Haptic computer modeling system
First Claim
1. A haptic computer modeling system comprising:
- a) a movable haptic input/output ("I/O") device capable of providing force feedback to an operator;
b) tracking device coupled to the haptic I/O device for tracking the position of at least one point on the haptic I/O device;
c) a model memory for storing information defining structure and properties of a computer model;
d) a force computation device coupled to the tracking device model memory and haptic I/O device capable of reading the location of the haptic I/O device and the computer model and for computing a feedback force based upon the location of the haptic I/O device relative to portions of the computer model and causing the haptic I/O device to provide the feedback force to the operator; and
e) a control panel for providing an operator/selected mode; and
f) a model modification device coupled to the control panel, the model memory and the tracking device for modifying parameters of the computer model at the location of the I/O device according to the mode received from the control panel.
1 Assignment
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Accused Products
Abstract
A computer modeling and visualization system employs both 3D visual modeling and force feedback through a haptic device consistent with the visual display of the computer model. Force, or haptic, interaction is employed for exploring computer models. Point contact force equations were created for quickly computing forces directly from a model data which are provided to the haptic device, causing it to apply that force to an operator. The force equations employed are consistent with isosurface and volume rendering, providing a strong correspondence between visual and haptic rendering. The method not only offers the ability to see and feel the volumetric model but allows interactive modification and display of the model.
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Citations
10 Claims
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1. A haptic computer modeling system comprising:
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a) a movable haptic input/output ("I/O") device capable of providing force feedback to an operator; b) tracking device coupled to the haptic I/O device for tracking the position of at least one point on the haptic I/O device; c) a model memory for storing information defining structure and properties of a computer model; d) a force computation device coupled to the tracking device model memory and haptic I/O device capable of reading the location of the haptic I/O device and the computer model and for computing a feedback force based upon the location of the haptic I/O device relative to portions of the computer model and causing the haptic I/O device to provide the feedback force to the operator; and e) a control panel for providing an operator/selected mode; and f) a model modification device coupled to the control panel, the model memory and the tracking device for modifying parameters of the computer model at the location of the I/O device according to the mode received from the control panel. - View Dependent Claims (2)
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3. A method of performing computer modeling on a volumetric model having a plurality of density values d, comprising the steps of:
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a) providing a 3D visual image of a portion of the volume model; b) reading current location of a functional point on an operator-manipulated haptic input/output device; c) converting location of haptic device to corresponding location density d within the volume model; d) determining a stiffness force fs (d) and a viscous force, fr (d) from the density value d; and e) providing forces fs (d) and fr (d) to an operator through the haptic device creating the illusion of physically interacting with a material having specific and defined material characteristics. - View Dependent Claims (4)
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5. A method for interacting with a 3D computer model having a plurality of properties each identified at a location comprising steps of:
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a) rendering the computer model from an initial viewpoint; b) monitoring the position of a functional point of a haptic device capable of providing force feedback to an operator; c) modifying the properties of the computer model based upon an operator-specified modification mode; d) computing a force from the position of the functional point relative to the computer model; e) applying the computed force to the operator through the haptic device; and f) rendering at least a portion of the modified computer model to the operator. - View Dependent Claims (6, 7, 8, 9)
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10. A method for creating a 3D computer model having a plurality of properties each identified at a location comprising steps of:
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a) monitoring the position of a functional point of a haptic device capable of providing force feedback to an operator; b) defining properties at the functional point of the haptic device to construct structures of the model; c) computing a force consistent with material type and haptic I/O device velocity, from the position and velocity of the functional point relative to structures of the computer model; d) applying the computed force to the operator through the haptic device; and e) rendering at least a portion of the constructed computer model to the operator.
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Specification