Patent ID: 6704694
Filing Date: 2004-03-09
Classification: G06F

Abstract:
A haptic interface system having a probe represented as a ray in a virtual environment having at least one object represented therein, the haptic interface system comprising:a probe position processor for tracking the past and present positions of the probe; a collision detection processor for receiving probe position information from said probe position processor and for determining whether any portion of the probe contacts the at least one object in the virtual environment, said collision detection processor including means for detecting one or more side collisions between the probe and the at least one object to enable a user to feel forces arising from side interactions between the probe and the at least one object in the virtual environment; a mechanics interaction processor for receiving information from said collision detection processor and for computing an appropriate reaction force vector based on the penetration depth of the ray into the at least one object represented in the virtual environment; a force mapping processor for receiving information from said mechanics interaction processor and for modifying the reaction force vector computed by said mechanics interaction processor by appropriately mapping the reaction force vector over a surface of the object; a motor command processor for receiving the modified reaction force vector from said force mapping processor and for providing a reaction force to the user through the probe; and a storage device and wherein said probe position processor includes means for storing information related to the past positions of the probe in the storage device.