Human activity simulator

• US 5,792,031 A
• Filed: 07/24/1997
• Issued: 08/11/1998
• Est. Priority Date: 12/29/1995
• Status: Expired due to Fees

• Current Assignee: Michael J. Alton
• Original Assignee: Michael J. Alton
• Inventors: Alton, Michael J.
• Primary Examiner(s): BROWNE, LYNNE HAMBLETON
• Application Number:
  US08/901,227
• Time in Patent Office: 383 Days
• Field of Search: 482/78, 482/900, 482/901, 482/902, 482/904, 434/55, 434/252, 434/253, 602/16, 602/23, 602/18
• US Class Current: 482/78
• CPC Class Codes: A63B 19/04 movably supported on a framework or spheres or cylinders carrying the user inside standing on it for equilibrium exercises A63B26/003
• CPC Class Codes: A63B 2069/367 Detection of balance between both feet, i.e. weight distribution
• CPC Class Codes: A63B 69/0059 worn by the user
• CPC Class Codes: A63B 69/18 for skiing
• CPC Class Codes: A63B 69/36213 with arm or rod fixed on the club and rotating around a fixed supporting point
• CPC Class Codes: G09B 19/0038 Sports
• CPC Class Codes: G09B 9/00 Simulators for teaching or training purposes for the use of weapons F41; computing aspects G06; protocols for games, networked simulations or virtual reality H04L67/131
• CPC Class Codes: Y10S 482/90 Ergometer with feedback to load or with feedback comparison
• CPC Class Codes: Y10S 482/901 having computer circuitry

Abstract

A simulation system for simulating a human activity. The simulation system includes a simulator (10, 120) including a support (12, 122) mountable to the torso of the body and an actuator assembly (14, 124, 126) which includes a storage device (18) having a model of the human activity stored therein. The actuator assembly (14, 124, 126) is positioned to engage the body and formed to produce motion of the body in simulation of the modeled activity. The simulation system also includes the method of simulating a human activity which includes the steps of supporting the body and driving an actuator assembly (14, 124, 126) to simulate the human activity using a model of the activity which is stored in a storage device (18) coupled to the actuator assembly (14, 124, 126).

Claims

1. A method of simulating a human activity by manipulating a human body having limbs and a torso, comprising the steps of:

supporting a body on an actuator assembly formed for manipulation of the body by mounting a support harness to the torso of a body and substantially supporting the weight of the body from said support harness leaving the limbs of the body movable relative to the torso;

positioning at least one actuator of said actuator assembly in contact with selected limbs of the body; and

driving said actuator assembly during said supporting step using a model of a human activity stored in a storage device provided in said actuator assembly to produce motion of selected limbs of the body relative to the torso as determined by said model in simulation of the human activity.

2. The method of claim 1, and the step of:

prior to said driving step, generating said model in a format suitable for driving said actuator assembly, and storing said model in said storage device.

3. The method of claim 2 wherein,

said recording step includes recording at least one sensation experienced by the human while performing said human activity.

4. The method of claim 2 wherein,

said generating step includes determining the relative position of said limbs during said human activity, and

said driving step includes configuring said actuator assembly for producing motion of selected ones of said limbs to said relative position during simulation of said human activity.

5. The method of claim 2 wherein,

said generating step includes determining the forces exerted on said body during said human activity, and

said driving step includes configuring said actuator assembly to substantially reproduce said forces exerted on said body during said human activity.

6. The method of claim 2 wherein,

said generating step includes determining the forces exerted by said body during said human activity, and

said driving step includes configuring said actuator assembly to substantially reproduce said forces exerted by said body during said human activity.

7. The method of claim 2 wherein,

said generating step includes modeling the movements of a skier, and

said driving step includes configuring said actuator assembly to simulate said movements of said skier.

8. The method of claim 2 wherein,

said generating step includes modeling the movements of a golfer, and

said driving step includes configuring said actuator assembly to simulate said movements of said golfer.

9. The method of claim 1, and the step of

prior to said driving step, modifying said model of said human activity to incorporate at least one characteristic of the human supported on said actuator assembly.

10. The method of claim 1 wherein,

said driving step includes driving said actuator assembly to manipulate selected ones of said limbs to a plurality of predetermined positions relative to said torso.

11. The method of claim 1 wherein,

said driving step includes driving said actuator assembly to manipulate a first portion of said torso relative to a second portion of said torso.

12. The method of claim 1 wherein,

said driving step includes driving said actuator assembly to independently produce motion of selected ones of said limbs.

13. The method of claim 1 wherein,

said limbs include the arms and legs of said body, and

said driving step includes driving said actuator assembly to produce motion of said arms and said legs relative to said torso.

14. The method of claim 1 wherein,

said driving step includes driving said actuator assembly to produce motion of said body about the center of gravity of said body relative to at least one of three perpendicular axes.

15. The method of claim 1, and the step of

monitoring the movement of said body, and wherein,

said driving step includes driving said actuator assembly to produce a reactive motion in response to said movement of said body.

