Patent ID: 9486292
Filing Date: 2016-11-08
CPC Classification: A61B,D04G,G09B

Claim Text:
1. A method, comprising: receiving, by a processor, a first wrapping signal from a sensor in communication with a tool, the tool comprising an actuator, the first wrapping signal indicating a first wrapping of a simulated thread around the tool to create a first loop; determining, by a processor, a wrap angle based at least in part on a plurality of normal vectors along a portion of the simulated thread, the plurality of normal vectors based at least in part on the wrapping signal; determining, by a processor, a first winding direction based at least in part on the wrap angle; receiving, by a processor, a first tightening signal indicating a pulling of a first end of the simulated thread through the first loop; determining, by a processor, a first half-hitch based at least in part on the first winding direction and the first tightening signal; and outputting, by a processor, the first half-hitch and an actuator signal configured to cause the actuator to output a haptic effect.