SOFA: Software for Observing Force-feedback Algorithms

Abstract

Over the past few years, haptic algorithms have advanced considerably. However, no standard evaluation method exists, which allows researchers to compare their results in an objective manner. This paper elaborates on an evaluation method for haptic algorithms. As this method makes use of user input, an experiment was conducted to define how to the evaluation method should be applied.

In order to allow researchers to apply the evaluation method, a C++ library was developed: SOFA, Software for Observing Force-feedback Algorithms. This library can be used in haptic rendering libraries, which allows developers to provide their own haptic device implementation.

Finally, the SOFA library can also aid in debugging haptic algorithms, as it can provide developers with consistent haptic input and can allow them to experience what the users felt.