Three-dimensional tactile computer input device

• US 5,396,265 A
• Filed: 09/17/1990
• Issued: 03/07/1995
• Est. Priority Date: 09/17/1990
• Status: Expired due to Fees

• Current Assignee: Massachusetts Institute of Technology
• Original Assignee: Massachusetts Institute of Technology
• Inventors: Roberts, Andrew, Robertson, David C., Ulrich, Karl T., Siler, Todd, Berkery, Daniel J., Filerman, Marc, Sachs, Emanuel
• Primary Examiner(s): Oberley, Alvin E.
• Assistant Examiner(s): Saras, Steven J.
• Application Number:
  US07/583,649
• Time in Patent Office: 1,632 Days
• Field of Search: 364/474.22, 364/474.24, 364/474.11, 395/82, 395/97, 395/919, 395/159, 414/5, 340/709, 340/710, 340/706, 340/798, 345/163, 345/156, 345/157, 345/158
• US Class Current: 345/158
• CPC Class Codes: G06F 3/0346 with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

A tactile computer input device which simulates an object being designed is used with a computer aided design (CAD) system. The input device allows a user to manually manipulate the input device as if it were the object under design. A preferred embodiment is directed toward the design of sheet metal parts. The design begins with a virtual metal sheet which is then manipulated by a user through manual manipulation of the input device. Bending of the virtual object is accomplished by bending of the input device. Stretching and shrinking of the virtual object is accomplished by expanding and compressing the input device. Spatial orientation of the virtual object follows the spatial orientation of the input device by providing the input device with a Polhemus orientation sensor. Other functions for manipulating the virtual sheet metal object include cutting, embossing, and punching.

Claims

1. A computer aided design system comprising:

a data processor receiving data inputs and generating in response thereto a representation of an object under design;

a display monitor receiving the representation generated by the data processor and providing a visual display of the representation to a system user; and

a hand-held input device providing data inputs to the data processor, the input device representing a simulation of the object under design such that changes in shape of the input device due to manual manipulation thereof result in changes to the shape of the representation generated by the data processor, wherein the input device comprises a hinge holding two pieces of the input device together, the input device bending at the hinge as a result of manual manipulation of the input device, the bending of the input device generating an output to the data processor which results in a similar bending of the representation generated by the data processor.

2. A computer aided design system according to claim 1 further comprising an orientation sensor providing an output to the data processor indicative of the spatial orientation of the input device.

3. A computer aided design system according to claim 2 wherein the orientation sensor further comprises a magnetic source stationary relative to a magnetic sensor which moves with the input device.

4. A computer aided design system according to claim 1 wherein the input device further comprises a compression switch activated by a compressing of the input device during manual manipulation thereof, activation of the compression switch producing a data input to the data processor which results in a reduction in size of the representation generated by the data processor.

5. A computer aided design system according to claim 1 wherein the input device further comprises an expansion switch activated by an expanding of the input device during manual manipulation thereof, activation of the expansion switch producing a data input to the data processor which results in an increase in size of the representation generated by the data processor.

6. A computer aided design system according to claim 1 wherein the data processor in response to said data inputs further generates a display icon output to the display monitor in addition to said representation, the spatial orientation of the icon following the spatial orientation of the input device and being controllable independent of the spatial orientation of said representation.

7. A computer aided design system comprising:

an input device generating data inputs in response to manipulation thereof, wherein the input device comprises a hinge holding two pieces of the input device together, the input device bending at the hinge as a result of manual manipulation of the input device;

a data processor receiving the data inputs and generating in response thereto a representation of an object under design, the input device providing data inputs to the data processor, the input device representing a simulation of the object under design such that changes in shape of the input device due to manual manipulation thereof result in changes to the shape of the representation generated by the data processor, the bending of the input device generating an output to the data processor which results in a similar bending of the representation generated by the data processor;

a display monitor providing a visual display of said representation; and

a display icon generated by the data processor and displayed on the display monitor in addition to said representation, the display icon on the display monitor moving in response to movement of the input device while being confined to displayed surfaces of said representation.

8. A computer aided design system according to claim 7 wherein the screen icon conforms to a perspective display of said displayed representation such that an apparent spatial orientation of the screen icon corresponds to an apparent spatial orientation of a displayed surface of said representation to which the icon is confined.

9. A computer aided design system according to claim 8 wherein horizontal and vertical movement of the icon on the display screen correspond to horizontal and vertical movement of the input device in a plane parallel to the display screen, and movement of the input device perpendicular to the display screen corresponds to vertical movement of the icon on the display screen.

