Extending support to customised multi-point haptic devices in CHAI3D

 CHAI3D is a widely accepted haptic SDK in the society because it is open-source and provides support to devices from different vendors. In many cases, CHAI3D and its related demos are used for benchmarking various haptic collision and rendering algorithms. However, CHAI3D is designed for off-the-shelf single-point haptic devices only, and it does not provide native support to customised multi-point haptic devices. In this paper, we aim to extend the existing CHAI3D framework and provide a standardized routine to support customised, single/multi-point haptic devices. Our extension aims at two issues: Intra-device communication and Inter-device communication. Therefore, our extension includes an HIP wrapper layer to concurrently handle multiple HIPs of a single device, and a communication layer to concurrently handle multiple position, orientation and force calculations of multiple haptic devices. Our extension runs on top of a custom-built 8-channel device controller, although other offthe shelf controllers can also be integrated easily. Our extension complies with the CHAI3D design framework and advanced provide inter-device communication capabilities for multi-device operations. With straightforward conversion routines, existing CHAI3D demos can be adapted to multi-point demos, supporting real-time parallel collision detection and force rendering.