16. A method of simulating a human activity by manipulating a human body having limbs and a torso, comprising the steps of:

supporting a body on an actuator assembly formed for manipulation of the body by mounting a support to the torso of a body and supporting the body therefrom leaving the limbs of the body movable relative to the torso;

positioning at least one actuator of said actuator assembly in contact with selected limbs of the body;

driving said actuator assembly during said supporting step using a model of a human activity stored in a storage device provided in said actuator assembly to produce motion of selected limbs of the body relative to the torso as determined by said model in simulation of the human activity;

prior to said driving step, generating said model in a format suitable for driving said actuator assembly by recording the activity of a human while performing said human activity in an unconstrained condition, and storing said model in said storage device.

17. The method of claim 16 wherein,

said recording step is accomplished by recording the activity of the human to be supported on said actuator assembly.

18. The method of claim 17 wherein,

said recording step is accomplished by making a video recording and digitizing said video recording to provide said model.

19. A method of simulating a human activity by manipulating a human body having limbs and a torso, comprising the steps of:

mounting a support to a torso of a body, said support being coupled to an actuator assembly and rotatable relative to three perpendicular axes,

mounting an instrument used in a human activity to an arm member coupled to said actuator assembly for rotational movement of said arm member about selected ones of three perpendicular axes and translational movement of said arm member about selected ones of the three perpendicular axes, said instrument being rotatable relative to said arm member about three perpendicular axis,

driving said actuator assembly using a model of a selected human activity stored in said actuator assembly to selectively produce motion of said support relative to at least one of the three perpendicular axes, rotational and translational motion of said arm member, and rotational motion of said instrument relative to said arm member in simulation of the human activity.

20. The method of claim 19, and the step of

supporting said body on said actuator assembly.

21. The method of claim 20 wherein,

said driving step includes driving said actuator assembly to produce motion of said body in simulation of said human activity.

22. The method of claim 19, and the steps of:

prior to said driving step, modeling said human activity in a format suitable for driving said actuator assembly and storing the model in a storage device provided in said actuator assembly, and wherein,

said driving step includes configuring said actuator assembly to produce said motion in simulation of said human activity.

23. The method of claim 22 wherein,

said modeling step includes recording a demonstration model of said human activity and storing the recorded demonstration model of said human activity in said storage device.

24. The method of claim 22 wherein,

said modeling step includes determining the position of said body in relation to the environment during said human activity while the human is free to perform said human activity, and

said driving step includes configuring said actuator assembly to produce motion of said body which simulates said position of said body.

25. The method of claim 22 wherein,

said modeling step includes determining the forces exerted on said body during said human activity, and

said driving step includes configuring said actuator assembly to simulate said forces exerted on said body during said human activity.

26. The method of claim 19 wherein,

said driving step includes driving said actuator assembly to manipulate a first portion of said torso relative to a second portion of said torso.

27. The method of claim 19 wherein,

said driving step includes configuring said actuator assembly to simulate said movements of said human activity.

28. A simulation apparatus for simulating a human activity by manipulating a human body having limbs and a torso, said simulation apparatus comprising:

a support mountable to a torso of a body for supporting the body,

arm member configured to support an instrument used in a selected human activity, said arm member being mounted for rotational and translational movement of said arm member relative to three perpendicular axes, said arm member including a pivotal connector mountable to an instrument and configured for rotational movement of an instrument mounted to said pivotal connector about three perpendicular axes,

an actuator system coupled to said support harness, said arm member and said pivotal connector, said actuator system including a storage device having a model of a selected human activity stored therein, said actuator system selectively producing movement of said support harness, selectively producing rotational and translation movement of said arm member relative to the three perpendicular axes, and selectively producing rotational movement of the instrument mounted to said arm member to manipulate a body in simulation of the selected human activity in accordance with said model in said storage device.

29. The simulation apparatus of claim 28 wherein,

said support is a harness assembly carried by said actuator system.

30. The simulation apparatus of claim 29 wherein,

said harness assembly includes a first harness mountable to second harness mountable to the legs of a body.

31. The simulation apparatus of claim 28 wherein,

said support is mountable to a first portion of a torso and said actuator system is coupled to said support harness to produce motion of the first portion of the torso engaged by said support relative to a second portion of the torso.

32. The simulation apparatus of claim 31 wherein,

said support includes a first harness mountable to the first portion of a torso and a second harness mountable to a second portion of the torso and said actuator system is coupled to said first harness and said second harness to produce relative movement of said first harness and said second harness to manipulate the first portion of the torso engaged by said first harness and the second portion of the torso engaged by said second harness.

33. The simulation apparatus of claim 28, and further comprising

a control system coupled to said actuator system for driving said actuator system, said control system including said storage device.

34. The simulation apparatus of claim 28 wherein,

said actuator system includes a second pivotal connector mounted to said support harness and configured for rotational movement of said support harness about three perpendicular axes, said actuator system driving said second pivotal connector to selectively produce rotational movement of said support harness about the three perpendicular axes.

35. The simulation apparatus of claim 34 wherein,

said support harness includes a first harness and a second harness spaced from said first harness, and

said actuator system includes a pivotal connector mounted to each of said first harness and said second harness.

