公开(公告)号：US07191104B2

公开(公告)日：2007-03-13

申请号：US10193566

申请日：2002-07-11

申请人： Paul Joseph Stewart ,  Pietro Buttolo

发明人： Paul Joseph Stewart ,  Pietro Buttolo

IPC分类号： G06F7/60

CPC分类号： G06F3/016 ,  A63F2300/1037 ,  A63F2300/643 ,  G06F3/011 ,  G06T19/20 ,  G06T2210/21 ,  G06T2210/28 ,  G06T2219/2016

摘要： 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.

摘要翻译： 提供了实体几何对象之间实时碰撞检测的系统和方法。 该系统包括计算机系统，计算机生成的几何模型和与具有用于在用户和几何对象之间传送信息的触觉末端执行器的计算机系统通信的触觉装置。 该方法包括将作为点云的移动对象和作为网格的静止对象表示为步骤，以及将网格划分为有组织的数据结构。 该方法还包括识别约束集和冲突集的步骤。 该方法还包括以下步骤：通过移动移动物体来渲染约束集，使得该组有效点不穿透网格，并通过触觉装置相对于移动物体的运动提供力反馈以满足约束 。

公开(公告)号：US07155673B2

公开(公告)日：2006-12-26

申请号：US09775368

申请日：2001-02-01

申请人： Paul Joseph Stewart ,  Pietro Buttolo ,  Yifan Chen

发明人： Paul Joseph Stewart ,  Pietro Buttolo ,  Yifan Chen

IPC分类号： G06F3/00 ,  G06F9/00 ,  G06F17/00 ,  G09G5/00

CPC分类号： G06F3/016

摘要： A system and method of interactive evaluation of a geometric model is provided. The method includes the steps of acquiring a haptic device position and orientation with respect to a surface of the geometric model and mapping the haptic device position and orientation into a geometric model coordinate reference system. The method also includes the steps of determining a closest point position and orientation on the surface of the geometric model to the haptic device position and extracting a surface property at the closest point position and orientation. The method further includes the steps of determining a stick-to-surface force and a property feedback force using the surface property at the closet point position and orientation and applying the stick-to-surface force and property feedback force to control a location and force output of the haptic device.

公开(公告)号：US07141963B1

公开(公告)日：2006-11-28

申请号：US11255249

申请日：2005-10-21

申请人： James Rankin, II ,  Paul Stewart ,  Pietro Buttolo ,  Anne Marsan ,  Horea Ilies

发明人： James Rankin, II ,  Paul Stewart ,  Pietro Buttolo ,  Anne Marsan ,  Horea Ilies

IPC分类号： G10R11/32

CPC分类号： G01R31/3277

摘要： A switch measurement system is disclosed for measuring characteristics of a switch while the switch is mounted to a product adjacent a product surface. The switch types may include linear, pivot and rotary types. The switch measurement system preferably has a control unit for driving a motor and receiving and storing input from a force or torque sensor. A fixturing setup preferably includes a mounting base, and three legs extending from the mounting base. Each of the legs is selectively adjustable in length and includes an end adapted for mounting against the product surface where the legs can vary the location and orientation of the mounting base relative to the product. Also, a measurement unit includes a motor fixed relative to the mounting base and includes a motor shaft extending therefrom, and a force sensor or a torque sensor, depending upon the switch measurement arrangement, interposed between the motor shaft and the switch. The motor and the sensor are in electronic communication with the control unit.

摘要翻译： 公开了一种开关测量系统，用于在开关安装到邻近产品表面的产品时测量开关的特性。 开关类型可以包括线性，枢轴和旋转类型。 开关测量系统优选地具有用于驱动电动机并且接收和存储来自力或扭矩传感器的输入的控制单元。 固定装置优选地包括安装基座和从安装基座延伸的三个腿部。 每个腿部可选择性地可调节长度，并且包括适于安装在产品表面上的端部，其中腿部可相对于产品改变安装基座的位置和取向。 此外，测量单元包括相对于安装基座固定的电动机，并且包括从其延伸的电动机轴，以及介于电动机轴和开关之间的根据开关测量装置的力传感器或扭矩传感器。 电机和传感器与控制单元电子通信。

