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Method and apparatus for determining forces to be applied to a user through a haptic interface

  • US 7,225,404 B1
  • Filed: 10/26/2001
  • Issued: 05/29/2007
  • Est. Priority Date: 04/04/1996
  • Status: Expired due to Fees
First Claim
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1. A method for determining forces to be applied to a user through a haptic interface, the method comprising the steps of:

  • generating a representation of a virtual object in graphic space;

    determining a haptic interface location in graphic space in response to a location of a user-manipulated haptic interface in real space, wherein the haptic interface can penetrate a surface of the virtual object in graphic space;

    determining a fiducial object location in graphic space on the surface of the virtual object, wherein the fiducial object location represents a location the haptic interface would occupy if the haptic interface could not penetrate the surface of the virtual object; and

    calculating a force to be applied to the user in response to the haptic interface location and the fiducial object location.

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