36. The simulation apparatus of claim 28 wherein,

said actuator system has rotational actuators positioned to produce rotational motion about selected ones of three intersecting axes, and linear actuators positioned to produce translational motion about selected ones of the three intersecting axes.

37. The simulation apparatus of claim 28, and further comprising

an instrument mounted to said pivotal connector, said instrument being rotatable relative to said arm member about three perpendicular axes.

38. A simulation apparatus for simulating a human activity by manipulating a human body having limbs and a torso, said simulation apparatus comprising:

a frame member having a support harness mountable to the torso of a body and a first actuator system carried by said frame, said first actuator system being configured and positioned to engage the limbs of a body supported by said support harness and move the limbs relative to said support harness in simulation of a selected human activity,

a second actuator system coupled to said frame member, said second actuator system being actuable to manipulate said frame member for movement of said support harness about at least one of three perpendicular axes, and

a control system coupled to drive said first actuator system and said second actuator system and including a storage device having a model of a selected human activity stored therein.

39. The simulation apparatus of claim 38 wherein,

said frame member includes at least one leg platform spaced from said support harness and positioned for supporting the legs of a body supported by said support harness.

40. The simulation apparatus of claim 39 wherein,

said frame member includes a pair of leg platforms each positioned to engage one leg of a body supported by said support harness, said first actuator system being coupled to said leg platforms to independently move each of said leg platforms relative to said support harness for producing motion of the legs relative to the torso of a body supported by said support harness.

41. The simulation apparatus of claim 39 wherein,

said leg platform is mounted for pivotal movement in at least one direction.

42. The simulation apparatus of claim 39 wherein,

said leg platform simulates a ski.

43. The simulation apparatus of claim 38 wherein,

said frame member includes at least one arm platform spaced from said support harness and positioned for supporting the arms of a body supported by said support harness.

44. The simulation apparatus of claim 38 wherein,

said second actuator system includes a second frame member coupled to the first-mentioned frame member with the first-mentioned frame member being movable relative to said second frame member for movement of said support harness about a first one of said axes, said second frame member being mounted for movement of said support harness about a second one of said axes, and a third frame member coupled to said second frame member and mounted for movement of said support harness about a third one of said axes.

45. The simulation apparatus of claim 44 wherein,

said actuator assembly includes at least one rotary actuator associated with each of the frame members, said rotary actuator being formed for producing motion of the associated one of said frame members.

46. The simulation apparatus of claim 43 wherein,

said frame member includes a pair of arm members each positioned to engage one arm, said first actuator system being coupled to said arm platforms to independently move said arm members relative to said support harness for producing motion of the arms of a body supported by said support harness.

47. The simulation apparatus of claim 38 wherein,

said first actuator system includes at least one actuator for producing motion of the selected limbs relative to said support harness.

48. The simulation apparatus of claim 47 wherein,

said first actuator system includes at least one actuator associated with each of the selected limbs for independently producing motion of each of the selected limbs relative to said support harness.

49. A simulation apparatus for simulating a human activity by manipulating a human body having limbs and a torso, said simulation apparatus comprising:

an arm member configured to support an instrument used in a selected human activity, said arm member including a second pivotal connector mountable to an instrument and configured for rotational movement of an instrument mounted to said pivotal connector about three perpendicular axes,

an actuator system coupled to said arm member, said actuator system having rotational actuators positioned to produce rotational motion about selected ones of three intersecting axes, and linear actuators positioned to produce translational motion about selected ones of the three intersecting axes, said actuator system including a storage device having a model of a selected human activity stored therein, said actuator system selectively driving said rotational actuators and said linear actuators to manipulate the instrument in simulation of the selected human activity in accordance with said model in said storage device.

50. The simulation apparatus of claim 49, and further comprising

a support harness mountable to a torso of a body and coupled to said actuator system, and

said actuator system selectively producing movement of said support harness to manipulate a torso in simulation of a selected human activity.

51. A method of simulating a human activity by manipulating a human body having limbs and a torso, comprising the steps of:

supporting a body on an actuator assembly formed for manipulation of the body by mounting a support to the torso of a body and supporting the body therefrom leaving the limbs of the body movable relative to the torso;

positioning at least one actuator of said actuator assembly in contact with selected limbs of the body;

driving said actuator assembly during said supporting step using a model of a human activity stored in a storage device provided in said actuator assembly to produce motion of selected limbs of the body relative to the torso as determined by said model in simulation of the human activity; and

prior to said driving step, modifying said model of said human activity to incorporate at least one characteristic of the human supported on said actuator assembly.

52. A method of simulating a human activity by manipulating a human body having limbs and a torso, comprising the steps of:

supporting a body on an actuator assembly formed for manipulation of the body by mounting a support to the torso of a body and supporting the body therefrom leaving the limbs of the body movable relative to the torso;

positioning at least one actuator of said actuator assembly in contact with selected limbs of the body;

driving said actuator assembly during said supporting step using a model of a human activity stored in a storage device provided in said actuator assembly to produce motion of selected limbs of the body relative to the torso as determined by said model in simulation of the human activity;

monitoring the movement of said body; and

driving said actuator assembly to produce a reactive motion in response to said movement of said body.