Haptics Processing Unit Software Architecture for Transportable High Dynamics Force-Feedback Coupling

  • Annie Luciani
  • Nicolas CastagneEmail author
  • James Leonard
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8619)


This article is a contribution to today’s stream of research studying the interests of employing a Haptics Coprocessing Unit (HPU) for force-feedback interaction, and possible core features and hardware/software architectures of such HPU. It introduces a force-feedback software framework, called CORDIS-In, powered by a DSP-based HPU. CORDIS-In’s design was driven so as to obtain a transportable platform, however able to provide very high dynamics force-feedback coupling. It provides time deterministic synchronous computing of any mass-interaction physics-based network, possibly at high simulation rates, high precision and programmability in adjusting the mechanical coupling of the user and the simulation through the device, and generic communication protocols with the host.


High dynamics force feedback Time deterministic synchronous computing Haptics processing unit HPU features and software architecture 



This research was supported by the French Agence Nationale de la Recherche through the cooperative project DYNAMé - ANR-2009-CORD-007, the French Ministry of Culture and Grenoble Institute of Technology. We thank Jean-Loup Florens and Claude Cadoz for sharing with no reserve their high level of expertise through exiting discussions, and Stéphane Boeuf for the quality of his concepts and computer implementations.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Annie Luciani
    • 2
  • Nicolas Castagne
    • 1
    Email author
  • James Leonard
    • 1
  1. 1.ICA LaboratoryGrenoble INPGrenobleFrance
  2. 2.ACROE and ICAGrenoble INPGrenobleFrance

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