Apparatus for robotic force simulation
AssigneeCGSD Corporation
InventorRoy Westlake Latham
Life of this patent
Estimating the term…
Abstract
A system for simulating the forces associated with touching objects in a virtual reality simulator system includes a panel that contains an example of the various types of switches, knobs and any other item or object being simulated that is to be touched by a user of the system. The panel is attached as the payload of a robotic positioning device controlled by a computer. The computer is connected to a tracker and a flexible lightweight data glove worn by the user. The computer maintains a database that includes the positions of all of the controls being simulated by the system. The computer uses the trajectory data to determine the position of the robotic device.
Claims12
Apparatus for providing force feedback to a user in a virtual reality simulation system, said apparatus comprising:
- means for generating a visual scene directly to the eye of said user;
- said visual scene including a predetermined number of objects of different types in predetermined locations to be selected and touched by said user while operating said simulation system;
- panel means supporting at least one actual object of each type of said objects in said visual scene;
- means for sensing the state of said actual object after it is touched by said user;
- means for providing said user with a force feedback indicative of the correct position of said object after it has been actuated;
- robotic positioning means including means attached mechanically to said panel means for moving said actual objects to predetermined locations;
- means for determining the positions of the fingers of said user's hand and generating measurements indicative of said positions;
- computer means including means for storing programs and means for storing data, and having means connected with said means for determining the positions of fingers of said user's hand;
- and
- a control program stored in said means for storing programs for computing the positions of said user's fingers relative to the locations of objects in said visual scene, and connecting commands to said robotic positioning means;
- whereby said panel means is positioned so that said actual object selected and touched provides a force feedback to said user.
Dependencies are inferred from the claim text.