10. A method of performing a computer aided design comprising:

providing a data processor receiving data inputs and generating in response thereto a representation of an object under design;

receiving the representation generated by the data processor with a display monitor and providing a visual display of the representation to a system user; and

providing data inputs to the data processor with a hand-held input device, the input device representing a simulation of the object under design such that changes in shape of the input device due to manual manipulation thereof result in changes to the shape of the representation generated by the data processor, wherein providing data inputs to the data processor includes closing a bend switch on the input device and bending the input device about a hinge to generate an input to the data processor which results in a bending of the representation generated by the data processor which mimics the bending of the input device.

11. A method according to claim 10 further comprising providing an orientation sensor which generates data inputs received by the data processor which indicate the spatial orientation of the input device.

12. A method according to claim 11 wherein providing an orientation sensor further comprises providing a magnetic source which is stationary relative to a magnetic sensor which moves with the input device.

13. A method according to claim 10 further comprising displaying a display icon on the display monitor in addition to said representation, the spatial orientation of the icon on the display monitor being changeable with changes in the spatial orientation of the input device.

14. A method according to claim 13 wherein closing a bend switch on the input device further comprises closing a bend switch on the input device to generate an input to the data processor which results in a snap grid showing a bend axis extending from the display icon being displayed on the display monitor, the bending of the representation being about the bend axis.

15. A method according to claim 10 wherein providing data inputs to the data processor further comprises compressing the input device to activate a compression switch which provides an input to the data processor which results in a reduction in size of the representation generated by the data processor.

16. A method according to claim 10 wherein providing data inputs to the data processor further comprises expanding the input device to activate an expansion switch which provides an input to the data processor which results in an increase in size of the representation generated by the data processor.

17. A method according to claim 10 further comprising displaying a display icon on the display monitor in addition to said representation, the spatial orientation of the icon on the display monitor being changeable with changes in the spatial orientation of the input device.

18. A method according to claim 17 wherein displaying a display icon comprises displaying a display icon which is shaped like the input device.

19. A method according to claim 17 further comprising providing a move switch on the input device which when closed causes the position of the displayed icon to change with changes in the spatial orientation of the input device.

20. A method according to claim 17 wherein the displayed icon is restricted to portions of the display where it overlaps the displayed representation.

21. A method according to claim 10 wherein providing data inputs to the data processor includes providing data inputs which cause the representation to be cut along an indicated cutting axis, such that the representation is separated into two virtual pieces, and a selected piece is retained.

22. A method according to claim 21 wherein providing data inputs to cut the representation along a cutting axis comprises orienting the input device to indicate the orientation of the cutting axis, and providing a cut signal to the data processor to initiate the cutting of the representation along the indicated cutting axis.

23. A method according to claim 22 further comprising displaying a display icon which overlaps the representation and which has a position on the screen which is changeable with changes in spatial orientation of the input device, the cutting axis being located relative to the position of the icon.

24. A method according to claim 23 wherein providing data inputs to the data processor to cut the representation includes closing a cut switch located at the input device, a closing of the cut switch resulting in a snap grid showing the cutting axis extending from the display icon being displayed on display monitor, an opening of the cut switch resulting in the cutting of the representation along the cutting axis shown by the snap grid at the time the cut switch is open.

25. A method according to claim 10 wherein providing data inputs to the data processor further comprises providing a lock switch at the input device which when closed generates inputs to the data processor which result in the orientation of the representation displayed on the display monitor being changeable with changes in orientation of the hand-held input device.

26. A method according to claim 10 wherein providing data inputs to the data processor includes providing a punch switch on the input device which generates an input to the data processor which results in a hole being punched in the representation displayed on the display monitor.

27. A method according to claim 26 further comprising displaying a display icon on the display monitor in addition to the representation, the spatial orientation of the icon on the display monitor being changeable with changes in the spatial orientation of the input device, a first closing of the punch switch resulting in the center of the hole to be punched being located at the location of the icon, and a second closing of the punch switch resulting in the radius of the hole being established by the position of the icon relative to the center of the hole, the opening of the punch switch after said second closing thereof resulting in the hole being made and a portion of the representation located with the defined hole being deleted from the representation.

28. A method according to claim 10 wherein providing inputs to the data processor further comprises providing embossing inputs to the data processor which result in the creation of an embossing line on the representation, the location of the embossing line being specified by the spatial orientation of the input device at the time the embossing inputs are received by the data processor.

29. A computer aided design system comprising:

a data processor receiving data inputs and generating, in response thereto, a three-dimensional representation of an object under design,

a display monitor receiving the representation generated by the data processor and providing a two-dimensional visual display of the representation, the representation being displayed in perspective;

a hand-held input device providing data inputs to the data processor, the input device representing a simulation of the object under design such that changes in shape of the input device due to manual manipulation thereof result in changes to the shape of the representation generated by the data processor which mimic the changes in shape to the input device, said changes in shape to the representation including bending of the representation in response to bending of the input device and changes in size of a portion of the representation relative to other portions of the representation in response to compressing and expanding of the input device, wherein the input device comprises a bend switch which when closed provides an input to the data processor to cause the representation to bend in response to bending of the input device, and wherein the data processor generates a display icon which is displayed on the display monitor in addition to said representation, the spatial orientation of the icon on the display monitor being changeable with the spatial orientation of the input device; and

an orientation sensor providing an input to the data processor indicative of the spatial orientation of the input device, wherein the orientation sensor comprises a magnetic source stationary relative to a magnetic sensor which moves with the input device.

