Force feedback haptic interface for a three-dimensional CAD surface

• US 5,694,013 A
• Filed: 09/06/1996
• Issued: 12/02/1997
• Est. Priority Date: 09/06/1996
• Status: Expired due to Term

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Chen, Yihan, Stewart, Paul J.
• Primary Examiner(s): Ro, Bentsu
• Application Number:
  US08/709,570
• Time in Patent Office: 452 Days
• Field of Search: 318/561, 318/567, 318/568.1, 318/568.11, 345/156, 364/474.24, 395/118, 395/119, 395/127, 395/129, 395/788, 414/4, 414/5, 434/365, 434/369, 434/428, 901/9, 901/31, 901/32, 901/33, 901/34, 901/36
• US Class Current: 318/561
• CPC Class Codes: B25J 9/1656 characterised by programming, planning systems for manipulators
• CPC Class Codes: G05B 2219/40119 Virtual internal model, derive from forces on object, motion of end effector
• CPC Class Codes: G05B 2219/40122 Manipulate virtual object, for trajectory planning of real object, haptic display
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

A method for providing a haptic interface between a user held physical device and a computer generated parametric surface determines if a collision has occurred therebetween. If a collision has occurred, a force to apply to the physical device is determined and a force actuation mechanism is activated so as to produce the force at the physical device. If a collision has not occurred, the force actuation mechanism is deactivated. The method is repeated as the physical device is moved through a virtual space in which the parametric surface is modeled. The physical device is capable of transmitting forces in at least three degrees-of-freedom via the force actuation mechanism which is connected thereto. A human operator holding the physical device can thus interact with the surface, which may be a CAD generated surface.

Claims

1. A method for providing a haptic interface between a physical device and a computer generated parametric surface separating a virtual space into two virtual half spaces, the physical device capable of transmitting forces in at least three degrees-of-freedom via a force actuation mechanism connected thereto and defining a plurality of device points when moved through the virtual space, the method comprising the steps of, for each of the plurality of device points:

(i) deactivating the force actuation mechanism and proceeding to a next of the plurality of device points if a minimization point on the parametric surface which minimizes the distance between a device point and the parametric surface is a boundary point;

(ii) deactivating the force actuation mechanism and proceeding to a next of the plurality of device points if the device point is outside of a predetermined elasticity zone around the parametric surface;

(iii) deactivating the force actuation mechanism and proceeding to a next of the plurality of device points if the device point is separated from the parametric surface;

(iv) determining a force to apply to the physical device, activating the force actuation mechanism so as to produce the force at the physical device, and proceeding to a next of the plurality of device points if the device point has moved along the parametric surface; and

(v) determining a force to apply to the physical device, activating the force actuation mechanism so as to produce the force at the physical device, and proceeding to a next of the plurality of device points if the device point has passed through the parametric surface.

2. A method for providing a haptic interface as defined in claim 1 wherein an oriented distance, defined as a distance between the device point and the parametric surface in which a vector representing said oriented distance is normal to said parametric surface, has a device point sign associated therewith to signify a virtual half plane in which the device point is located, and a previous device point, having a previous device point sign, is the one of the plurality of device points immediately preceding the device point.

3. A method for providing a haptic interface as defined in claim 2 wherein in step (i) said minimization point is determined by finding a point on the parametric surface which represents the shortest distance between the device point and the parametric surface.

4. A method for providing a haptic interface as defined in claim 2 wherein step (ii) further comprises comparing an oriented distance of the device point, relative to the parametric surface, to a predefined elasticity distance, said elasticity zone being a predetermined space within said predefined elasticity distance from the parametric surface on an opposite virtual half space from that of the device point.

5. A method for providing a haptic interface as defined in claim 2 wherein in step (iii) a half space indicator flag containing a sign indicating the virtual half space from which the device point was previously in is compared to the device point sign of the oriented distance of the device point.

6. A method for providing a haptic interface as defined in claim 2 wherein in step (iv) the sign of the oriented distance is compared to the sign of a previous oriented distance of said previous device point to determine whether said device point has moved along said parametric surface.