公开(公告)号：US07069202B2

公开(公告)日：2006-06-27

申请号：US10042918

申请日：2002-01-11

申请人： Paul Joseph Stewart ,  Aaron West ,  Pietro Buttolo

发明人： Paul Joseph Stewart ,  Aaron West ,  Pietro Buttolo

IPC分类号： G06G7/48

CPC分类号： G06F3/011 ,  G06F3/016

摘要： A system and method for virtual interactive design and evaluation and manipulation of a vehicle mechanism using a haptic-user interface is provided. The system includes a computer system and a haptic interface operatively in communication with the computer system, whereby the haptic interface includes a haptic end effector device for transmitting information between a user and a digital model as the user interactively creates, modifies, and evaluates kinematic and dynamic properties of the vehicle mechanism using the haptic end effector device.

公开(公告)号：US06889176B1

公开(公告)日：2005-05-03

申请号：US09624106

申请日：2000-07-24

申请人： Pietro Buttolo ,  Paul Joseph Stewart

发明人： Pietro Buttolo ,  Paul Joseph Stewart

IPC分类号： G06F17/50 ,  G06T17/20

CPC分类号： G06F17/50 ,  G06T17/20 ,  G06T17/205

摘要： A method for automatically reconstructing topographical information for a given mesh, altering the mesh by introducing, deleting, or splitting existing polygons when needed. An OctTree space decomposition is used to achieve a log2-complexity search method to find the closest vertex in the polygonal soup to a given point in space. Linear complexities are used to find triangles connected to a given vertex and all triangles connected to a given triangle. The triangles are split to enforce conductivity.

摘要翻译： 一种用于自动重建给定网格的地形信息的方法，通过在需要时引入，删除或拆分现有的多边形来改变网格。 使用OctTree空间分解来实现log2复杂搜索方法，以便在多边形汤中找到最接近的顶点到空间中的给定点。 线性复杂度用于查找连接到给定顶点的三角形和连接到给定三角形的所有三角形。 三角形被分割以实现电导率。

公开(公告)号：US06801187B2

公开(公告)日：2004-10-05

申请号：US09888120

申请日：2001-06-22

申请人： Paul Joseph Stewart ,  Pietro Buttolo ,  Yifan Chen

发明人： Paul Joseph Stewart ,  Pietro Buttolo ,  Yifan Chen

IPC分类号： G09G500

CPC分类号： G06F3/016 ,  G06T19/00 ,  G06T2200/24 ,  G06T2210/28

摘要： A system and method of interactive evaluation and manipulation of a geometric model is provided. The system includes a computer system and a haptic interface operatively in communication with the computer system, whereby the haptic interface includes a haptic end effector device for transmitting information between a user and a geometric model as the user browses or edit the surface of the geometric model using the haptic end effector device.

摘要翻译： 提供了一种交互式评估和操纵几何模型的系统和方法。 该系统包括可操作地与计算机系统通信的计算机系统和触觉接口，由此，触觉界面包括用于在用户浏览或编辑几何模型的表面之间在用户和几何模型之间传送信息的触觉端部执行器设备 使用触觉末端效应器装置。

公开(公告)号：US20080127747A1

公开(公告)日：2008-06-05

申请号：US11607533

申请日：2006-12-01

申请人： Yifan Chen ,  Pietro Buttolo ,  Basavaraj Tonshal ,  James Rankin ,  Gary Strumolo

发明人： Yifan Chen ,  Pietro Buttolo ,  Basavaraj Tonshal ,  James Rankin ,  Gary Strumolo

IPC分类号： G01R11/32

CPC分类号： G01L3/1478 ,  G01L5/0095

摘要： A measuring system that relate to the measurement of relatively small one degree of freedom mechanisms, such as pivoting and rotary switches, is disclosed. In particular end effectors and a kit for assembling various end effector assemblies is disclosed, that allow for accurate measurement of torque versus angular displacement curves for various types of pivoting and rotary switches.

