Assistive clothing

• US 20030120183A1
• Filed: 07/22/2002
• Published: 06/26/2003
• Est. Priority Date: 09/20/2000
• Status: Active Grant

• Current Assignee: John C. Simmons
• Original Assignee: John C. Simmons
• Inventors: Simmons, John C.
• Granted Patent: US 7,918,808 B2
• Time in Patent Office: Days
• US Class Current: 600/595
• CPC Class Codes: A61F 4/00 Methods or devices enabling patients or disabled persons to operate an apparatus or a device not forming part of the body operating or control means for prostheses A61F2/48, A61F2/68
• CPC Class Codes: B25J 9/0006 Exoskeletons, i.e. resembling a human figure
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G05B 2219/40136 Stereo audio and vision
• CPC Class Codes: G05B 2219/40144 Force sensation feedback from slave
• 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

Abstract

An apparatus and process for empowering those in wheelchairs and others with loss of limb control to walk, climb stairs, sit in ordinary chairs, use normal bathroom facilities and stand at normal height with their peers. It also provides a means to speed rehabilitation of the injured and a means to deliver more comfortable and effective prostheses while providing superior physical therapy without draining professional resources which includes new simulation and training means. Most of the apparatus is worn under normal clothing allowing them to enjoy a normal appearance. Additional advancements include improved actuator design, user interface, visual means and advanced responsive virtual reality.

Claims

1. An apparatus and method for precisely controlling the limbs of a living body or body form, such as robotics equipment, consisting of:

joint manipulation means consisting of partially-covering body shell segments and/or other control devices clasped to the body and operatively connected to each other and/or connected to other means by cables or ribbons that are pulled between them by actuators on at least one end of the cable, etc. and effect motion upon and/or pressure upon and/or support of the joint(s) or limb(s) that are affected by the attitude of the element so moved and/or are connected by movable actuation rods or telescoping support means or a direct force actuation means that maintains and changes the relative positions and amounts of force upon the shells and the elements attached to or controlled by them by push and/or pull and/or twist-based support and/or connected by hinged connectors either passively stabilizing or actively effecting a force on the position of the joint whose position they affect, with at least those non-passive actuation means that require direction operatively connected to processing means; and

sensors, incorporated in the actuation means as is common in the many forms of precise positioning actuators such as stepper motors, servo motors, etc. and/or separately placed sensors to measure the angle and/or position and/or attitude of body parts operatively connected to processing means; and

processing means capable of determining, based on preset norms, tabular data, algorithmic and/or programmatic logic or other means, a desired joint-control point position or joint angle (or receiving said desired position or angle information from another means) and then directing joint manipulation means to achieve that/those positions or angles;

such that

the limbs, despite the inherent difficulties of managing slippery surfaced, non-rectangular limbs with no handles for easy attachment and obtuse angle joints located below the surface on an axis that cannot be touched, are strategically grasped and effectively and precisely moved and/or firmly secured in a manner accurately reflecting the position(s) demanded by processing means.

2. The apparatus and method of claim 1 further comprising:

calculation means operatively connected to the processing means of claim 1, supported by formulaic, programmatic and/or table based logic to determine, for each point on a body shell or other joint-control point or body location to be so controlled, an appropriate amount of additive retention to place on each opposing actuation means based on the relative angular incidence of the actuation means and/or other forces with said result amounts available to processing means which then adds these values to the actuator positions and/or pressures otherwise used when processing means effects those positions and/or pressures;

such that

opposing actuation means controlling a joint provide substantial offsetting retractive force which thus does not harm the position achieved and maintained for that joint but, even in the middle of periods of rapid rotation of a joint, provides a strong positional control through the body control shell or other part by the controlled application of that additive, offsetting holding pressure which better controls joints to deliver more predictable, repeatable, stable position permitting smooth joint control while minimizing joint “

popping” and

maintaining a higher level of control resolution.

