This toolbox was designed for use with the PHANToM made by SensAble Technologies using GHOST version 2.1 on the PC.

To use this toolbox, follow these steps:

1. Make sure all the files in the .zip file are placed in the same directory.

2. Run the "install" batch file to register the haptics control.

3. The .m files included should now work with MATLAB. You may want to set up your MATLAB configuration to automatically look in the directory containing the .m files. Otherwise, you will just have to specify the path at the MATLAB prompt when you want to use these .m files.

The .m files are documented, so you can find out how to use them by typing the usual "help *function*" method at the MATLAB prompt.

To get started, the basic function for plotting a matrix of data is "hsurf". If you call the "hsurf" function, a default data plot should come up in a MATLAB figure window. You can then start the PHANToM by typing "haptics". A dialog prompting you to hold the PHANToM in the reset position should appear. Press ok to start the PHANToM.

For additional information, contact: