Haptic interface system for collision detection and applications therefore
US7084867B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 31, 2000 |
| Grant date | Aug 1, 2006 |
| Priority date | — |
| Expiry date | Mar 31, 2020 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2210/28
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method and system are provided for controlling the simulated interfacing of a controlled first body, for example a tool, with a second body while providing haptic feedback to a user on such interfacing. Selected representations of the first and second bodies are stored in a memory of a processing apparatus and are used by such apparatus to control simulated movement of the first body relative to the second body in response to a user controlled haptic interface device. Collisions between the first and second body are detected, including the position on each body of each collision, the direction of the collision and the force of the collision, and this information is converted for each collision into a force vector on the first body which is fed back as a corresponding force vector to the interface device, and thus to the user. A feature of the invention is storing a point cloud representation of at least one of the bodies, which point cloud representation is utilized in the simulations. The representations may also be an implicit equation representation, a binary space tree partition representation or the like. A niceness factor may also be utilized in determining force feedback a…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.