3. The apparatus and method of claim 1 further comprising:

disengagement means including clutch-based, clutch and brake-based, solenoid switch-based, etc. responsive to processing means which disengage an actuator'"'"'s power means from fixed connection with the joint-control point(s) it controls thus allowing the actuator, in a cable pulling application, to advance or retreat, with and without engagement with the joint-control points which can be effected, in embodiments where it is desirable, in multiple alternating modes, under direction of decision means in processing means and, by doing so, adjust the length of the cable between the actuator'"'"'s power means and the joint-control point(s) such as by retracting (taking up slack and/or adding tension) or extending the cable (releasing tension) before finally re-engaging the actuator and/or, in a push/pull or twist actuation application, similarly repositioning the position of the actuation means with respect to standard positions of the joint-control point(s); and

decision means in processing means directing an automatic or user-directed (optionally through a tutorial or setup program executed locally or over the Internet, etc. prompting for responses and cooperative body positions) repositioning of the connections responsive to continuous or punctuated reference to sensor values to monitor progress in order to accomplish the objectives of users typically including but not requiring or being limited to moving body plates or other control devices or parts to their proper relative directional attitudes and/or locations on the body, effecting a snug but not too snug fit of prosthetics, temporarily releasing tension for user rest or ease in putting on or taking off the equipment, maximizing the actuator'"'"'s effective range by automatically adjusting the middle of its range of motion closer to the point relative to the center of the range of desired joint-control point motion range all potentially responsive to the unique shape, size and needs of the user whose equipment is thus individually precision configured and/or adjusted.

such that, when adequately implemented, users can enjoy the precision and comfort of well fitted devices from the vastly more efficiently delivery mechanism of standard parts that can be shipped in the mail and configured with a software supported customized fit or periodic refit as the user grows or changes in size.

4. The apparatus and method of claim 1 further comprising:

system configurable and adjustable embodiments of the body shell segments and other control devices of claim 1 operatively connected to the processing means and sensor means of claim 1 whose inter-related positions and attitudes are system adjustable to fit different bodies by adjustment of the connective means between them are additively configurable by system-adjustable intra-part adjustments including one or more separation or expansion points on a part with motor/actuator and/or elastic means powered expansion and contraction optionally on an axis (where only one separation/expansion point or line is provided thus rotating on the side opposite on a hinge or similar means) or including separation(s) on more than one side controlled together or separately to expand the part uniformly along a single or multiple vertical openings or even more at the top that at the bottom and vice versa as well as the obvious horizontal or other obtuse axis equivalent planes of separation, with areas of optional relative flexibility in parts walls, etc. where precision attitude control is not focused; and

program means in processing means responsive to sensor means and preset norms for positions, pressures, etc. and/or tabular, programmatic or algorithmic logic with or without optional user guidance through a local or Internet-based tutorial, setup or other interactive program through any user-interface means prompting for cooperative body positions, comfort responses, etc., determining changes to be made and then directing the parts to expand and/or contract in either a balanced or skewed expansion to best align to the body part they are fitting based on norms, logic and/or pressure and/or position sensors and/or may draw the elements closer together or further apart or at preferred relative attitudes using the actuation means between them;

such that

a couple of the many possible applications of this claim involve superior automatic (or user directed where user interface is present) adjustment means allowing processing means to adjust the relative positions of the body elements by selective retraction with the added enablement of being able to loosen the equipment'"'"'s grip on the body momentarily while adjustments are being made; and

the creation of a more flexible and adjustable systems-driven parts design which can also be applied to accommodate a standard parts approach even for prosthetics and other control devices that normally require custom fitted parts for each individual user such that, when adequately implemented, users can enjoy the precision and comfort of well fitted devices from the vastly more efficiently delivery mechanism of standard parts that can be shipped in the mail and configured with a software supported customized fit or periodic refit as the user grows or changes in size.

