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1. 发明授权

US07225404B1 Method and apparatus for determining forces to be applied to a user through a haptic interface 有权
标题翻译：用于确定通过触觉界面施加到用户的力的方法和装置
公开(公告)号：US07225404B1
公开(公告)日：2007-05-29
申请号：US10055565
申请日：2001-10-26
申请人： Craig B. Zilles , J. Kenneth Salisbury, Jr. , Thomas H. Massie , David Lawrence Brock , Mandayam A. Srinivasan , Hugh B. Morgenbesser
发明人： Craig B. Zilles , J. Kenneth Salisbury, Jr. , Thomas H. Massie , David Lawrence Brock , Mandayam A. Srinivasan , Hugh B. Morgenbesser
IPC分类号： G06F3/01 , G06F3/02 , G06F3/03 , G06F3/033 , G06F17/10
CPC分类号： G06F3/01 , G06F3/011 , G06F3/016
摘要： A method and apparatus for determining forces to be applied to a user through a haptic interface. The method includes the steps of generating a representation of an object in graphic space, sensing the position of the user in real space and calculating a force to be applied to a user in response to the user's haptic interface and the user's fiducial object. The user's fiducial object represents the location in graphic space at which the user's haptic interface would be located if the haptic interface could not penetrate the surfaces of virtual objects.
摘要翻译：一种用于确定通过触觉界面施加到用户的力的方法和装置。该方法包括以下步骤：在图形空间中生成对象的表示，感测用户在实际空间中的位置，并响应于用户的触觉界面和用户的基准对象计算应用于用户的力。用户的基准对象表示如果触觉界面不能穿透虚拟对象的表面，则用户的触觉界面将位于图形空间中的位置。

2. 发明授权

US06369834B1 Method and apparatus for determining forces to be applied to a user through a haptic interface 有权
标题翻译：用于确定通过触觉界面施加到用户的力的方法和装置
公开(公告)号：US06369834B1
公开(公告)日：2002-04-09
申请号：US09324137
申请日：1999-06-02
申请人： Craig B. Zilles , J. Kenneth Salisbury, Jr. , Thomas H. Massie , David Lawrence Brock , Mandayam A. Srinivasan , Hugh B. Morgenbesser
发明人： Craig B. Zilles , J. Kenneth Salisbury, Jr. , Thomas H. Massie , David Lawrence Brock , Mandayam A. Srinivasan , Hugh B. Morgenbesser
IPC分类号： G09G500
CPC分类号： G06F3/011
摘要： A method and apparatus for determining forces to be applied to a user through a haptic interface. The method includes the steps of generating a representation of an object in graphic space, sensing the position of the user in real space and calculating a force to be applied to a user in response to the user's haptic interface and the user's fiducial object. The user's fiducial object represents the location in graphic space at which the user's haptic interface would be located if the haptic interface could not penetrate the surfaces of virtual objects. In one embodiment, the method calculates a stiffness force to be applied to the user. In other embodiments, the method calculates damping and friction forces to be applied to the user. In one embodiment the step of generating a representation of an object in graphic space includes defining the object as a mesh of planar surfaces and associating surface condition values to each of the nodes defining the planar surfaces. In another embodiment, the step of generating a representation of an object in graphic space includes describing the surface of the object using a coordinate system and associating surface condition values with each set of coordinates of the coordinate system.
摘要翻译：一种用于确定通过触觉界面施加到用户的力的方法和装置。该方法包括以下步骤：在图形空间中生成对象的表示，感测用户在实际空间中的位置，并响应于用户的触觉界面和用户的基准对象计算应用于用户的力。用户的基准对象表示如果触觉界面不能穿透虚拟对象的表面，则用户的触觉界面将位于图形空间中的位置。在一个实施例中，该方法计算要施加给用户的刚度力。在其他实施例中，该方法计算要施加到使用者的阻尼和摩擦力。在一个实施例中，在图形空间中生成对象的表示的步骤包括将对象定义为平面表面的网格，并将表面条件值与限定平面表面的每个节点相关联。在另一个实施例中，在图形空间中生成对象的表示的步骤包括使用坐标系描述对象的表面，并将表面条件值与坐标系的每个坐标系相关联。

3. 发明授权

US6111577A Method and apparatus for determining forces to be applied to a user through a haptic interface 失效
公开(公告)号：US6111577A
公开(公告)日：2000-08-29
申请号：US627432
申请日：1996-04-04
申请人： Craig B. Zilles , J. Kenneth Salisbury, Jr. , Thomas H. Massie , David Lawrence Brock , Mandayam A. Srinivasan , Hugh B. Morgenbesser
发明人： Craig B. Zilles , J. Kenneth Salisbury, Jr. , Thomas H. Massie , David Lawrence Brock , Mandayam A. Srinivasan , Hugh B. Morgenbesser
IPC分类号： G06F3/00 , G06F3/01
CPC分类号： G06F3/011
摘要： A method and apparatus for determining forces to be applied to a user through a haptic interface. The method includes the steps of generating a representation of an object in graphic space, sensing the position of the user in real space and calculating a force to be applied to a user in response to the user's haptic interface and the user's fiducial object. The user's fiducial object represents the location in graphic space at which the user's haptic interface would be located if the haptic interface could not penetrate the surfaces of virtual objects. In one embodiment, the method calculates a stiffness force to be applied to the user. In other embodiments, the method calculates damping and friction forces to be applied to the user. In one embodiment the step of generating a representation of an object in graphic space includes defining the object as a mesh of planar surfaces and associating surface condition values to each of the nodes defining the planar surfaces. In another embodiment, the step of generating a representation of an object in graphic space includes describing the surface of the object using a coordinate system and associating surface condition values with each set of coordinates of the coordinate system.

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