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The OpenHaptics™ toolkit is a haptics library developed by SensAble Technologies, Inc®. It is patterned after the OpenGL® API, making it familiar to graphics programmers and facilitating integration with existing OpenGL applications. OpenHaptics is composed of two layers: haptic device API (HDAPI) and haptic library API (HLAPI). HDAPI provides low-level access to the haptic device. HLAPI provides advanced haptic rendering capability. HDAPI and HLAPI are built on top of the PHANTOM® device drivers (PDD), the device drivers for PHANTOM series of haptic devices.