5. The apparatus and method of claim 1 further comprising:

command-reshaped custom body-control means which are system configurable and adjustable embodiments of the body shell segments and other devices of claim 1 operatively connected to the processing means and sensor means of claim 1 whose inter-related positions and attitudes are system adjustable to fit different bodies by adjustment of the connective means between them are additively configurable by system-adjustable intra-part adjustments including one or more separation or expansion points on a part with motor/actuator and/or elastic means powered expansion and contraction optionally on an axis (where only one separation/expansion point or line is provided thus rotating on the side opposite on a hinge or similar means) and/or including separation(s) on more than one side controlled together or separately to expand the part uniformly along a single or multiple vertical openings or even more at the top that at the bottom and vice versa as well as the obvious horizontal or other obtuse axis equivalent planes of separation, with areas of optional relative flexibility in parts walls, etc. where precision attitude control is not focused; and

program means in processing means responsive to sensor means and preset norms for positions, pressures, etc. and/or tabular, programmatic or algorithmic logic with or without optional user guidance through a tutorial, setup or other interactive program through optional user-interface means which stores current position data and/or pressures to memory means and then determines or follows a programmatic and/or tabular sequence of changes to be made thus directing the parts to expand and/or contract in either a balanced or skewed expansion based on norms, logic and/or pressure and/or position sensors and/or may draw the elements closer together or further apart or at preferred relative attitudes using the actuation means between them resulting in, for example, the temporary loosening of control shells or other parts and/or alternative loosening and tightening to create a partial vacuum and then expel the heated air, and/or the skewed (for example, more at one end than the other) expansion and contraction associated with a massaging action to increase blood circulation, treat itching and cool the area under the control shell or other part, and/or move the operative shells or control parts over the surface by the actuation means between them to further treat itching and then automatically return the elements to their prior memorized positions and/or pressures;

thus

providing a controlled-change mechanism which can be applied to the relief of poor circulation, un-relieved contact pressure, hot spots, un-reachable itching and sore spots common to many forms of prosthesis and body worn equipment and related to high failure rates when applied to a living body all of which is system directable and/or responsive to user interface requests and is accomplished without the user having to touch or take off the equipment.

6. The apparatus and method of claim 1 further comprising:

an elastic means in a radially flexed arrangement located such that the axis of a joint'"'"'s flexion and extension essentially, within a workable margin, coincides with the effective axis of the compression and decompression of the elastic means with an example application being a wound spiral spring (like a clock spring) aligned such that the single plane in which the spring exists is effectively perpendicular to the axis of a joint such as a knee or finger joint and the center of the spiral is crossed by the axis of the joint;

such that

a bias is effected in one of the two radial directions of joint travel such as flexion or extension in that when the joint moves in one direction the coil is tightened causing more work to be done by the force thus bending the joint and, when moved in the other direction, the elastic means contributes extra power (beyond the actuator'"'"'s rated power) to whatever means is powering the move and also provides the option of allowing some or all of the actuation means for motion in one direction to be eliminated, i.e. that actuation means dedicated to motion in the direction favored by the elastic means (while adding the amount of burden so relieved to the opposite side), thus allowing concentration of actuation means on a single side of a joint where there is no room for actuation means on the other side, and a balance of power more favorable to the designer for stronger or more convenient placement of actuation means.

7. The apparatus and method of claim 1 further comprising:

user interface means, such as peripheral devices or any other means for the communication of user input to processing means and/or for the communication of data and/or images to the user from processing means with said user interface means operatively connected to program means; and

program means in processing means potentially sampling related sensors and/or user initiated and other inputs;

thus

providing a means to select or modify the actions controlled or controllable by processing means.

8. The apparatus and method of claim 1 further comprising:

Program means in processing means responsive to sensor means using tabular and/or programmatic and/or formulaic norm comparison and/or a user request through any user interface thus identifying when assistance is needed such as to prevent falls or respond to excessive change such as a sudden impact or user spasm such that, when a norm is exceeded such as an excessive acceleration or change in attitude or an out-of-range body angle or any combination reflective of a problem, or the user requests it, adjustment variables, or other means for identifying and recalling the amount of adjustment required, are created to maintain balance with an example being an increasing adjustment value for the retraction of an anterior waist tendon, whose retraction causes the user to bend forward, and a decreasing adjustment value for the posterior waist tendon retraction, to permit that forward attitude, which, when added to, or otherwise calculated with, the values for those joint-control points that would otherwise be used, and executed by the joint manipulation means of claim 1, will result in the user bending forward in response to an excessive body pitch (user falling backwards), etc.;

such that

these adjustments, and substantially more extensive adjustments than the example above including many other obvious areas of balance including knee joints, ankles, arms, etc., along with claim 1'"'"'s natural resistance to sudden impact, in that it seeks to maintain and recover the planned position which resists the effect of a sudden impact or body seizure while maintaining balance.

