Virtual Tool Manipulation System

Abstract

In the field of virtual reality, virtual tool manipulation systems and related methods and software are described in the present disclosure. One implementation of a virtual tool manipulation system, among others, comprises a motion tracking system configured to generate motion information related to the position of a part of a user's body. The virtual tool manipulation system also comprises a haptic feedback system configured to provide a haptic sensation to the user based on the motion information, the position of a virtual tool, and characteristics of the virtual tool.

What is claimed is: 
     
         1 . A system, comprising:
 a motion tracking system, including:
 an optical motion capture device to measure head position and orientation of a user in a three dimensional space over time, and 
 a plurality of sensors, disposed in a glove, to measure hand position and orientation of the user in the three dimensional space over time, 
   a visual feedback system, including:
 a virtual reality display device to display a view of a virtual scene to the user, the virtual scene including a virtual hand, a virtual tool, and a virtual subject; 
   a haptic feedback system, including:
 a plurality of actuators, disposed in the glove, to provide a haptic sensation to the user that simulates holding the virtual tool, moving the virtual tool, and interactions between the virtual tool and the virtual subject; and 
   a processing system, including a processor coupled to a memory, configured to:
 receive the head position and orientation measurements and the hand position and orientation measurements from the motion tracking system, 
 generate video image signals related to the view of the virtual scene based on the head position and orientation measurements in the three dimensional space over time, each head position and orientation measurement defining a particular angle and line of sight of the view of the virtual scene at a particular time, 
 generate haptic feedback signals related to the haptic sensation based on the hand position and orientation in the three dimensional space over time, characteristics of the virtual tool, and characteristics of the virtual subject, 
 transmit the video image signals to the visual feedback system, and 
 transmit the haptic feedback signals to the haptic feedback system. 
   
     
     
         2 . The system of  claim 1 , wherein the processing system includes a motion tracker interface coupled to the motion tracking system, a virtual display interface coupled to the visual feedback system, and a haptic device interface coupled to the haptic feedback system. 
     
     
         3 . The system of  claim 2 , wherein the processing system includes an input device to receive virtual tool design parameters from a tool designer. 
     
     
         4 . The system of  claim 3 , wherein the virtual tool design parameters are stored in the memory of the processing system. 
     
     
         5 . The system of  claim 1 , further comprising:
 an audio feedback system to provide sound effects based on the characteristics of the virtual tool, the movements of the virtual tool, or the interactions between the virtual tool and the virtual subject.   
     
     
         6 . The system of  claim 1 , further comprising a physical prop in the three dimensional space that corresponds to the virtual tool. 
     
     
         7 . The system of  claim 1 , wherein:
 the motion tracking system includes an additional plurality of sensors, disposed in an additional glove, to measure position and orientation of an additional hand of the user in the three dimensional space over time,   the virtual scene includes an additional virtual hand,   the haptic feedback system includes an additional plurality of actuators, disposed in the additional glove, to provide an additional haptic sensation to the user that simulates interactions between the additional virtual hand and the virtual subject, and   the processing system generates additional haptic feedback signals related to the additional haptic sensation based on the additional hand position and orientation in the three dimensional space over time and characteristics of the virtual subject, and transmits the additional haptic feedback signals to the haptic feedback system.   
     
     
         8 . A processing device, comprising:
 a memory;   a processor, coupled to the memory, configured to:
 receive head position and orientation measurements and hand position and orientation measurements from a motion tracking system that includes an optical motion capture device to measure the head position and orientation of a user in a three dimensional space over time, and a plurality of sensors, disposed in a glove, to measure the hand position and orientation of the user in the three dimensional space over time, 
 generate video image signals related to a view of a virtual scene based on the head position and orientation measurements in the three dimensional space over time, each head position and orientation measurement defining a particular angle and line of sight of the view of the virtual scene at a particular time, the virtual scene including a virtual hand, a virtual tool, and a virtual subject, 
 generate haptic feedback signals, related to a haptic sensation that simulates holding the virtual tool, moving the virtual tool, and interactions between the virtual tool and the virtual subject, based on the hand position and orientation in the three dimensional space over time, characteristics of the virtual tool, and characteristics of the virtual subject, 
 transmit the video image signals to a visual feedback system that includes a virtual reality display device to display the view of the virtual scene to the user, and 
 transmit the haptic feedback signals to a haptic feedback system that includes a plurality of actuators, disposed in the glove, to provide the haptic sensation to the user. 
   
