Patents Assigned to SensAble Technologies, Inc.
  • Patent number: 8174535
    Abstract: The invention provides techniques for wrapping a two-dimensional texture conformally onto a surface of a three dimensional virtual object within an arbitrarily-shaped, user-defined region. The techniques provide minimum distortion and allow interactive manipulation of the mapped texture. The techniques feature an energy minimization scheme in which distances between points on the surface of the three-dimensional virtual object serve as set lengths for springs connecting points of a planar mesh. The planar mesh is adjusted to minimize spring energy, and then used to define a patch upon which a two-dimensional texture is superimposed. Points on the surface of the virtual object are then mapped to corresponding points of the texture. The invention also features a haptic/graphical user interface element that allows a user to interactively and intuitively adjust texture mapped within the arbitrary, user-defined region.
    Type: Grant
    Filed: February 14, 2011
    Date of Patent: May 8, 2012
    Assignee: SensAble Technologies, Inc.
    Inventors: Torsten Berger, Elaine Chen, Walter C. Shannon, III
  • Patent number: 8040345
    Abstract: The invention provides a system for modeling three-dimensional objects using hybrid geometric/volumetric representation, wherein sharp edges are created by a geometric representation that is connected to the volumetric representation. The system creates, maintains, and updates the hybrid representation according to user input. The system also provides for conversion of the hybrid representation into either a wholly geometric representation or a wholly volumetric representation, as may be needed for output to a given device, such as a display device, a printer, and/or a fabricating device.
    Type: Grant
    Filed: November 30, 2007
    Date of Patent: October 18, 2011
    Assignee: SensAble Technologies, Inc.
    Inventors: Daniel Faken, Craig Cook, Brad Amidon, Brandon Itkowitz, Scott Davidson, Vincent M. Hammer
  • Patent number: 7889209
    Abstract: The invention provides techniques for wrapping a two-dimensional texture conformally onto a surface of a three dimensional virtual object within an arbitrarily-shaped, user-defined region. The techniques provide minimum distortion and allow interactive manipulation of the mapped texture. The techniques feature an energy minimization scheme in which distances between points on the surface of the three-dimensional virtual object serve as set lengths for springs connecting points of a planar mesh. The planar mesh is adjusted to minimize spring energy, and then used to define a patch upon which a two-dimensional texture is superimposed. Points on the surface of the virtual object are then mapped to corresponding points of the texture. The invention also features a haptic/graphical user interface element that allows a user to interactively and intuitively adjust texture mapped within the arbitrary, user-defined region.
    Type: Grant
    Filed: December 10, 2003
    Date of Patent: February 15, 2011
    Assignee: Sensable Technologies, Inc.
    Inventors: Torsten Berger, Elaine Chen, Walter C. Shannon
  • Patent number: 7889195
    Abstract: A user of a virtual object or computer model uses a haptic interface device in the real world to manipulate a virtual tool in a virtual environment to interact and modify the virtual object. The user uses the virtual tool in a sculpting mode to modify the shape of the virtual object by adding, removing, or modifying the material of the object. The user feels an interaction force from the virtual tool as it interacts with and modifies the virtual object. The designer can set geometric constraints, such as a constraint point, constraint line, or constraint surface, to limit or guide the movement of the virtual tool.
    Type: Grant
    Filed: August 17, 2007
    Date of Patent: February 15, 2011
    Assignee: Sensable Technologies, Inc.
    Inventors: Loren Shih, Walter A. Aviles, Thomas H. Massie, Walter C. Shannon, III
  • Patent number: 7864173
    Abstract: A user of a modeling application modifies an initial virtual object using a sketch drawn on one or more construction planes. Typically, construction planes are connected by an axis that intersects the virtual object. The user can draw a sketch on each construction plane, and the modeling application interpolates a shape along the axis between the sketches to determine what material in the virtual object is to be removed from it. In this manner, material may be removed to create a recess or hole in the virtual object or otherwise to slice away material from the object. A user can use two or more axes and construction planes to produce complex shapes from the initial virtual object. A user can also select a portion of a virtual object and mirror the selected portion. Modifications that the user makes in the selected portion are made correspondingly in the mirrored portion.