摘要翻译： 公开了一种与诸如枢转和旋转开关之类的相对较小的一个自由度机构的测量有关的测量系统。 特别地，公开了端部执行器和用于组装各种末端执行器组件的套件，其允许针对各种类型的枢转和旋转开关的扭矩对角位移曲线的精确测量。

公开(公告)号：US20070295106A1

公开(公告)日：2007-12-27

申请号：US11382403

申请日：2006-05-09

申请人： Pietro Buttolo ,  James Rankin ,  Yifan Chen

发明人： Pietro Buttolo ,  James Rankin ,  Yifan Chen

IPC分类号： G01L3/00

CPC分类号： G01L5/0042

摘要： A method may be employed to assure that a switch measurement system accurately measures a torque/angular displacement profile for a rotary switch. A procedure may be employed that aligns the rotational axis of the switch with the rotational axis of the measurement unit of the switch measurement system. Also a procedure may be employed that monitors secondary forces to assure that proper alignment and calibration has been achieved.

摘要翻译： 可以采用一种方法来确保开关测量系统精确地测量用于旋转开关的扭矩/角位移曲线。 可以采用将开关的旋转轴与开关测量系统的测量单元的旋转轴对准的过程。 还可以采用监视次级力以确保已经实现适当对准和校准的程序。

公开(公告)号：US07079996B2

公开(公告)日：2006-07-18

申请号：US09681732

申请日：2001-05-30

申请人： Paul Joseph Stewart ,  Pietro Buttolo ,  Yifan Chen

发明人： Paul Joseph Stewart ,  Pietro Buttolo ,  Yifan Chen

IPC分类号： G06G7/48

CPC分类号： G06F17/5095 ,  G06F17/5018 ,  G06T17/20

摘要： A system and method for design of experiments (DOE) using direct surface manipulation of a mesh model. The method includes the steps of selecting a geometric model in a computer-aided design (CAD) format, converting the geometric model into a mesh model and evaluating the mesh model using a computer-aided engineering (CAE) analysis. The method also includes the steps of determining whether to continue generating the design of experiments response, and modifying a surface of the mesh model by varying a predetermined parameter, wherein the surface is modified using direct surface manipulation (DSM), the mesh model is updated and the updated mesh model is used in continuing generating the design of experiments response, if determined to continue the design of experiments. The method further includes the steps of using the results of the CAE analysis for the design of experiments.

公开(公告)号：USRE37528E1

公开(公告)日：2002-01-22

申请号：US09110370

申请日：1998-06-30

申请人： Blake Hannaford ,  Pietro Buttolo

发明人： Blake Hannaford ,  Pietro Buttolo

IPC分类号： G05B1500

CPC分类号： G06F3/016 ,  B25J9/106 ,  B25J13/02 ,  B25J13/085 ,  G06F3/0346 ,  G06F2203/015 ,  G09B23/28

摘要： A pen-based direct-drive manipulator enables precision manipulation and force display of a control point within three degrees of freedom. The control point exhibits substantially no backlash, very low friction and very low inertia making it useful as a force display. The manipulator also has a very high force generation bandwidth allowing high frequency force components to be displayed. A parallel actuator structure controls motion over two degrees of freedom in a horizontal plane. The parallel structure is a redundant structure including three chains in parallel coupled at the control point. The redundant structure provides a uniform force capability throughout the manipulator workspace. A pair of rotational actuators rotate the parallel structure about an axis to approximate a linear motion along a third axis. The rotational actuators provide a third degree of freedom for the control point. Motion about the third axis is substantially decouple from motion about the horizontal plane.

摘要翻译： 基于笔的直接驱动操纵器使得能够在三个自由度内精确地操纵和强制显示控制点。 控制点基本上没有表现出齿隙，非常低的摩擦和非常低的惯性，使其作为力显示是有用的。 机械手还具有非常高的力产生带宽，允许显示高频力分量。 平行致动器结构在水平面中控制两个自由度的运动。 并联结构是冗余结构，包括在控制点处并联耦合的三条链。 冗余结构在整个机械手工作空间中提供均匀的力。 一对旋转致动器围绕一个轴线旋转平行结构以近似沿着第三轴线的直线运动。 旋转致动器为控制点提供第三自由度。 关于第三轴的运动基本上与水平面的运动分离。