Visual Debugger for Single-Point-Contact Haptic Rendering.

Haptic applications are difficult to debug due to their high update rate and man yf actors influencing their execution. In this paper ,w ed escribe ap ractical visual debugger for single-point-of-contact haptic devices of impedance-type. The debugger can easily be incorporated into the running haptic application. The visualization shows the position trajectory with timing infor- mation and associated data lik eg oal positions and computed feedback forces. Also, there are several options for in detail analysis of the feedback force applied at each time instance. We sho ww ith several use cases taken from practical experience that the system is well suited for locating common and intricate problems of haptic appli- cations.