Virtual manipulating apparatus and method

• US 5,670,987 A
• Filed: 03/07/1996
• Issued: 09/23/1997
• Est. Priority Date: 09/21/1993
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Kato, Nobuko, Doi, Miwako, Umeki, Naoko
• Primary Examiner(s): LIANG, REGINA
• Application Number:
  US08/612,076
• Time in Patent Office: 565 Days
• Field of Search: 325/156, 325/157, 325/158, 325/145, 325/146, 395/161, 395/355, 395/326
• US Class Current: 345/156
• CPC Class Codes: B25J 9/1692 Calibration of manipulator
• CPC Class Codes: G05B 2219/40131 Virtual reality control, programming of manipulator
• CPC Class Codes: G05B 2219/40155 Purpose is grasping objects
• CPC Class Codes: G06F 3/014 Hand-worn input/output arrangements, e.g. data gloves
• CPC Class Codes: G09B 9/00 Simulators for teaching or training purposes for the use of weapons F41; computing aspects G06; protocols for games, networked simulations or virtual reality H04L67/131

Abstract

A manipulation target such as a lever or button is displayed in a three-dimensional virtual space using three-dimensional computer graphics. The positions of a thumb and an index finger are detected. A manipulation instruction is interpreted, using interpretation rules described on the basis of a relationship between the detected positions and the thumb and the index finger and the three-dimensional coordinates of a display device.

Claims

1. A virtual manipulating apparatus, comprising:

presentation means for presenting a manipulation target in a three-dimensional virtual space using three-dimensional computer graphics;

position detecting means for detecting a finger tip position of an operator, including;

a position source for generating a magnetic field;

position sensors, mounted on a tip of a thumb and a tip of an index finger of the operator, for detecting the magnetic field from said position source;

transmitting means, mounted on the tip of the thumb and the tip of the index finger for transmitting position information from said position sensors; and

receiving means for receiving the position information sent from said transmitting means;

interpreting means for interpreting a manipulation instruction, using prescribed rules, on the basis of a relation between the position of the finger tip which is detected by said position detecting means and the position of the manipulation target on the presentation means.

2. The apparatus according to claim 1, wherein the position detecting means detects positions of a thumb tip and an index finger tip.

3. An apparatus according to claim 1, wherein the manipulation instruction includes "Grasp", "Slide", "Point", "Touch" and "Release".

4. An apparatus according to claim 1, wherein said transmitting means transmit the position information to said receiving means through a radio unit.

5. An apparatus according to claim 1, wherein said transmitting means transmit the position information to said receiving means through cables.

6. A virtual manipulating apparatus comprising:

presentation means for presenting a manipulation target;

simulator means for simulating internal processing of the manipulation target presented on said presentation means;

manipulation storage means for storing a manipulation attribute of each manipulation target together with graphic data presented on said presentation means;

position detecting means for detecting a finger tip position of an operator, including;

a position source for generating a magnetic field;

position sensors, mounted on a tip of a thumb and a tip of an index finger of the operator, for detecting the magnetic field from said position source;

transmitting means, mounted on the tip of the thumb and the tip of the index finger, for transmitting position information from said position sensors; and

receiving means for receiving the position information sent from said transmitting means;

interpreting means for interpreting a manipulation instruction for said presentation means on the basis of a relation between the finger tip position detected by said position detecting means, a position of said presentation means, and the manipulation attribute stored in said manipulation attribute storage means; and

information management means for performing control to transmit the manipulation instruction interpreted by said interpreting means to said simulator means and present a result of the manipulation instruction on said presentation means.

7. An apparatus according to claim 6, wherein the manipulation instruction includes "Grasp", "Slide", "Point" "Touch" and "Release".

8. An apparatus according to claim 6, wherein said transmitting means transmit the position information to said receiving means through a radio unit.

9. An apparatus according to claim 6, wherein said transmitting means transmits the position information to said receiving means through cables.

10. An apparatus according to claim 6, wherein

said presentation means comprises

object attribute data storage means for storing position data of an object in a three-dimensional virtual space generated by computer graphics;

object status data storage means for storing initial status data of each object;

inter object relation data storage means for storing inter object parent-child relation data;

means for generating a three-dimensional image in the virtual space on the basis of the position data, the initial status data, and the inter object parent-child relation data;

display means for displaying the three-dimensional image, and

input means used to enter input information for manipulating each object; and

said interpreting means comprises;

object determining means for determining a target object from the data input from said input means, and

updating means for updating the status data or a display on said display means so as to correspond to a manipulation input by said input means, on the basis of the attribute data, the status data, and the relation data which are determined by said object determining means.

11. An apparatus according to claim 10, further comprising object data setting means for setting and editing each of the object position data, the attribute data, the inter object relation data, the object initial state data.

12. An apparatus according to claim 11, further comprising means for reflecting a result set and updated by said object data setting means to said generating means in real time, thereby displaying and updating the result.