Virtual Fixtures for Improved Performance in Human/Autonomous Manipulation Tasks

Abstract

Apparatus and method for defining and utilizing virtual fixtures in haptic rendering sessions interacting with various environments, including underwater environments, are provided. A computing device can receive first depth data about an environment. The computing device can generate a first plurality of points from the first depth data. The computing device can determine a haptic interface point (HIP) and can define a virtual fixture for the environment. The computing device can determine a first force vector between the HIP and the first plurality of points using the computing device, where the first force vector is based on the virtual fixture. The computing device can send a first indication of haptic feedback based on the first force vector.

Description

RELATED APPLICATIONS[0001]The present application claims priority to U.S. Provisional Patent Application No. 61 / 756,132 entitled “Methods and Systems for Six Degree-of-Freedom Haptic Interaction with Streaming Point Clouds”, filed Jan. 24, 2013, U.S. Provisional Patent Application No. 61 / 764,908 entitled “Methods for Underwater Haptic Rendering Using Nontact Sensors”, filed Feb. 14, 2013, and U.S. Provisional Patent Application No. 61 / 764,921 entitled “Virtual Fixtures for Subsea Technology”, filed Feb. 14, 2013, all of which are entirely incorporated by reference herein for all purposes.STATEMENT OF GOVERNMENT RIGHTS[0002]This invention was made with government support under grant no. 0930930, awarded by the National Science Foundation and with support under grant MRSEED01-006 “Haptically-Enabled Co-Robotics for Remediation of Military Munitions Underwater” for the Strategic Environmental Research and Development Program (SERDP). The United States Government has certain rights in t...

AI Technical Summary

Benefits of technology

This patent application is about a system that can provide haptic feedback to operators controlling devices to perform underwater tasks. The system uses depth data, such as a stream of frames with depth information, to generate haptic feedback at rapid rates. It also allows for the dynamic adjustment of virtual fixtures based on objects recognized in the environment and the status of tasks being performed. The system can provide a camera that captures images and depth information underwater, which can be used to generate haptic feedback for operators. Overall, this technology can transform underwater manipulation capabilities, allowing for precise maneuvering and efficient performance of common tasks while saving time, expense, and preserving the environment.

Problems solved by technology

Ideally, the HIP should not be able to penetrate virtual environment objects.

Unfortunately the direct method suffers from problems with “pop through”.

Pop through is an artifact that arises when the rendering algorithm erroneously penetrates a thin surface.

This method results in a virtual tool that actually penetrates objects in the environment.

Fortunately this penetration is typically very small.

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