05694013 is referenced by 142 patents and cites 11 patents.

A method for providing a haptic interface between a user held physical device and a computer generated parametric surface determines if a collision has occurred therebetween. If a collision has occurred, a force to apply to the physical device is determined and a force actuation mechanism is activated so as to produce the force at the physical device. If a collision has not occurred, the force actuation mechanism is deactivated. The method is repeated as the physical device is moved through a virtual space in which the parametric surface is modeled. The physical device is capable of transmitting forces in at least three degrees-of-freedom via the force actuation mechanism which is connected thereto. A human operator holding the physical device can thus interact with the surface, which may be a CAD generated surface.

Title
Force feedback haptic interface for a three-dimensional CAD surface
Application Number
8/709570
Publication Number
5694013
Application Date
September 6, 1996
Publication Date
December 2, 1997
Inventor
Yihan Chen
Ann Arbor
MI, US
Paul J Stewart
Ann Arbor
MI, US
Agent
David B Kelley
Assignee
Ford Global Technologies
MI, US
IPC
B25J 9/00
G05B 13/02
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