    Type: Grant
    Filed: July 27, 2004
    Date of Patent: January 4, 2011
    Assignee: SensAble Technologies, Inc.
    Inventors: Joshua Handley, Marc Midura, Bradley Payne, Walter A. Aviles, Thomas H. Massie, Walter C. Shannon, III
  • Patent number: 7808509
    Abstract: The invention provides methods of protecting selected regions of an image from subsequent modification during the operation of a graphics application. The methods allow a user to select a region of an image to protect, and to assign a level of protection to the selected region. Subsequent brush strokes in the region are then attenuated according to the assigned level of protection and blended into the image without artifacts caused by overlapping strokes. The invention also provides a method of blending individual strokes into a texture without segmentation artifacts.
    Type: Grant
    Filed: March 24, 2008
    Date of Patent: October 5, 2010
    Assignee: SensAble Technologies, Inc.
    Inventors: Jonathan Levene, Joshua Handley, Brandon Itkowitz
  • Patent number: 7800609
    Abstract: A method for generating a haptic interactive representation including the steps of defining a haptic interaction space and building a hierarchical construct, for use within the haptic interaction space, using a plurality of underlying constructs. In one embodiment the method includes determining the forces to be applied to a user by generating a haptic interactive, sensing a position of a user in real space, determining a haptic interface location in the haptic interaction space in response to the position of the user in real space and determining whether the virtual object collides with the haptic interface location. The invention also relates to a method for interacting with a haptic interactive representation.
    Type: Grant
    Filed: January 2, 2008
    Date of Patent: September 21, 2010
    Assignee: SensAble Technologies, Inc.
    Inventors: Christopher Tarr, J. Kenneth Salisbury, Jr., Thomas Harold Massie, Walter A. Aviles
  • Patent number: 7714836
    Abstract: A six degree of freedom force reflecting haptic interface includes three powered axes and three free axes, all of which are tracked so that the position of a user connection element in the work volume can be determined. The interface includes cable drives with polymer composite or metallic cables, automatic cable tensioning devices, and grounded actuator capstans. A nested hub and transfer drive provide a compact, weight balanced interface. User comfort and safety features are also provided.
    Type: Grant
    Filed: September 20, 2005
    Date of Patent: May 11, 2010
    Assignee: SensAble Technologies, Inc.
    Inventors: Guy Rodomista, Andrew Ziegler, William A. Goodwin, Clive Bolton, Thomas H. Massie, R. Michael Lohse
  • Patent number: 7710415
    Abstract: Systems and methods for modifying a virtual object stored within a computer. The systems and methods allow virtual object modifications that are otherwise computationally inconvenient. The virtual object is represented as a volumetric representation. A portion of the volumetric model is converted into an alternative representation. The alternative representation can be a representation having a different number of dimensions from the volumetric representations. A stimulus is applied to the alternative representation, for example by a user employing a force-feedback haptic interface. The response of the alternative representation to the stimulus is calculated. The change in shape of the virtual object is determined from the response of the alternative representation. The representations of the virtual object can be displayed at any time for the user. The user can be provided a force-feedback response. Multiple stimuli can be applied in succession.
    Type: Grant
    Filed: July 11, 2005
    Date of Patent: May 4, 2010
    Assignee: Sensable Technologies, Inc.
    Inventors: Ralph E. Jennings, Jr., Thomas Harold Massie, Bradley A. Payne, Walter C. Shannon, III
  • Patent number: 7626589
    Abstract: The invention provides techniques for wrapping a two-dimensional texture conformally onto a surface of a three dimensional virtual object within an arbitrarily-shaped, user-defined region. The techniques provide minimum distortion and allow interactive manipulation of the mapped texture. The techniques feature an energy minimization scheme in which distances between points on the surface of the three-dimensional virtual object serve as set lengths for springs connecting points of a planar mesh. The planar mesh is adjusted to minimize spring energy, and then used to define a patch upon which a two-dimensional texture is superimposed. Points on the surface of the virtual object are then mapped to corresponding points of the texture. The invention also features a haptic/graphical user interface element that allows a user to interactively and intuitively adjust texture mapped within the arbitrary, user-defined region.