9. The apparatus and method of claim 1 further comprising:

conventional electro-stimulation/relaxing means based on electro-stimulation control, pharmacological stimulation control or other form of nerve and/or muscle stimulation control capable of stimulating or relaxing individual muscle and/or muscle areas, nerves or spinal groups causing a limb or limbs to move or resist movement operatively connected to stimulation driver; and

a stimulation driver operatively connected to the processing means of claim 1 capable of receiving input from processing means and responsively stimulating a specific muscle or group; and

program means in processing means converting desired joint-control point motion in the form normal to the operation of claim 1, into the command set distinctive to the particular stimulation driver used and then communicating each such calculated stimulation driver command, including that driver'"'"'s muscle area identification tag, amplitude/intensity and duration of stimulation, or other set of information required by the particular make of stimulation driver, to the stimulation driver (or, alternatively, sending less massaged data to the stimulation driver if it is capable of making such data conversions) which, in turn, effects through stimulation any needed change in muscle contraction and a change in or support of a joint position is thus effected by the muscle which is optionally followed by a polling of the sensor means by processing means to verify the success of each previous move and, if not within a tolerance norm, it recalculates, taking into account any user or system-directed change in position(s) desired since the last calculation, an adjusted adjustment amount reflective of the muscle response to the previous stimulation, one applicable example, of any number of possible example responses, is a servo-like response where the adjustment is some percentage of the error times the current amount of desired change based on the ratio of responsiveness of the previous move which “

homes in”

on a precision position as each subsequent command or set of commands is forwarded, in an optionally cyclical process, to the stimulation driver and then corrected if necessary;

such that

a practical and automatically precision adjusted actuation means is effected using the muscles themselves independent of or in coordination with normal actuation means which has potential actuation applications to any imaginable application of claim 1 and related claims including, solely as an examples, the user directed limb actions of claim 7, a shared-load application of conventional actuators and this muscle actuation means applied to claim 8 balancing and stabilizing, and a physical therapy application where a user taken through a series of claim 1 positions by processing means bears as much of the load as possible with the more conventional actuation means picking up the slack to allow the rehabilitating user to progress at the user'"'"'s maximum rate in a safe, fall-proofed environment.

16. A user interface device consisting of:

sensory means, operatively connected to processing means by wire or conventional wireless transmission, mounted anywhere on the head, including affixed to glasses, etc. measuring some or all of the following measures;

pitch, roll, yaw, acceleration, GPS location, compass reading; and

processing means operatively connected to execution means monitoring sensory means and assigning, from table-based, programmatic and/or formulaic means, a meaning for certain conditions or combinations of conditions and directing the appropriate action reflective of that meaning to execution means; and

execution means capable of effecting the actions demanded by processing means including but in no way limited to the following general examples of directing the yaw path of a walking user of the assistive clothing of claim 20 and their related claims by changing it directly relative to changes in the yaw sensed in the attitude sensor, directing the pitch of a user wearing the above referenced assistive clothing, i.e. causing the user to lean more forward or backwards to allow the user to intuitively maintain balance, similarly controlling the user'"'"'s roll (left, right lean) to further maintain balance based on the roll of the head attitude or directing a cursor on a computer screen, through a conventional interface with mouse or keyboard compatible inputs, with left-right movement of the cursor directly relative to the roll of the head attitude sensor and up and down movement directly relative to the pitch of the head attitude.

