Patent ID: 7916121

Claim:
A host computer, comprising: a memory storing an emulation layer, the emulation layer configured to: receive a haptic command from an application program; determine whether to transmit the haptic command to a force feedback interface device or to process the haptic command; if the emulation layer transmits the haptic command to the force feedback interface device, the emulation layer is further configured to: determine a high level command based at least in part on the haptic command; and transmit the high level command to the force feedback interface device; and if the emulation layer processes the haptic command, the emulation layer is further configured to: determine force values based at least in part on the haptic command, and stream the force values to the force feedback interface device in real time; and a processor in communication with the memory and with the force feedback interface device comprising an actuator for outputting forces to the force feedback interface device, the processor configured to execute the emulation layer and the application.