Patents Assigned to SensAble Technologies, Inc.
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Patent number: 8174535Abstract: 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: GrantFiled: February 14, 2011Date of Patent: May 8, 2012Assignee: SensAble Technologies, Inc.Inventors: Torsten Berger, Elaine Chen, Walter C. Shannon, III
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Patent number: 8040345Abstract: 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: GrantFiled: November 30, 2007Date of Patent: October 18, 2011Assignee: SensAble Technologies, Inc.Inventors: Daniel Faken, Craig Cook, Brad Amidon, Brandon Itkowitz, Scott Davidson, Vincent M. Hammer
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Patent number: 7889209Abstract: 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: GrantFiled: December 10, 2003Date of Patent: February 15, 2011Assignee: Sensable Technologies, Inc.Inventors: Torsten Berger, Elaine Chen, Walter C. Shannon
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Patent number: 7889195Abstract: 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: GrantFiled: August 17, 2007Date of Patent: February 15, 2011Assignee: Sensable Technologies, Inc.Inventors: Loren Shih, Walter A. Aviles, Thomas H. Massie, Walter C. Shannon, III
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Patent number: 7864173Abstract: 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: GrantFiled: July 27, 2004Date of Patent: January 4, 2011Assignee: SensAble Technologies, Inc.Inventors: Joshua Handley, Marc Midura, Bradley Payne, Walter A. Aviles, Thomas H. Massie, Walter C. Shannon, III
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Patent number: 7808509Abstract: 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: GrantFiled: March 24, 2008Date of Patent: October 5, 2010Assignee: SensAble Technologies, Inc.Inventors: Jonathan Levene, Joshua Handley, Brandon Itkowitz
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Patent number: 7800609Abstract: 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: GrantFiled: January 2, 2008Date of Patent: September 21, 2010Assignee: SensAble Technologies, Inc.Inventors: Christopher Tarr, J. Kenneth Salisbury, Jr., Thomas Harold Massie, Walter A. Aviles
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Patent number: 7714836Abstract: 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: GrantFiled: September 20, 2005Date of Patent: May 11, 2010Assignee: SensAble Technologies, Inc.Inventors: Guy Rodomista, Andrew Ziegler, William A. Goodwin, Clive Bolton, Thomas H. Massie, R. Michael Lohse
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Patent number: 7710415Abstract: 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: GrantFiled: July 11, 2005Date of Patent: May 4, 2010Assignee: Sensable Technologies, Inc.Inventors: Ralph E. Jennings, Jr., Thomas Harold Massie, Bradley A. Payne, Walter C. Shannon, III
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Patent number: 7626589Abstract: 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: GrantFiled: December 10, 2003Date of Patent: December 1, 2009Assignee: SensAble Technologies, Inc.Inventor: Torsten Berger
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Publication number: 20090033660Abstract: 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: ApplicationFiled: March 27, 2008Publication date: February 5, 2009Applicant: Sensable Technologies, Inc.Inventors: Jonathan Levene, Marc Midura, Joshua Handley
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Publication number: 20090027411Abstract: 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: ApplicationFiled: March 24, 2008Publication date: January 29, 2009Applicant: Sensable Technologies, Inc.Inventors: Jonathan Levene, Joshua Handley, Brandon Itkowitz
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Publication number: 20080291161Abstract: 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: ApplicationFiled: July 8, 2008Publication date: November 27, 2008Applicant: SensAble Technologies, Inc.Inventors: Thomas H. Massie, William A. Goodwin, Elaine Chen, Deepak Kapoor, Abbe J. Cohen, Brandon Itkowitz
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Publication number: 20080218514Abstract: 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: ApplicationFiled: January 2, 2008Publication date: September 11, 2008Applicant: Sensable Technologies, Inc.Inventors: Christopher Tarr, J. Kenneth Salisbury, Thomas Harold Massie, Walter A. Aviles
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Patent number: 7411576Abstract: 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: GrantFiled: October 30, 2003Date of Patent: August 12, 2008Assignee: SensAble Technologies, Inc.Inventors: Thomas H. Massie, William Alexander Goodwin, Elaine Chen, Deepak Kapoor, Abbe J. Cohen, Brandon D. Itkowitz
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Patent number: 7400331Abstract: 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: GrantFiled: June 26, 2006Date of Patent: July 15, 2008Assignee: SensAble Technologies, Inc.Inventors: Jonathan Levene, Marc Midura, Joshua Handley
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Patent number: 7382378Abstract: 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: GrantFiled: October 30, 2003Date of Patent: June 3, 2008Assignee: SensAble Technologies, Inc.Inventors: Jonathan Levene, Joshua Handley, Brandon Itkowitz
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Publication number: 20080088620Abstract: 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: ApplicationFiled: August 17, 2007Publication date: April 17, 2008Applicant: SensAble Technologies, Inc.Inventors: Loren Shih, Walter Aviles, Thomas Massie, Walter Shanon
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Patent number: 7319466Abstract: 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: GrantFiled: May 18, 2000Date of Patent: January 15, 2008Assignee: SensAble Technologies, Inc.Inventors: Christopher Tarr, Kenneth Salisbury, Jr., Thomas Harold Massie, Walter A. Aviles
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Patent number: 7259761Abstract: 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: GrantFiled: July 17, 2006Date of Patent: August 21, 2007Assignee: SensAble Technologies, Inc.Inventors: Loren Shih, Walter A. Aviles, Thomas H. Massie, Walter C. Shannon, III