A PhysX-Based Framework to Develop Rehabilitation Systems Using Haptics and Virtual Reality

The use of Virtual Reality (VR), in combination with haptic devices (ie robotic manipulators capable of generating forces that stimulate the tactile and/or proprioceptive system of the users) is becoming very popular in the field of rehabilitation. As matter of fact, different rehabilitation requirements, related to various pathologies, are usually addressed by developing specialized haptic devices, together with specific VR worlds and exercises to be performed within. This, in turn, usually brings a tremendous effort when new exercises must be designed and/or new haptic devices, with their mechanical model and hardware (HW) interfaces, must be embedded into an existing environment. To cope with the required flexibility and adaptability, while reducing the development cost, we propose in this chapter a software framework that aims at reducing the development time and cost of new VR+ haptics systems, through the use …