Haptic Virtual Fixture Tools

摘要

Apparatus and methods for defining and utilizing virtual fixtures for haptic navigation within real-world environments, including underwater environments, are provided. A computing device can determine a real-world object within a real-world environment. The computing device can receive an indication of the real-world object. The computing device can determine a virtual fixture that corresponds to the real-world object based on the indication, where aspects of the virtual fixture are configured to align with aspects of the real-world object. The computing device can provide a virtual environment for manipulating the robotic tool to operate on the real-world object utilizing the virtual fixture. The virtual fixture is configured to provide haptic feedback based on a position of a virtual robotic tool in the virtual environment that corresponds to the robotic tool in the real-world environment.

主权项

1. A method, comprising:
determining a particular real-world object within a real-world environment using a computing device, wherein the real-world environment also comprises a robotic tool; receiving a specification of the particular real-world object at the computing device; determining a corresponding virtual fixture that corresponds to the particular real-world object based on the specification of the particular real-world object using the computing device, wherein one or more corresponding aspects of the corresponding virtual fixture are configured to align with one or more aspects of the particular real-world object; and providing a virtual environment that is configured for manipulating the robotic tool to operate on the particular real-world object by utilizing the corresponding virtual fixture using the computing device, wherein the corresponding virtual fixture is configured to provide haptic feedback based on a position of a virtual robotic tool in the virtual environment, and wherein the virtual robotic tool in the virtual environment corresponds to the robotic tool in the real-world environment.