This chapter presents an implementation based on the Virtual Reality Peripheral Network (VRPN 07.30) to handle connectivity between Virtual Reality (VR) applications and SensAble® Technology Phantom Haptic Devices using the OpenHaptics 3.0 Haptic Library Application Programmable Interface (HLAPI). VRPN offers a client–server-based architecture to support network-transparent connectivity between VR applications and a set of physical interaction devices. In this context, VRPN provides a set of classes to handle various physical device types. The proposed implementation consists of (a) new VRPN classes that support connectivity between a haptic device server and VR applications, allow to specify arbitrary 3D object information to haptically render geometries, and report applied force, angle at contact point, Surface Contact Point (SCP), and Depth of Penetration (DOP) and (b) an upgrade of the Phantom dedicated VRPN class to handle haptic rendering using the OpenHaptics HLAPI to manage device state and force computation.