06191796 is referenced by 130 patents and cites 97 patents.

A method for haptically deforming a virtual surface within a haptic virtual environment is used to plastically deform the virtual surface of a virtual object by sensing a user's position in real space, determining a haptic interface location in the haptic environment based thereon, and determining whether the virtual surface collides with the haptic interface location. Upon detection of a collision above a threshold force, a visual representation of the virtual surface is plastically deformed and a corresponding force is calculated and fed back to the user. The virtual surface can be visco-elastically deformed.

Title
Method and apparatus for generating and interfacing with rigid and deformable surfaces in a haptic virtual reality environment
Application Number
9/10295
Publication Number
6191796 (B1)
Application Date
January 21, 1998
Publication Date
February 20, 2001
Inventor
Christopher Tarr
Cambridge
MA, US
Agent
Testa Hurwitz & Thibeault
US
Assignee
SensAble Technologies
MA, US
IPC
G06F 15/00
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