     
     
         9 . The processing device of  claim 8 , further comprising a motion tracker interface coupled to the motion tracking system, a virtual display interface coupled to the visual feedback system, and a haptic device interface coupled to the haptic feedback system. 
     
     
         10 . The processing device of  claim 9 , further comprising an input device to receive virtual tool design parameters from a tool designer. 
     
     
         11 . The processing device of  claim 10 , wherein the virtual tool design parameters are stored in the memory. 
     
     
         12 . The processing device of  claim 8 , further comprising:
 an audio feedback system to provide sound effects based on the characteristics of the virtual tool, the movements of the virtual tool, or the interactions between the virtual tool and the virtual subject.   
     
     
         13 . The processing device of  claim 8 , wherein the virtual tool corresponds to a physical prop in the three dimensional space. 
     
     
         14 . The processing device of  claim 8 , wherein:
 the motion tracking system includes an additional plurality of sensors, disposed in an additional glove, to measure position and orientation of an additional hand of the user in the three dimensional space over time,   the virtual scene includes an additional virtual hand,   the haptic feedback system includes an additional plurality of actuators, disposed in the additional glove, to provide an additional haptic sensation to the user that simulates interactions between the additional virtual hand and the virtual subject, and   the processor generates additional haptic feedback signals related to the additional haptic sensation based on the additional hand position and orientation in the three dimensional space over time and characteristics of the virtual subject, and transmits the additional haptic feedback signals to the haptic feedback system.   
     
     
         15 . A method, comprising:
 receiving head position and orientation measurements and hand position and orientation measurements from a motion tracking system that includes an optical motion capture device to measure the head position and orientation of a user in a three dimensional space over time, and a plurality of sensors, disposed in a glove, to measure the hand position and orientation of the user in the three dimensional space over time,   generating video image signals related to a view of a virtual scene based on the head position and orientation measurements in the three dimensional space over time, each head position and orientation measurement defining a particular angle and line of sight of the view of the virtual scene at a particular time, the virtual scene including a virtual hand, a virtual tool, and a virtual subject,   generating haptic feedback signals, related to a haptic sensation that simulates holding the virtual tool, moving the virtual tool, and interactions between the virtual tool and the virtual subject, based on the hand position and orientation in the three dimensional space over time, characteristics of the virtual tool, and characteristics of the virtual subject,   transmitting the video image signals to a visual feedback system that includes a virtual reality display device to display the view of the virtual scene to the user, and   transmitting the haptic feedback signals to a haptic feedback system that includes a plurality of actuators, disposed in the glove, to provide the haptic sensation to the user.   
     
     
         16 . The method of  claim 15 , further comprising:
 receiving, through an input device, virtual tool design parameters from a tool designer.   
     
     
         17 . The method of  claim 16 , further comprising:
 storing the virtual tool design parameters in a memory.   
     
     
         18 . The method of  claim 15 , further comprising:
 providing sound effects, though an audio feedback system, based on the characteristics of the virtual tool, the movements of the virtual tool, or the interactions between the virtual tool and the virtual subject.   
     
     
         19 . The method of  claim 15 , wherein the virtual tool corresponds to a physical prop in the three dimensional space. 
     
     
         20 . The method of  claim 15 , wherein:
 the motion tracking system includes an additional plurality of sensors, disposed in an additional glove, to measure position and orientation of an additional hand of the user in the three dimensional space over time,   the virtual scene includes an additional virtual hand,   the haptic feedback system includes an additional plurality of actuators, disposed in the additional glove, to provide an additional haptic sensation to the user that simulates interactions between the additional virtual hand and the virtual subject, and   the method further comprises generating additional haptic feedback signals related to the additional haptic sensation based on the additional hand position and orientation in the three dimensional space over time and characteristics of the virtual subject, and transmits the additional haptic feedback signals to the haptic feedback system.