Kelley et al., “Magic Mouse: Tactile and Kinesthetic Feedback in the Human-Computer Interface using an Electromagnetically Actuated Input/Output Device”, University of British Columbia, pp. 1-27, Oct. 19, 1993.* |
Yoshikawa, T., et al., “Construction of Virtual World Using Dynamics Modules and Interaction Modules”, Proceedings of the 1996 IEEE, International Conference on Robotics and Automation, Minneapolis, Minnesota, Apr. 1996; pp. 2358-2364. (Not admitted as prior art). |
Adachi, Y., “Touch and Trace on the Free-Form Surface of Virtual Object,” Proceedings of IEEE Virtual Reality Annual Interanational Symposium, Sep. 18-22, 1993, Seattle WA, pp. 162-168. |
Agrawala, M. et al., “3D Painting on Scanned Surfaces”, 1995 Symposium on Interactive 3D Graphics, Monterey, CA, 1995, pp. 145-150. |
Barr, Alan H., “Global and Local Deformations of Solid Primitives”, Computer Graphics, vol. 18, No. 3, Jul. 1984, pp. 21-30. |
Dworkin, Paul, et al., “A New Model for Efficient Dynamic Simulation,” Fourth Eurographics Animation and Simulation Workshop Proceedings, Eurographics Technical Report Series, ISSN 1017-4656, Sep. 4-5, 1993, pp. 135-147. |
Hirata, Yukihiro et al., “3-Dimensional Interface Device for Virtual Work Space,” Proceedings of the 1992 IEEE/RJS International Conference on Intelligent Robots and Systems, Jul. 7-10, 1992, pp. 889-896. |
Howe, Robert D. et al., “Task Performance with a Dextrous Teleoperated Hand System,” Telemanipulator Technology, Nov. 1992, Proceedings of SPIE, vol. 1833, pp. 1-9. |
Immersion Corporation, “The Impulse Engine™”, 1996, 2 pgs. |
Immersion Human Interface Corporation, “Laparoscopic Impulse Engine™, A New Force Feedback Surgical Simulation Tool”, 1995, 1 pg. |
Immersion Corporation Website, 1997, 4 pgs. |
Immersion Corporation, “Virtual Laparoscopic Interface”, 1995, 1 pg. |
Inoue, H., et al., “Parallel Manipulator,” Proceedings of 3rd Robotics Research: The Third International Sympsioum, Faugeras & Giralt, eds., MIT Press 1986, pp. 321-327 |
Iwata, H., “Pen-based Haptic Virtual Environment,” Proceedings of IEEE Virtual Reality Annual International Symposium, (Sep. 18-22, 1993, Seattle, WA), pp. 287-292. |
Kraft Ocean Systems, “Grips Underwater Manipulator System”, 4 pgs. (date unknown). |
Marcus, B. A., et al., “EXOS Research on Master Controllers for Robotic Devices,” Fifth Annual Workshop on Space Operations Applications and Research (Soar ″91) pp. 238-245, Jul. 1991. |
Massie, T. H., “Design of a Three Degress of Freedom Force-Reflecting Haptic Interface”, Massachusetts Institute of Technology, Bachelor of Science in Electrical Science and Engineering Thesis, May, 1993, pp. 1-38. |
McAffee, Douglas A., et al., “Teleoperator Subsystem/Telerobot Demonstrator,” Force Reflecting Hand Controller Equipment Manual, Jet Propulsion Laboratory, Jan. 1988, pp. 3-8, 11, A-34. |
“Phantom Haptic Interface,” Brochure of SensAble Devices, Inc., 1995, Cambridge, MA (2 pgs). |
“Phantom Haptic Interface,” Brochure of SensAble Technologies, Inc., 1996, Cambridge, MA (6 pgs). |
Swarup, N., “Haptic Interaction with Deformable Objects Using Real-Time Dynamic Simulation” Massachusetts Institute of Technology Master of Science Thesis, Sep. 1995, pp. 1-83. |
Tanie, K., et al., “Force Display Algorithms”, 1993 IEEE International Conference on Robotics and Automation, May 2-7, 1993, Atlanta Georgia, USA, 1993, pp. 60-78. |
Terzopoulos, D., et al., “Elastically Deformable Models”; Computer Graphics, vol. 21, No. 4, pp. 205-241, Jul., 1987. |
Wang, S.W., et al., “Volume Sculpting”, 1995 Symposium on Interactive 3D Graphics, Montery, California, 1995, pp. 151-156. |
Kotoku, T., et al., “A Force Display Algorithm for Virtual Environments,” SICE, pp. 347-355, 1992. |
