The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 13, 2007
Filed:
Jul. 11, 2002
Paul Joseph Stewart, Ann Arbor, MI (US);
Pietro Buttolo, Dearborn Heights, MI (US);
Paul Joseph Stewart, Ann Arbor, MI (US);
Pietro Buttolo, Dearborn Heights, MI (US);
Ford Global Technologies, LLC, Dearborn, MI (US);
Abstract
A system and method of real-time collision detection between solid geometric objects is provided. The system includes a computer system, a computer-generated geometric model and a haptic device in communication with the computer system having a haptic end effector for transmitting information between a user and the geometric objects. The method includes the steps of representing a moving object as a point cloud and a stationary object as a mesh, and partitioning the mesh into an organized data structure. The method also includes the steps of identifying a constraint set and a collision set. The method further includes the steps of rendering the constraint set by moving the moving object so that the set of active points do not penetrate into the mesh, and providing force feedback through the haptic device relative to the movement of the moving object to satisfy the constraint.