessons where we would start from the basics in the technique of playing but parallely we could discuss rhythm patterns… that would be very interesting… we could use both tabla and fruity loops for that purpose… what say?
Manav Kataria wrote:
AS: arrey… I need to practice a lot… hands all rusted…. need to do more thinking too…. thats rusted as well… 😛
MK: I think in the process, I might pick up some humility as well! … Tho’ I am not too comfortable about it! 😛
AS: Ok I’ll give a few lessons where we would start from the basics in the technique of playing but parallely we could discuss rhythm patterns… that would be very interesting… we could use both tabla and fruity loops for that purpose… what say?
MK: Wonderful idea! You are the man! Lets see how far we can go.. Sensei! 🙂
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