20. The apparatus and method of claim 1 further comprising:

data storage means which may be any combination of short-term random access memory (RAM) and long term storage in data files such as disk drive storage, Eprom, etc.; and

a first program means in processing means for the capture of modeled activities by users wearing the elements of claim 1 whose sensors report the positions of the joints and limbs over time with said time-stamped joint position, body attitudes, accelerations, etc. stored by first program means in data storage means; and

a second program means in processing means for the reading of data from scripts or other event sequence means and/or any of the many obvious alternative forms of otherwise writing and/or editing scripts or event sequences, and then directing the joint manipulation means to achieve, that is to recapitulate, those recorded positions, etc.;

such that

an effective means is created for capturing complex body motions and recapitulating them, potentially on a different body with only one of the many applications being the ability to help a quadriplegic to walk.

21. The apparatus and methods of claim 20 further comprising:

conventional electro-stimulation/relaxing means based on electro-stimulation control, pharmacological stimulation control or other form of nerve and/or muscle stimulation control capable of stimulating or relaxing individual muscle and/or muscle areas, nerves or spinal groups causing a limb or limbs to move or resist movement operatively connected to stimulation driver; and

a stimulation driver operatively connected to the processing means of claim 1 capable of receiving input from processing means and responsively stimulating a specific muscle or group; and

program means in processing means converting desired joint-control point motion in the form normal to the operation of claim 1, into the command set distinctive to the particular stimulation driver used and then communicating each such calculated stimulation driver command, including that driver'"'"'s muscle area identification tag, amplitude/intensity and duration of stimulation, or other set of information required by the particular make of stimulation driver, to the stimulation driver (or, alternatively, sending less massaged data to the stimulation driver if it is capable of making such data conversions) which, in turn, effects through stimulation any needed change in muscle contraction and a change in or support of a joint position is thus effected by the muscle which is optionally followed by a polling of the sensor means by processing means to verify the success of each previous move and, if not within a tolerance norm, it recalculates, taking into account any user or system-directed change in position(s) desired since the last calculation, an adjusted adjustment amount reflective of the muscle response to the previous stimulation, one applicable example, of any number of possible example responses, is a servo-like response where the adjustment is some percentage of the error times the current amount of desired change based on the ratio of responsiveness of the previous move which “

homes in”

on a precision position as each subsequent command or set of commands is forwarded, in an optionally cyclical process, to the stimulation driver and then corrected if necessary;

such that

stimulation actuation data stored in data storage means stored in time-sequence with or relatable to in a time sequence such that as other scripted or program-directed actions are taking place, the appropriate stimulation actuation commands, also stored with a time stamp, will be effected.

23. An apparatus and method as in claim 20 further comprising:

program means in processing means responsive to position sensing means for the purpose of directing a variance between the planned pressure exerted upon any joint(s) and the actual pressures of those joints such that as long as a user provides, as the event sequence proceeds, enough of the user'"'"'s own power in achieving a task so as to stay within a positional tolerance range of the positions recorded in the event sequence, which may be unique for each joint and/or sensitive to the context of action, the pressure applied by actuator means will be limited to a user or program chosen and potentially joint-specific percentage of the pressure stored in the event sequence, however, if a positional tolerance is exceeded, program means will direct the affected joint(s) to the tolerance position or the full scripted position (depending on application preference for stiffness) to provide stability and then resume the partial pressure process in the following cycle with obvious optional additions of program logic to gradually increase the percentage of default support pressure when the user appears too weak (requiring intervention too often) and slowly decrease the percentage of default support for a user who has required no intervention at the current default pressures for some time; and

program means may in one embodiment optionally and additionally be further coded to, through any user interface, allow the user or someone else to modify the positional tolerance values or the percentages of pressure support;

such that

a practical means is effected permitting reasonable and comfortable variation and providing levels of support and security with only one of the many applications being the partial support of a disabled user unable to walk without support in such a manner that the current invention provides only the support needed and intervenes when it is really required which allows a user formally bound to a wheelchair to walk normally and in the process to do as much of the work as the user is capable of for the purpose of rehabilitation without concern for falling.