    Type: Grant
    Filed: December 10, 2003
    Date of Patent: December 1, 2009
    Assignee: SensAble Technologies, Inc.
    Inventor: Torsten Berger
  • Publication number: 20090033660
    Abstract: The invention provides texture mapping techniques that facilitate interactive painting of a three-dimensional virtual surface by a user in object space, without requiring global parameterization. The texture mapping techniques feature rendering texture for a given virtual object using a plurality of composite textures, each formed by blending collapsible texture layers. Texture coordinates in texture space are derived using information determined at the time of surface mesh generation. The invention features dynamic texture allocation and deallocation, allowing a user to interactively modify the shape of a painted, three-dimensional model. Finally, the invention features an architecture for combined graphical rendering and haptic rendering of a virtual object, allowing a user to experience force feedback during the painting of the object in object space.
    Type: Application
    Filed: March 27, 2008
    Publication date: February 5, 2009
    Applicant: Sensable Technologies, Inc.
    Inventors: Jonathan Levene, Marc Midura, Joshua Handley
  • Publication number: 20090027411
    Abstract: The invention provides methods of protecting selected regions of an image from subsequent modification during the operation of a graphics application. The methods allow a user to select a region of an image to protect, and to assign a level of protection to the selected region. Subsequent brush strokes in the region are then attenuated according to the assigned level of protection and blended into the image without artifacts caused by overlapping strokes. The invention also provides a method of blending individual strokes into a texture without segmentation artifacts.
    Type: Application
    Filed: March 24, 2008
    Publication date: January 29, 2009
    Applicant: Sensable Technologies, Inc.
    Inventors: Jonathan Levene, Joshua Handley, Brandon Itkowitz
  • Publication number: 20080291161
    Abstract: A multi-function force reflecting haptic interface including various sub-assemblies is disclosed. The sub-assemblies include multiple function user interfaces, a user interface docking station for setting the interface to a home position, temperature monitoring and control systems, and various kinematic cable drive systems.
    Type: Application
    Filed: July 8, 2008
    Publication date: November 27, 2008
    Applicant: SensAble Technologies, Inc.
    Inventors: Thomas H. Massie, William A. Goodwin, Elaine Chen, Deepak Kapoor, Abbe J. Cohen, Brandon Itkowitz
  • Publication number: 20080218514
    Abstract: A method for generating a haptic interactive representation including the steps of defining a haptic interaction space and building a hierarchical construct, for use within the haptic interaction space, using a plurality of underlying constructs. In one embodiment the method includes determining the forces to be applied to a user by generating a haptic interactive, sensing a position of a user in real space, determining a haptic interface location in the haptic interaction space in response to the position of the user in real space and determining whether the virtual object collides with the haptic interface location. The invention also relates to a method for interacting with a haptic interactive representation.
    Type: Application
    Filed: January 2, 2008
    Publication date: September 11, 2008
    Applicant: Sensable Technologies, Inc.
    Inventors: Christopher Tarr, J. Kenneth Salisbury, Thomas Harold Massie, Walter A. Aviles
  • Patent number: 7411576
    Abstract: A multi-function force reflecting haptic interface including various sub-assemblies is disclosed. The sub-assemblies include multiple function user interfaces, a user interface docking station for setting the interface to a home position, temperature monitoring and control systems, and various kinematic cable drive systems.
    Type: Grant
    Filed: October 30, 2003
    Date of Patent: August 12, 2008
    Assignee: SensAble Technologies, Inc.
