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System and method of interactive evaluation and manipulation of a geometric model

  • US 6,801,187 B2
  • Filed: 06/22/2001
  • Issued: 10/05/2004
  • Est. Priority Date: 06/22/2001
  • Status: Active Grant
First Claim
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1. A system of interactive evaluation and manipulation of a geometric model comprising:

  • a computer system, wherein said computer system includes a memory, a processor, a user input device and a display device;

    a computer generated geometric model stored in said memory of said computer system; and

    a haptic interface operatively in communication with said computer system, wherein said haptic interface includes a haptic end effector device for transmitting information between a user and said geometric model, wherein the user browses or edits the surface of said geometric model using said haptic end effector device, wherein in browsing said surface of said geometric model a stick-to-surface force and property-feedback force are applied to control a location and force output of said haptic end effector device, wherein in editing the surface of said geometric model a haptic device position and orientation on a surface of said geometric model is determined and mapped into a geometric model coordinate reference system, a closest point on the surface of said geometric model to the haptic device position is identified, a surface position of the closest point position is determined, and the surface in the neighborhood of the closest point is edited by converging the closest point on the edited point, a surface property in the neighborhood of the closest point position is edited, and a stick-to-surface/stick-to-pen force and a property-feedback force are determined and applied to said haptic end effector device to constrain a hand of a user to a surface of said geometric model.

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