7. A method for providing a haptic interface as defined in claim 1 wherein in step (v) determination of whether said device point has passed through said parametric surface is accomplished by constructing a line segment between said device point and said previous device point and determining whether said line segment intersects said parametric surface.

8. A method for providing a haptic interface as defined in claim 1 wherein in steps (vi) and (v), a normal force and a shear force are determined and said force actuation mechanism transmits said normal force and said shear force to said physical device.

9. A method for providing a haptic interface as defined in claim 1, further including the step, between steps (iv) and (v), of deactivating the force actuation mechanism and proceeding to a next of the plurality of device points if a minimization point on the parametric surface which minimizes the distance between a device point and the parametric surface is an interior point.

10. A method for generating a haptic interface between a physical device and a computer generated parametric surface separating a virtual space into two virtual half spaces, the physical device capable of transmitting forces in at least three degrees-of-freedom via a force actuation mechanism connected thereto and defining a plurality of device points when moved through the virtual space, the method comprising the steps of, for each of the plurality of device points:

(i) deactivating the force actuation mechanism and proceeding to a next of the plurality of device points if a minimization point on the parametric surface which minimizes the distance between a device point and the parametric surface is a boundary point, if the device point is outside of a predetermined elasticity zone around the parametric surface, or if the device point is separated from the parametric surface; and

(ii) determining a force to apply to the physical device, activating the force actuation mechanism so as to produce the force at the physical device, and proceeding to a next of the plurality of device points if the device point has moved along the parametric surface, or if the device point has passed through the parametric surface.

11. A method for providing a haptic interface between a physical device and a computer generated parametric surface separating a virtual space into two virtual half spaces, the physical device capable of transmitting forces in at least three degrees-of-freedom via a force actuation mechanism connected thereto and defining a plurality of device points when moved through the virtual space, the method comprising the steps of, for each of the plurality of device points:

(a) determining whether a collision has occurred between a device point and the parametric surface;

(b) determining a force to apply to the physical device if a collision has occurred, activating the force actuation mechanism so as to produce said force at said physical device, and proceeding to step (a) for a next of the plurality of device points; and

(c) deactivating the force actuation mechanism if a collision has not occurred and proceeding to step (a) for a next of the plurality of device points.

12. A method for providing a haptic interface as defined in claim 11 wherein a collision is determined to have occurred when either the device point has moved along the parametric surface or passed through the parametric surface.

13. A method for providing a haptic interface as defined in claim 11 wherein a collision has not occurred when a minimization point on the parametric surface is a boundary point, when the device point is within a predetermined elasticity zone around the parametric surface, or when the device point is separated from the parametric surface.

14. A method for providing a haptic interface as defined in claim 11 wherein an oriented distance, defined as a distance between the device point and the parametric surface in which a vector representing said oriented distance is normal to said parametric surface, has a device point sign associated therewith to signify a virtual half plane in which the device point is located, and a previous device point, having a previous device point sign, is the one of the plurality of device points immediately preceding the device point.

15. A method for providing a haptic interface as defined in claim 14 wherein a minimization point is determined by finding a point on the parametric surface which represents the shortest distance between the device point and the parametric surface.

16. A method for providing a haptic interface as defined in claim 14 wherein step (a) further comprises comparing the oriented distance to a predefined elasticity distance, the elasticity zone being a predetermined space within the predefined elasticity distance from the parametric surface on an opposite virtual half space from that of the device point.

17. A method for providing a haptic interface as defined in claim 14 wherein in step (a) a half space indicator flag containing a sign indicating the virtual half space from which the device point was previously in is compared to the device point sign of the oriented distance of the device point.

18. A method for providing a haptic interface as defined in claim 14 wherein the sign of the oriented distance is compared to the sign of an oriented distance of the previous device point to determine whether the device point has moved along said parametric surface.

19. A method for providing a haptic interface as defined in claim 14 wherein in step (b) determination of whether said device point has passed through the parametric surface is accomplished by constructing a line segment between the device point and the previous device point and determining whether the line segment intersects the parametric surface.