Walter A Aviles, 65809 Moana Dr, San Diego, CA 92106

6421048, Jul 16, 2002

Jun 28, 1999

09/340875

Loren Shih - Cambridge MA
Walter A. Aviles - San Diego CA
Thomas H. Massie - Windham NH
Christopher M. Tarr - Cambridge MA

SensAble Technologies, Inc. - Woburn MA

G06T 1500

345419

A user of a modeling application uses a haptic interface device in the real world to manipulate a virtual tool in a virtual environment to interact with a virtual object. The user can use the tool to evaluate the shape of the virtual object and navigate its virtual surface, based on an interactive force feedback approach. When the user attempts to penetrate the virtual object with the virtual tool, a modeling application limits the movement of the virtual tool depending on the geometry of the surface, the position of the virtual tool, and a haptic interface location in the virtual environment, which represents the physical location of the haptic interface device in the real world. The user can evaluate different geometries of the virtual surface, including an edge geometry, such as occurs when the virtual tool is touching or moving along an edge of the virtual object.

6552722, Apr 22, 2003

Jul 6, 1999

09/347637

Loren Shih - Cambridge MA
Walter A. Aviles - San Diego CA
Thomas H. Massie - Windham NH

SensAble Technologies, Inc. - Woburn MA

G06T 1500

345419, 345424

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.

6792398, Sep 14, 2004

Jul 14, 1999

09/352066

Joshua Handley - Cambridge MA
Marc Midura - Watertown MA
Bradley Payne - Belmont MA
Walter A. Aviles - San Diego CA
Thomas H. Massie - Windham NH

SensAble Technologies, Inc. - Woburn MA

G06F 1710

703 2, 345419, 345420, 345757

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.

6831640, Dec 14, 2004

Feb 26, 2003

10/375517

Loren Shih - Cambridge MA
Walter A. Aviles - San Diego CA
Thomas H. Massie - Windham NH

SensAble Technologies, Inc. - Woburn MA

G06T 1500

345419, 345757

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.

7102635, Sep 5, 2006

May 12, 2004

10/844257

Loren Shih - Cambridge MA, US
Walter A. Aviles - San Diego CA, US
Thomas H. Massie - Windham NH, US

SensAble Technologies, Inc. - Woburn MA

G06T 15/00

345419, 345473, 715757

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.

7249952, Jul 31, 2007

Oct 3, 2001

09/970071

John F. Ranta - Princeton MA, US
Walter A. Aviles - San Diego CA, US
R. Bruce Donoff - Chestnut Hill MA, US
Linda P. Nelson - West Newton MA, US

President and Fellows of Harvard College - Cambridge MA

G09B 23/28

434263

A training system using haptically enhanced simulations of dental procedures to provide the sensorimotor involvement needed for dental training. To provide touch feedback in combination with a realistic visual experience, the system integrates a haptic stylus interface for simulating the movement and feel of the tool-tip with a three-dimensional, stereoscopic display. The haptic stylus enables the dental student to orient and operate simulated dental tools. Working on a virtual model viewed in a stereo display, dental students can use a simulated pick to probe a tooth, or a simulated drill to prepare a tooth for cavity repair. The touch feedback is simulated by representing these dental instruments as force-to-a-point tools which map to haptic simulation procedures executed on a computer workstation that also provides the visual display.

7259761, Aug 21, 2007

Jul 17, 2006

11/487948

Loren Shih - Cambridge MA, US
Walter A. Aviles - San Diego CA, US
Thomas H. Massie - Windham NH, US

SensAble Technologies, Inc. - Woburn MA

G06T 15/00

345419, 715702, 715757

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.

7319466, Jan 15, 2008

May 18, 2000

09/574131

Christopher Tarr - Somerville MA, US
Kenneth Salisbury, Jr. - Cambridge MA, US
Thomas Harold Massie - Windham NH, US
Walter A. Aviles - Marion MA, US

SensAble Technologies, Inc. - Woburn MA

G06T 15/00

345419, 345420

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. The method includes creating a haptic process having the haptic interactive representation, associating a callback with the haptic process, connecting to a second process which interacts with the haptic process and associating the callback which is associated with the haptic process with the second process. The method further includes requesting the callback by the second process, and returning, by the haptic process through the callback to the second process, at least one parameter associated with the haptic interactive representation.