University of Washington

Fredrik Ryden

Howard Jay Chizeck

Andrew Stewart

Kevin Huang

Apparatus and methods for generating virtual environment displays based on a group of sensors are provided. A computing device can receive first data about an environment from a first group of one or more sensors. The computing device can model the environment as a virtual environment based on the first data. The computing device can determine whether to obtain additional data to model the environment. After determining to obtain additional data to model the environment, the computing device can: receive second data about the environment, and model the environment as the virtual environment based on at least the second data. The computing device can generate a display of the virtual environment.

Integration of auxiliary sensors with point cloud-based haptic rendering and virtual fixtures

Apparatus and methods for defining and utilizing virtual fixtures for haptic navigation within real-world environments, including underwater environments, are provided. A computing device can determine a real-world object within a real-world environment. The computing device can receive an indication of the real-world object. The computing device can determine a virtual fixture that corresponds to the real-world object based on the indication, where aspects of the virtual fixture are configured to align with aspects of the real-world object. The computing device can provide a virtual environment for manipulating the robotic tool to operate on the real-world object utilizing the virtual fixture. The virtual fixture is configured to provide haptic feedback based on a position of a virtual robotic tool in the virtual environment that corresponds to the robotic tool in the real-world environment.

Haptic virtual fixture tools

Methods, articles of manufacture, and devices related to generating six degree of freedom (DOF) haptic feedback are provided. A computing device can receive first depth data about an environment. The computing device can generate a first plurality of points from the first depth data. The computing device can determine a virtual tool, where the virtual tool is specified in terms of a translation component for the virtual tool and a rotation component for the virtual tool. The computing device can determine a first force vector between the virtual tool and the first plurality of points. The computing device can send a first indication of haptic feedback based on the first force vector.

Growing community of inventors

Seattle, WA, United States of America

Fredrik Ryden