Zilles, C.B., “Haptic Rendering with the Toolhandle Haptic Interface,” Massachusetts Institute of Technology Master of Science Thesis, Aug. 31, 1995, pp. 1-46 (not prior art). |
Salisbury, K. et al., “Haptic Rendering: Programming Touch Interaction with Virtual Objects,” Presented and disseminated at the 1995 Symposium on Interactive 3D Graphics held Apr. 9-12, 1995 in Monterey, CA, sponsored by the Association for Computing Machinery (ACM) and published by the ACM in Proceedings: 1995 Symposium on Interactive 3D Graphics, Monterey, California, Apr. 9-12, 1995, 1995, pp. 123-130 (not prior art). |
Colgate, J.E. et al., “Issues in the Haptic Display of Tool Use,” published by IEEE Computer Society Press, Los Alamitos, California, in Proceedings; 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems—Human Robot Interaction and Cooperative Robots, held Aug. 5-9, 1995 in Pittsburgh, Pennsylvania, 1995, pp. 140-145. |
Blinn, J.F., “Simulation of Wrinkled Surfaces,” Computer Graphics, vol. 12-3, Aug. 1978, pp. 286-292. |
Brooks, F. P. et al., “Project GROPE—Haptic Displays for Scientific Visualization,” Computer Graphics, vol. 24-4, Aug. 1990, pp. 177-185. |
Colgate, J. E. et al., “Factors Affecting the Z-Width of a Haptic Display,” published by IEEE Computer Society Press, Los Alamitos, Califormia, in Proceedings; 1994 IEEE International Conference On Robotics and Automation, held May 8-13, 1994 in San Diego, California, vol. 4, 1994, pp. 3205-3210. |
Minsky, M., “Computational Haptics: The Sandapaper System for Synthesizing Texture for a Force-Feedback Display,” Massachusetts Institute of Technology Ph.D. Thesis, Jul. 6, 1995, pp. 1-217. |
Minsky, M. et al., “Feeling and Seeing: Issues in Force Display,” Computer Graphics, vol. 24-2, Mar. 1990, pp. 235-270. |
Salcudean S. E. et al., “On the Emulation of Stiff Walls and Static Friction with a Magnetically Levitated Input/Output Device,” Dynamic Systems and Control; vol. 1, DSC-vol. 55-1, 1994, pp. 303-309. |
Zilles C.B. et al., “A Constraint-Based God-Object Method for Haptic Display,” published by IEEE Computer Society Press, Los Alamitos, California, in Proceedings of the 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems—Human Robot Interaction and Cooperative Robots, held Aug. 5-9, 1995 in Pittsburgh, Pennsylvania, 1995, pp. 146-151 (not prior art). |
Morgenbesser, H. B., “Force Shading for Shape Perception in Haptic Virtual Environments”, Massachusetts Institute of Technolgoy Master of Engineering Thesis, Jan. 29, 1996, pp. 1-77 (not prior art). |
Sutter, P. H. et al., “Response to Reflected-Force Feedback to Fingers in Teleoperations,” published by Jet Propulsion Laboratory in Proceedings of the NASA Conference on Space Telerobotics, JPL Publication 89-7, vol. IV, Jan. 31, 1989, pp. 65-74. |
Snow, E. et al., “Compact Force-Refelecting Hand Controller,” NASA Tech Brief, vol. 15, No. 4 from Jet Propulsion Laboratory Report NPO-17851-7348, Apr. 1991, pp. i, 1-3, 1a-11a, 14a, 15a. |
Kraft TeleRobotics, Inc., “GRIPS Master/Slave Manipulator System,” 1988, pp. i, 1-3, 8-10. |
Kraft Telerobotics, Inc., “GRIPS Force Feedback Manipulator System”, Kraft TeleRobotics, Inc. (date unknown), 4 pgs. |
Massie, T. H., “Initial Haptic Explorations with the Phantom: Virtual Touch Through Point Interaction”, Massachusetts Institute of Technology Master of Science Thesis, Mar. 19, 1996, pp. 1-49 (not prior art). |
Atkinson, W. D. et al., “Computing with Feeling” Comput. & Graphics, vol. 2, 1977, pp. 97-103. |
Shimoga, K. B., “Survey of Perceptual Feedback Issues in Dextrous Telemanipulation: Part I. Finger Force Feedback” published by IEEE Neural Networks Council in IEEE Virtual Reality Annual International Symposium, held Sep. 18-22, 1993 in Seattle, Washington, 1993, pp. 263-270. |