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1. 发明授权

US07319466B1 Method and apparatus for generating and interfacing with a haptic virtual reality environment 有权
标题翻译：用于生成和与触觉虚拟现实环境相互连接的方法和装置
公开(公告)号：US07319466B1
公开(公告)日：2008-01-15
申请号：US09574131
申请日：2000-05-18
申请人： Christopher Tarr , Kenneth Salisbury, Jr. , Thomas Harold Massie , Walter A. Aviles
发明人： Christopher Tarr , Kenneth Salisbury, Jr. , Thomas Harold Massie , Walter A. Aviles
IPC分类号： G06T15/00
CPC分类号： G06T15/00
摘要： A method for generating a haptic interactive representation including the steps of defining a haptic interaction space and building a hierarchical construct, for use within the haptic interaction space, using a plurality of underlying constructs. In one embodiment the method includes determining the forces to be applied to a user by generating a haptic interactive, sensing a position of a user in real space, determining a haptic interface location in the haptic interaction space in response to the position of the user in real space and determining whether the virtual object collides with the haptic interface location. The invention also relates to a method for interacting with a haptic interactive representation. The method includes creating a haptic process having the haptic interactive representation, associating a callback with the haptic process, connecting to a second process which interacts with the haptic process and associating the callback which is associated with the haptic process with the second process. The method further includes requesting the callback by the second process, and returning, by the haptic process through the callback to the second process, at least one parameter associated with the haptic interactive representation.
摘要翻译：一种用于生成触觉交互表示的方法，包括以下步骤：使用多个底层构造来定义触觉交互空间并构建使用在所述触觉交互空间内的分层结构。在一个实施例中，该方法包括通过生成触觉交互来确定要施加给用户的力，感测用户在实际空间中的位置，响应于用户的位置来确定触觉交互空间中的触觉界面位置确定虚拟对象是否与触觉界面位置相冲突。本发明还涉及一种用于与触觉交互表示相互作用的方法。该方法包括创建具有触觉交互表示的触觉过程，将回调与触觉过程相关联，连接到与触觉过程相互作用的第二进程并将与触觉进程相关联的回调与第二进程相关联。该方法还包括请求第二进程的回调，并且通过触觉处理通过回调向第二进程返回与触觉交互表示相关联的至少一个参数。

2. 发明授权

US06405158B1 Force reflecting haptic inteface 失效
标题翻译：力反映触觉界面
公开(公告)号：US06405158B1
公开(公告)日：2002-06-11
申请号：US09268445
申请日：1999-03-12
申请人： Thomas H Massie , Kenneth Salisbury, Jr.
发明人： Thomas H Massie , Kenneth Salisbury, Jr.
IPC分类号： G05B1101
CPC分类号： G05B11/01 , B25J9/1689 , B25J13/02 , G05B17/02 , G05B2219/23021 , G05G1/52 , G05G9/047 , G05G2009/04766 , G06F3/014 , G06F3/016 , G06F3/033 , G06F3/0346 , G06F3/0383 , G06F2203/0331 , G06G7/48
摘要： The invention is an apparatus for physically exchanging a force with a user in an environment local to the user. A connection element connects to a user's body member and a linkage between the connection element and ground. The linkage includes means for powering at least three independent freedoms of the connection element relative to ground and means for maintaining at least one independent freedom of the connection element relative to ground free of power. Up to three independent freedoms of the connection element may be maintained free of power, and up to five independent freedoms may be powered. Other aspects of the invention include a two actuator counter-balance for controlling a point on a link. The invention also includes apparatus for establishing a virtual, switch, which presents to the user the force and displacement relationship of a spring switch. Another embodiment is a virtual bristled brush, again which presents to the user the force and displacement relationship of such a brush, while also changing the virtual environment to reflect the user's changes in location.
摘要翻译：本发明是用于在用户本地的环境中与用户物理交换力的装置。连接元件连接到用户的主体部件和连接元件与接地之间的连接。连杆包括用于为连接元件相对于地面的至少三个独立自由提供动力的装置，以及用于维持连接元件相对于没有动力的地面的至少一个独立自由度的装置。连接元件最多可以保持三个独立的自由度，并且可以为多达五个独立的自由提供动力。本发明的其他方面包括用于控制链路上的点的两个致动器平衡。本发明还包括用于建立虚拟开关的装置，其向用户呈现弹簧开关的力和位移关系。另一个实施例是虚拟刷毛，再次向使用者呈现这种刷子的力和位移关系，同时还改变虚拟环境以反映用户的位置变化。

3. 发明授权

US07480600B2 Force reflecting haptic interface 失效
标题翻译：力反映触觉界面
公开(公告)号：US07480600B2
公开(公告)日：2009-01-20
申请号：US10990226
申请日：2004-11-16
申请人： Thomas H Massie , Kenneth Salisbury, Jr.
发明人： Thomas H Massie , Kenneth Salisbury, Jr.
IPC分类号： G06G7/48 , G05B11/01
CPC分类号： G05B11/01 , B25J9/1689 , B25J13/02 , G05B17/02 , G05B2219/23021 , G05G1/52 , G05G9/047 , G05G2009/04766 , G06F3/014 , G06F3/016 , G06F3/033 , G06F3/0346 , G06F3/0383 , G06F2203/0331 , G06G7/48
摘要： The invention is an apparatus for physically exchanging a force with a user in an environment local to the user. A connection element connects to a user's body member and a linkage between the connection element and ground. The linkage includes means for powering at least three independent freedoms of the connection element relative to ground and means for maintaining at least one independent freedom of the connection element relative to ground free of power. Up to three independent freedoms of the connection element may be maintained free of power, and up to five independent freedoms may be powered. Other aspects of the invention include a two actuator counter-balance for controlling a point on a link. The invention also includes apparatus for establishing a virtual, switch, which presents to the user the force and displacement relationship of a spring switch. Another embodiment is a virtual bristled brush, again which presents to the user the force and displacement relationship of such a brush, while also changing the virtual environment to reflect the user's changes in location.
摘要翻译：本发明是用于在用户本地的环境中与用户物理交换力的装置。连接元件连接到用户的主体部件和连接元件与接地之间的连接。连杆包括用于为连接元件相对于地面的至少三个独立自由提供动力的装置，以及用于维持连接元件相对于没有动力的地面的至少一个独立自由度的装置。连接元件最多可以保持三个独立的自由度，并且可以为多达五个独立的自由提供动力。本发明的其他方面包括用于控制链路上的点的两个致动器平衡。本发明还包括用于建立虚拟开关的装置，其向用户呈现弹簧开关的力和位移关系。另一个实施例是虚拟刷毛，再次向使用者呈现这种刷子的力和位移关系，同时还改变虚拟环境以反映用户的位置变化。

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