Abstract: A general-purpose, low-cost system provides comprehensive physiological data collection, with extensive data object oriented programmability and configurability for a variety of medical as well as other analog data collection applications. In a preferred embodiment, programmable input signal acquisition and processing circuits are used so that virtually any analog and/or medical signal can be digitized from a common point of contact to a plurality of sensors. A general-purpose data routing and encapsulation architecture supports input tagging and standardized routing through modern packet switch networks, including the Internet; from one of multiple points of origin or patients, to one or multiple points of data analysis for physician review. The preferred architecture further supports multiple-site data buffering for redundancy and reliability, and real-time data collection routing, and viewing (or slower than real-time processes when communications infrastructure is slower than the data collection rate).

Abstract: A device for measuring eye movements is suitable for stand-alone, portable use and for integration into a head/helmet mounted display. The low-cost non-imaging eye tracking system is optimized toward the applications requiring computer cursor control by localizing the gaze direction as an operator looks through a fixed frame to provide pointing information to a computer.

Abstract: An improved method of pose determination and tracking does away with conventional segmentation while taking advantage of multi-degree-of-freedom numerical fitting or match filtering as opposed to a syntactic segment or feature oriented combinatorial match. The technique may be used to improve image database query based on object shape descriptors by allowing the user to request images from a database or video sequence which contain a key object described by a geometric description that the user designates or supplies. The approach is also applicable to target or object acquisition and tracking based on the matching of one or a set of object shape data structures.

Abstract: A versatile robot provides a plurality of different, primary locomotion means and the capability of switching between modes of movement on a rapid basis to traverse a variety of terrains at high speed. In the preferred embodiment, the robot uses a plurality of legs as a first primary means of locomotion and a plurality of wheels as a second, primary means of locomotion. As such, the robot may use the wheels for high speed locomotion (in excess of 10 mph) over prepared surfaces, and the legs for traversing unprepared surfaces and man-made obstacles at lower speed. The system further employs means for monitoring leg or joint position to determine ground contact or obstacles.

Abstract: A general-purpose, low-cost system provides comprehensive physiological data collection, with extensive data object oriented programmability and configurability for a variety of medical as well as other analog data collection applications. In a preferred embodiment, programmable input signal acquisition and processing circuits are used so that virtually any analog and/or medical signal can be digitized from a common point of contact to a plurality of sensors. A general-purpose data routing and encapsulation architecture supports input tagging and standardized routing through modern packet switch networks, including the Internet; from one of multiple points of origin or patients, to one or multiple points of data analysis for physician review. The preferred architecture further supports multiple-site data buffering for redundancy and reliability, and real-time data collection, routing, and viewing (or slower than real-time processes when communications infrastructure is slower than the data collection rate).

Abstract: Material defects and damage are detected and evaluated by stressing the material and looking for flaw-induced anomalies in a fringe pattern generated by the interference between two coherent laser beams and electronic image processing. In terms of apparatus, the system includes a sensor head and a head-mounted display (HMD) interfaced to a computer, power supply, and control electronics. In one embodiment, the sensor head contains a thermal stressing unit and an in-plane displacement sensitive ESPI arrangement which measures the in-plane displacement of the deformation induced by applying thermal stressing. In operation, a thermal stressing unit is integrated with the sensor head to provide a slight temperature difference between a localized region and surrounding areas, with the change in temperature being used to reveal the defects and damage through the interference between the two laser beams and electronic image processing.

Abstract: Material defects and damage are detected and evaluated by stressing the material while looking for flaw-induced anomalies. In one embodiment, a thermal stressing unit is used to provide a slight temperature difference between a localized region and surrounding areas, with the change in temperature being used to reveal the defects and damage using a fringe pattern generated through the interference between two coherent laser beams. A sensor head and a head-mounted display (HMD), interfaced to a computer, power supply, and control electronics are used to measure the derivative of out-of-plane displacement with respect to an image shearing direction so as to generate a display of the fringe pattern, preferably in three dimensions through a displacement or depth map.