30. A computer aided design system according to claim 29 wherein the screen icon conforms to the perspective view of the displayed representation such that when the icon overlaps a surface of the representation, an apparent spatial orientation of the screen icon corresponds to an apparent spatial orientation of the displayed surface which the icon overlaps.

31. A computer aided design system according to claim 29 wherein horizonatal and vertical movement of the icon on the display screen correspond to horizontal and vertical movement of the input device in a plane parallel to the display screen, and movement of the input device perpendicular to the display screen corresponds to vertical movement of the icon on the display screen.

32. A computer aided design system according to claim 29 wherein an orientation of the icon relative to the representation indicates a bend axis along which the representation is bent when the bend switch is activated and the input device is bent.

33. A computer aided design system according to claim 29 wherein the input device further comprises a move switch which when closed provides an input to the data processor which results in the orientation of the displayed icon changing with changes in spatial orientation of the input device.

34. A computer aided design system according to claim 29 wherein the input device further comprises a cut switch which provides inputs to the data processor which result in a cut being made in the representation, a line along which the representation is cut being determined by the orientation of the display icon when the inputs from the cut switch are received.

35. A computer aided design system according to claim 34 wherein inputs from the cut switch allow an arcuate cut to be made in the representation.

36. A computer aided design system according to claim 29 wherein the input device further comprises a lock switch which provides an input to the data processor which causes the orientation of the representation to change in response to changes in spatial orientation of the input device.

37. A computer aided design system according to claim 36 wherein the input device further comprises an undo switch which provides inputs to the data processor which result in a previous modification to the representation being deleted, and the state of the representation being returned to that which it was in prior to said previous modification.

38. A computer aided design system according to claim 29 wherein the representation displayed by the display monitor represents a sheet metal part.

39. A computer aided design system according to claim 29, wherein in addition to the representation generated by the data processor and unfolded view of the representation is also generated by the data processor and displayed by the display monitor, the unfolded view appearing as a two dimensional view of the representation without any bends, and being shown in a display window of the display monitor.

40. A method of performing a computer aided design, the method comprising:

providing a data processor receiving data inputs and generating in response thereto a representation of an object under design;

providing a display monitor receiving the representation generated by the data processor and providing a visual display of the representation;

inputting data to the data processor with a hand-held input device, the input device representing a simulation of the object under design such that changes in shape of the input device due to manual manipulation thereof result in changes to the shape of the representation generated by the data processor which mimic the changes in shape to the input device, wherein providing data inputs to the data processor includes closing a bend switch on the input device and bending the input device about a hinge to generate an input to the data processor which results in a bending of the representation generated by the data processor which mimics the bending of the input device;

generating with the data processor a screen icon which is displayed on the display screen in addition to the representation, the screen icon on the display screen being moveable in response to movements of the input device while being confined to display surfaces of the representation; and

retaining the representation generated by the data processor by storing in a data processor memory a listing of edges, faces and vertices of the displayed representation which define the representation generated by the data processor.

41. A method according to claim 40 further comprising placing a bend in the representation by following the steps of:

i) locating the position of the screen icon with the data processor and determining a bend axis therefrom;

ii) marking in data processor memory vertices of the representation to be rotated during bending;

iii) dividing a specified face of the representation to be bent into new vertices, edges and faces; and

iv) bending the representation about the indicated bend axis in response to inputs from the input device generated by a bending of the input device.

42. A method according to claim 40 further comprising placing a cut in the representation by following the steps of:

i) locating the position and orientation of the icon, and establishing a cut line in correspondence thereto;

ii) receiving inputs from the input device with the data processor, which establish parameters of the cut and modifications to the cut line;

iii) creating a cut in the representation along the cut line in response to inputs from the input device;

removing material of the representation severed by the cut in response to inputs from input device.

43. A method according to claim 40 further comprising increasing the size of the representation along one dimension by following the steps of:

i) locating the position and orientation of the screen icon relative to the representation;

ii) generating a stretch vector in response to an input from the input device.

iii) marking in data processor memory vertices of the representation to be translated during the size increase; and

iv) responding to an input from the input device to translate the marked vertices.

44. A method according to claim 40 further comprising reducing the size of the representation along one dimension by following the steps of:

i) locating the position and orientation of the screen icon relative to the representation;

ii) generating a shrink vector in response to an input from the input device;

iii) marking in data processor memory vertices of the representation to be translated during the size reduction; and

iv) translating the marked vertices in response to a shrink input from the input device.