Haptic rendering should not be limited to immobile polygonal models. This paper presents a system that performs Direct Parametric Tracing (DPT) on maneuverable Non-Uniform Rational B-Splines (NURBS) models without the use of an intermediate representation. The system distributes computation between an advanced CAD modeling system and a microprocessor controller for a Sarcos force-reflecting exo-skeleton arm. Methods ranging from model manipulation to simulation of the dynamics of simple assemblies are discussed. Solutions to synchronicity issues that arise in such a distributed system are also described.

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