Emidio Olivieri and Leonardo S. Mattos

Abstract — This paper presents a new C++ library for the development of software for haptics technologies. It was created to overcome limitations in existing solutions, including the lack of support for Linux for many devices and the burdensome integration with ROS.  The main features of the new library include the possibility of designing and adding in real-time new haptic devices, objects and effects, the connectivity with ROS, and the availability of a Qt-OpenGL widget for the visualization of the scene. The new library outperforms existing solutions, such as CHAI3D, both in framerate and haptic smoothness. An example of application is shown, which uses the new library to introduce haptic feedback in a teleoperated laser surgery system.