A haptic device with collision detection response for sculpting virtual objects

To enhance the visual interaction with virtual environment, a hand-controller equipped with force reflection provides a human operator an additional sensory dimension to feel force during manipulation of virtual objects. The design of the device is based upon ergonomic ease of use; back-driveability which includes low inertia, mass, friction and backlash and simplicity of model and control. To sculpt objects on a computer the operator needs an instrument to enable himself to feel the virtual object. This requirement can be facilitated by the haptic device with a a collision detection response algorithm. The algorithm will ensure that the surfaces of the virtual object do not interpenetrate. When the user attempts to interpenetrate two surfaces, the algorithm will stop the surfaces at the point of penetration and send force-feedback information to the haptic device which in term will generate simulated resistant force to him to indicate that the operation is not permissible