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Haptic interface system for collision detection and applications therefore

  • US 7,084,867 B1
  • Filed: 03/31/2000
  • Issued: 08/01/2006
  • Est. Priority Date: 04/02/1999
  • Status: Expired due to Fees
First Claim
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1. A method for generating CAD/CAM postures for a tool operating on a body including:

  • storing a representation of the tool and a representation of said body in a computer;

    using a user controlled haptic interface device to control simulated movement of the tool relative to the body;

    detecting any collision between the tool and the body for a given posture, including the position on each for each collision, the direction of the collision, and the penetration of the tool into the body;

    converting the detected direction, point and penetration for each collision into at least one force vector on the tool;

    summing the force vectors for a given posture;

    applying said at least one force vector as a corresponding feedback force vector to said interface device, and thus to the user; and

    storing a plurality of CAD/CAM postures of the tool to form a posture map, each of the plurality of postures indicating where the tool collides with the body at a working surface of the tool, but does not otherwise collide with the tool, the plurality of postures stored in the posture map subsequently referenceable to determine, at least in part, a force-feedback vector, wherein only CAD/CAM postures which at least meet selected criteria are stored.

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