Virtual prototyping attempts to replace physical models with virtual models for the purpose of design evaluation. One task a virtual prototyping environment can address is the accessibility of the components of a mechanical system. In this paper, we demonstrate a haptics-based virtual prototyping system for finding collision-free paths for moving models in complex polygonal environments. The system can handle models and environments with hundreds of thousands of triangles, and augments innate human talents at searching for collision-free paths.

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