Virtual reality (VR) devices, such as haptic (force feedback) devices, provide users with virtual environments where they can interact with digital models in 3D. Haptic devices show great promise for use in design. However, current haptic systems are used primarily to verify rather than to interact with CAD systems to modify a design. In order to use haptic devices in the design of CAD models, we use component technology (COM+) to develop a novel haptic model system—which we have termed super-object modeling. The novel haptic model solves several crucial problems for seamlessly integrating CAD models with haptic models, such as the efficient exchange of complex models in real-time, real-time model updating, and the issue related to CPU power etc. Based on this super-object modeling, we have developed a virtual reality system, called Virtual DesignWorks. The system provides a new approach to 3D design—Designing CAD models via touch interaction. Engineers or designers can, in virtual space, directly touch native B-rep CAD models, feel and deform the CAD models rather than just verify a design. Super-object modeling represents the first development of haptic geometric models based on component technology. It demonstrates significant advantages compared to the traditional haptic models. With this technology, touch interaction has the potential to become a critical interface of design, and force feedback gives designers the greatest flexibility for 3D design.
Development of a Real-Time Human-Robot Collaborative System Based on 1 kHz Visual Feedback Control and Its Application to a Peg-in-Hole Task