    Inventors: Thomas H. Massie, William Alexander Goodwin, Elaine Chen, Deepak Kapoor, Abbe J. Cohen, Brandon D. Itkowitz
  • Patent number: 7400331
    Abstract: The invention provides texture mapping techniques that facilitate interactive painting of a three-dimensional virtual surface by a user in object space, without requiring global parameterization. The texture mapping techniques feature rendering texture for a given virtual object using a plurality of composite textures, each formed by blending collapsible texture layers. Texture coordinates in texture space are derived using information determined at the time of surface mesh generation. The invention features dynamic texture allocation and deallocation, allowing a user to interactively modify the shape of a painted, three-dimensional model. Finally, the invention features an architecture for combined graphical rendering and haptic rendering of a virtual object, allowing a user to experience force feedback during the painting of the object in object space.
    Type: Grant
    Filed: June 26, 2006
    Date of Patent: July 15, 2008
    Assignee: SensAble Technologies, Inc.
    Inventors: Jonathan Levene, Marc Midura, Joshua Handley
  • Patent number: 7382378
    Abstract: The invention provides methods of protecting selected regions of an image from subsequent modification during the operation of a graphics application. The methods allow a user to select a region of an image to protect, and to assign a level of protection to the selected region. Subsequent brush strokes in the region are then attenuated according to the assigned level of protection and blended into the image without artifacts caused by overlapping strokes. The invention also provides a method of blending individual strokes into a texture without segmentation artifacts.
    Type: Grant
    Filed: October 30, 2003
    Date of Patent: June 3, 2008
    Assignee: SensAble Technologies, Inc.
    Inventors: Jonathan Levene, Joshua Handley, Brandon Itkowitz
  • Publication number: 20080088620
    Abstract: A user of a virtual object or computer model uses a haptic interface device in the real world to manipulate a virtual tool in a virtual environment to interact and modify the virtual object. The user uses the virtual tool in a sculpting mode to modify the shape of the virtual object by adding, removing, or modifying the material of the object. The user feels an interaction force from the virtual tool as it interacts with and modifies the virtual object. The designer can set geometric constraints, such as a constraint point, constraint line, or constraint surface, to limit or guide the movement of the virtual tool.
    Type: Application
    Filed: August 17, 2007
    Publication date: April 17, 2008
    Applicant: SensAble Technologies, Inc.
    Inventors: Loren Shih, Walter Aviles, Thomas Massie, Walter Shanon
  • Patent number: 7319466
    Abstract: A method for generating a haptic interactive representation including the steps of defining a haptic interaction space and building a hierarchical construct, for use within the haptic interaction space, using a plurality of underlying constructs. In one embodiment the method includes determining the forces to be applied to a user by generating a haptic interactive, sensing a position of a user in real space, determining a haptic interface location in the haptic interaction space in response to the position of the user in real space and determining whether the virtual object collides with the haptic interface location. The invention also relates to a method for interacting with a haptic interactive representation.
    Type: Grant
    Filed: May 18, 2000
    Date of Patent: January 15, 2008
    Assignee: SensAble Technologies, Inc.
    Inventors: Christopher Tarr, Kenneth Salisbury, Jr., Thomas Harold Massie, Walter A. Aviles
  • Patent number: 7259761
    Abstract: A user of a virtual object or computer model uses a haptic interface device in the real world to manipulate a virtual tool in a virtual environment to interact and modify the virtual object. The user uses the virtual tool in a sculpting mode to modify the shape of the virtual object by adding, removing, or modifying the material of the object. The user feels an interaction force from the virtual tool as it interacts with and modifies the virtual object. The designer can set geometric constraints, such as a constraint point, constraint line, or constraint surface, to limit or guide the movement of the virtual tool.
    Type: Grant
    Filed: July 17, 2006
    Date of Patent: August 21, 2007
    Assignee: SensAble Technologies, Inc.
    Inventors: Loren Shih, Walter A. Aviles, Thomas H. Massie, Walter C. Shannon, III