Haptic authoring

• US 7,765,182 B2
• Filed: 01/29/2007
• Issued: 07/27/2010
• Est. Priority Date: 05/21/1996
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Haanpaa, Douglas, Peurach, Thomas M., Yocum, Todd
• Primary Examiner(s): Stevens; Robert
• Application Number:
  US11/699,116
• Publication Number:
  US 20070130212A1
• Time in Patent Office: 1,275 Days
• Field of Search: 707/102, 707/104.1, 715/701, 715/702, 715/706
• US Class Current: 715/701
• CPC Class Codes: G06F 16/95 Retrieval from the web
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: Y10S 707/99942 Manipulating data structure, e.g. compression, compaction, compilation
• CPC Class Codes: Y10S 707/99943 Generating database or data structure, e.g. via user interface
• CPC Class Codes: Y10S 707/99945 Object-oriented database structure processing
• CPC Class Codes: Y10S 707/99948 Application of database or data structure, e.g. distributed, multimedia, or image

Abstract

Methods are presented for authoring geometrical databases which incorporate touch or haptic feedback. In particular, a database of geometrical elements incorporates attributes necessary to support haptic interactions such as stiffness, hardness, friction, and so forth. Users may instantiate objects designed through CAD/CAM environments or attach haptic or touch attributes to subcomponents such as surfaces or solid sub-objects. The resulting haptic/visual databases or world-describing models can then be viewed and touched using a haptic browser or other appropriate user interface.

Claims

1. A computer-implemented method, comprising the steps of:

causing the display of an object in a three-dimensional graphical environment;

receiving a selection of the object;

receiving a selection of a haptic attribute from a pre-existing library of haptic attributes;

associating the haptic attribute from a pre-existing library of haptic attributes;

associating the haptic attribute with the object;

receiving a signal indicating a manipulation of a user interface device;

receiving a first mapping of a first coordinate system corresponding to an avatar;

receiving a first mapping of a second coordinate system corresponding to the user interface device;

creating a hierarchy of mapping based on the first mapping and second mapping;

transforming the manipulation of the user interface device into the three-dimensional graphical environment based at least in part on the hierarchy of mappings to affect a position or orientation of the avatar;

determining an interaction between the avatar and the object; and

generating a force based on the interaction and the haptic attribute.

2. The computer-implemented method of claim 1, wherein the force comprises one of a snap to grid force, simulated frictional force, simulated viscosity force, simulated repulsive force, or simulated attractive force.

3. The computer-implemented method of claim 1, wherein the force is configured to aid a user in selecting a point on an object.

4. The computer-implemented method of claim 1, wherein receiving a selection of the haptic attribute comprises receiving a selection of a pre-existing grouping of haptic attributes and values.

5. The computer-implemented method of claim 1, wherein the object comprises a hierarchy of sub-objects, and wherein associating the haptic attribute with the object comprises associating the haptic attribute with one of the sub-objects.

6. The computer-implemented method of claim 1, wherein the haptic attribute comprises at least one of an interior attribute, a surface attribute, a charge attribute, a physical attribute, or a constraint attribute.

7. The computer-implemented method of claim 1, where in the second mapping comprises a plurality of mappings each associated with one of a plurality of degrees of freedom of the user interface device.

8. A computer-readable medium comprising program code, the program code comprising:

program code for causing the display of an object in a three-dimensional graphical environment;

program code for receiving a selection of the object;

program code fort receiving a selection of a haptic attribute from a pre-existing library of haptic attributes;

program code for associating the haptic attribute with the object;

program code for receiving a signal indicating a manipulation of a user interface device;

program code for receiving a first mapping of a first coordinate system corresponding to an avatar;

program code for receiving a second mapping of a second coordinate system corresponding to the user interface device;

program code for creating a hierarchy of mappings based on the first mapping and second mapping;

program code for transforming the manipulation of the user interface device into the three-dimensional graphical environment based at least in part on the hierarchy of mappings to affect a position or orientation of the avatar;

program code for determining an interaction between the avatar and the object; and

program code for generating a force based on the interaction and the haptic attribute.

9. the computer-readable medium of claim 8, wherein the force comprises one of a snap to grid force, simulated frictional force, simulated viscosity force, simulated repulsive force, or simulated attractive force.

10. The computer-readable medium of claim 8, wherein force is configured to aid a user in selecting a point on an object.

11. The computer-readable medium of claim 8, wherein receiving a selection of the haptic attribute comprises receiving a selection of a pre-existing grouping haptic attributes and values.

12. The computer-readable medium of claim 8, wherein the object comprises a hierarchy of sub-objects, and wherein associating the haptic attribute with the object comprises associating the haptic attribute with one of the sub-objects.

13. The computer-readable medium of claim 8, wherein the haptic attribute comprises at least one of an interior attribute, a surface attribute, a charge attribute, a physical attribute, or a constraint attribute.

14. The computer-readable medium of claim 8, wherein in the second mapping comprises a plurality of mappings each associated with one of a plurality of degrees of freedom of the user interface device.