Whole-body kinesthetic display

• US 5,872,438 A
• Filed: 07/01/1997
• Issued: 02/16/1999
• Est. Priority Date: 12/02/1992
• Status: Expired due to Term

• Current Assignee: Cybernet Haptic Systems Corporation
• Original Assignee: Cybernet Systems Corporation
• Inventors: Roston, Gerald
• Primary Examiner(s): IP, SHIK LUEN PAUL
• Application Number:
  US08/886,315
• Time in Patent Office: 595 Days
• Field of Search: 318/560-696, 364/559, 364/560, 364/474.03, 364/474.37, 364/551.02, 364/190, 364/461, 395/124, 395/155, 395/93, 395/161, 395/99, 395/127, 434/11, 434/255, 434/112, 434/365, 434/116, 434/247, 340/407.1, 340/407.2, 340/825.19, 340/680
• US Class Current: 318/568.11
• CPC Class Codes: A63B 2071/0666 worn on the head or face, e.g. combined with goggles or glasses
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G05B 2219/35416 3-D joystick
• CPC Class Codes: G05B 2219/37396 Tactile feedback, operator feels reaction, force reflection
• CPC Class Codes: G05G 2009/04766 providing feel, e.g. indexing means, means to create counterforce
• CPC Class Codes: G05G 9/04737 with six degrees of freedom
• CPC Class Codes: G06F 2203/012 Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
• CPC Class Codes: G06F 2203/015 Force feedback applied to a joystick
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

A virtual-reality system provides a full-body, digitally programmed, kinesthetic display in the form of a foot-haptic system incorporating a pair of footpads, one associated with each foot of a user, and a multi-axis electromechanical interface responsive to user position and orientation. A computer, in communication with the electromechanical interface, permits the user to interact with a virtual terrain, vertical features, or other users. In a preferred physical realization, the system includes three major components: a locomotion simulator, a ground plane 104, and a vertical feature emulator. A head-mounted display provides all visual clues. The system may be operated in a first mode of operation, wherein the user'"'"'s feet and the footpads remain in constant contact with each other, or an alternative mode of operation, wherein the user makes and breaks contact with the footpads in a cyclical manner.

Claims

1. A foot-haptic system for providing force feedback in response to a user position and orientation, the system comprising:

a pair of footpads, one associated with each foot of a user;

a multi-axis electromechanical interface coupled to each footpad, the interface including an actuator for each axis responsive to user position and orientation, enabling the interface to generate electrical signals representative of the position and orientation of each footpad in three-dimensional space; and

a computer in operative communication with the electromechanical interface, the computer being programmed to perform the following functions;

store data representative of a visual virtual reality, including a virtual terrain associated with a ground plane,

analyze the position and orientation of each footpad relative to the virtual terrain to determine any interaction therebetween,

generate at least one force field in response to the interaction, if present, and

generate a force signal for each axis of the electromechanical interface as a function of the force field, wherein the actuators are responsive to their respective force signals to provide a force to each axis for creating the force feedback.

2. The foot-haptic system of claim 1, wherein the electromechanical interface is operable along at least four axes.

3. The foot-haptic system of claim 1, wherein the electromechanical interface further includes:

a set of rails associated with each footpad, each rail including a linear slider; and

a support tube from each slider to its respective footpad.

4. The foot-haptic system of claim 3, wherein the rails associated with each footpad are orthogonal to one another.

5. The foot-haptic system of claim 3, wherein three rails are associated with each footpad to provide a yaw axis in addition with movements in three-space.

6. The foot-haptic system of claim 1, further including means for ensuring that the user'"'"'s feet remain in contact with the footpads.

7. The foot-haptic system of claim 6, wherein the means for ensuring that the user'"'"'s feet remain in contact with the footpads includes a electromagnetic supported in each footpad adapted to attract a magnetic boot worn by the user.

8. The foot-haptic system of claim 1, wherein the user'"'"'s feet do not need to remain in contact with the footpads at all times, and wherein the computer is further programmed to solve an inverse kinematic solution to predict the location of each footpad based upon the position and orientation of the user.

9. The foot-haptic system of claim 1, further including a ground-plane simulator.

10. The foot-haptic system of claim 1, further including a vertical feature emulator in operative communication with the computer, enabling the user to sense and interact with virtual objects above the virtual terrain.

11. A method of providing force feedback in response to a user position and orientation, the method comprising the steps of:

providing a pair of moveable footpads upon which the user stands;

computer simulating a virtual environment including a virtual three-dimensional terrain;

sensing the movement of the user through the footpads;

analyzing the position and orientation of each footpad relative to the virtual terrain to determine any interaction therebetween;

generating at least one force field in response to the interaction, if present; and

generating a force signal as a function of the force field so as to provide a haptic force feedback to each footpad.

12. The foot-haptic system of claim 11, wherein the step of providing a pair of moveable footpads includes providing footpads operable along at least four axes.

13. The foot-haptic system of claim 11, further including the steps of:

providing an electromechanical interface having a set of rails associated with each footpad, each rail including a linear slider and a support tube from each slider to its respective footpad; and

translating the sliders so move the footpads in three dimensions in conjunction with the steps of generating the force signals and the feedback.

14. The foot-haptic system of claim 13, wherein the rails are positioned orthogonal to one another.

15. The foot-haptic system of claim 11, further including the step of providing a yaw axis.

16. The foot-haptic system of claim 11, further including the step of positively coupling the user'"'"'s feet to each footpad.

17. The foot-haptic system of claim 16, wherein the step of positively coupling the user'"'"'s feet to each footpad includes the use of electromagnetism.

18. The foot-haptic system of claim 11, wherein the user'"'"'s feet do not need to remain in contact with the footpads at all times, and wherein the method further includes the steps of:

solving an inverse kinematic solution to predict the location of each footpad based upon the position and orientation of the user.

19. The foot-haptic system of claim 11, further including the step of simulating a ground plane.

20. The foot-haptic system of claim 11, further including the step of emulating a vertical feature enabling the user to sense and interact with virtual objects above the virtual terrain.