Abstract: Paper documents are automatically converted into a hypertext-based format so that they can be accessed through electronic networks, including the Internet, or via non-volatile transfer media such as disks or CD-ROMs. The invention generalizes the concept of form-based recognition while extending the concept of document retrieval to include document structure knowledge, thereby providing the advantages found in both form-based recognition (utilization of document structure knowledge) and image-based information retrieval (robustness). In a preferred embodiment, a method according to the invention enables direct translation of a paper document into a hypertext-based format so that it may be directly accessed through the Internet using current browsers such as Mosaic, Netscape and Microsoft's Explorer.

Abstract: A virtual-reality system provides a full-body, digitally programmed, kinesthetic display in the form of a foot-haptic system incorporating a pair of footpads, one associated with each foot of a user, and a multi-axis electromechanical interface responsive to user position and orientation. A computer, in communication with the electromechanical interface, permits the user to interact with a virtual terrain, vertical features, or other users. In a preferred physical realization, the system includes three major components: a locomotion simulator, a ground plane 104, and a vertical feature emulator. A head-mounted display provides all visual clues. The system may be operated in a first mode of operation, wherein the user's feet and the footpads remain in constant contact with each other, or an alternative mode of operation, wherein the user makes and breaks contact with the footpads in a cyclical manner.

Abstract: A method of browsing geometrical databases through touch or haptic feedback is disclosed which presents a tactile virtual reality to a user, facilitating the simultaneous browsing, or viewing, touching, attaching to, or manipulation of object descriptions contained within files both visually and haptically. The files may be local to a computer system or located across a network on one or more computer systems. In a preferred embodiment, the invention preferably renders haptic features using a layered architecture to support multiple axes per device, multiple devices per servo layer, multiple servo layers per communications layer, and multiple applications accessing common or different force-feedback devices.

Abstract: A system and method for providing a tactile virtual reality to a user is present. The position and orientation of the user is utilized to generate a virtual reality force field. Forces are in turn generated on the user as a function of this force field. A six-axis manipulator is presented for providing a user interface to such a system. This manipulator provides a unique kinematic structure with two constant force springs which provide gravity compensation so that the manipulator effectively floats.

Abstract: A method and system for simulating medical procedures is presented. During an actual medical procedure, the actions of a medical instrument are measured and recorded. These actions are generated on a member representative of the medical instrument to simulate the actual medical procedure. Forces acting upon the medical instrument are sensed and simulated in the member using a force/tactile reflecting mechanism. The preferred embodiment uses virtual reality technology including image processing, three-dimensional graphics and display methods, simulated force/tactile reflection, head/hand movement, position sensing, and sound generation to provide an accurate simulation of endoscopic medical procedures.

Abstract: Force feedback in large, immersive environments is provided by device which a gyro- stabilization to generate a fixed point of leverage for the requisite forces and/or torques. In one embodiment, one or more orthogonally oriented rotating gyroscopes are used to provide a stable platform to which a force-reflecting device can be mounted, thereby coupling reaction forces to a user without the need for connection to a fixed frame. In one physical realization, a rigid handle or joystick is directly connected to the three-axis stabilized platform and using an inventive control scheme to modulate motor torques so that only the desired forces are felt. In an alternative embodiment, a reaction sphere is used to produce the requisite inertial stabilization. Since the sphere is capable of providing controlled torques about three arbitrary, linearly independent axes, it can be used in place of three reaction wheels to provide three-axis stabilization for a variety of space-based and terrestrial applications.

Abstract: A system and method for providing a tactile virtual reality to a user is present. The position and orientation of the user is utilized to generate a virtual reality force field. Forces are in turn generated on the user as a function of this force field. A six-axis manipulator is presented for providing a user interface to such a system. This manipulator provides a unique kinematic structure with two constant force springs which provide gravity compensation so that the manipulator effectively floats.

Abstract: An system and method for providing a tactile virtual reality to a user is present. The position and orientation of the user is utilized to generate a virtual reality force field. Forces are in turn generated on the user as a function of this force field. A six-axis manipulator is presented for providing a user interface to such a system. This manipulator provides a unique kinematic structure with two constant force springs which provide gravity compensation so that the manipulator effectively floats.

Abstract: An system and method for providing a tactile virtual reality to a user is present. The position and orientation of the user is utilized to generate a virtual reality force field. Forces are in turn generated on the user as a function of this force field. A six-axis manipulator is presented for providing a user interface to such a system. This manipulator provides a unique kinematic structure with two constant force springs which provide gravity compensation so that the manipulator effectively floats.