24. An apparatus and method as in claim 20 further comprising:

comparison means operatively connected to sensory means which, when a user is following a created script or a programmatic or table-based equivalent event sequence managing means, compares all of the relevant body positions with predefined and stored or calculated norms (such as maximums for joint-control point speed of motion or acceleration or safe body attitudes for the current action) and/or compares them with the values that were recorded or programmed for the congruent point in the earlier captured script or programmed event sequence to ascertain differences between those scripted positions and/or norms; and

decision means operatively connected to response program means and responsive to differences calculated by comparison means that may be indicative of a potential problem, danger or any condition requiring a response, in which case it determines an appropriate response by formulaic and/or programmatic decisions and/or table-driven decision sources which may also result in a change of scripts or equivalent programmatic event sequences being executed in favor of one better able to handle the current condition; and

response program means which can be passive such as a bell or alarm to warn the wearer or others of undesirable or out-of-line body actions and/or active responses, effected through joint manipulation means, all of which occur in a precisely timed fashion and through the appropriate actuation means;

such that

either alone or in coordination with other body position manipulation means, destabilizing conditions such as a spasm or out of balance condition are surely and preemptively sensed before progressing to an extreme recognizable by sensor means even in a period of rapid action where typical balancing means are unusable, and managed before it becomes a problem.

25. An apparatus and method as in claim 20 further comprising:

a first program means in processing means for the purpose of matching the current action to a script or other event sequence that best reflects the current actions; and

a second program means in processing means to locate the congruent point in the script or other event sequence means selected by the first program means where the user'"'"'s current action falls; and

comparison means operatively connected to sensory means which compares all of the relevant body data with predefined and stored or calculated norms (potential examples of criteria that an implementer might choose to consider would be maximums for body part speed of motion or acceleration or safe body attitudes for the current action, etc.), which is always useful but is particularly effective when the first program means is unable to match a unusual action to a script, and/or, when a user is following a created script, stance or a programmatic or table based equivalent event sequence as managed by second program means, compares sensor data against data recorded or programmed for the congruent point in the earlier captured script or equivalent event sequence as identified by second program means to ascertain differences between those anticipated positions and/or norms; and

decision means in processing means operatively connected to response means and responsive to differences or response-requiring conditions recognized or calculated by comparison means that may be indicative of a potential problem, danger or any condition requiring a response, in which case it determines an appropriate response by formulaic and/or programmatic decisions and/or table-driven decision sources which may also result in a complete change of script or equivalent programmatic event sequences being followed to one better able to handle the current condition; and

response means which can be passive such as a bell or alarm to warn the wearer or others of undesirable or out-of-line body actions and/or active responses, effected directly through operative connections to actuation means connected to affected shells or parts, or said change may be effected through the normal periodic repositioning of joints by joint manipulation means using adjusted values reflective of the desired response, all of which occurs in a precisely timed fashion and through the appropriate actuation means;

such that

either alone or in coordination with other body position manipulation means, the current invention may operate unobtrusively in the background, when desired, following the user actions with respect to known actions where possible and interact only when necessary with only a few of the many logical applications being the background following of an event sequence, optionally disengaging (where actuation means selected includes or allows disengaging means and where actuator resistance to motion is a problem) for the purpose of prevention of falls, spasms, out of balance conditions, unhealthy walking gaits, flawed golfing swings or other undesirable body action which can be sensed so the user and others can be alerted and/or can be forcibly corrected with directed response to the undesirable action before it gets out of hand.

26. An apparatus and method as in claim 1 further comprising:

the data storage and second program means of claim 20;

and

data storage means which may be any combination of short-term random access memory (RAM) and long term storage in data files such as disk drive storage, Eprom, etc.; and

a first program means in processing means for the reading of data from scripts or other event sequence means and/or any of the many obvious alternative forms of otherwise writing and/or editing scripts or event sequences, and then directing the joint manipulation means to achieve, that is to recapitulate, those recorded positions, etc.

a second program means in processing means responsive to sensor means for the purpose of calculating when a body control or other element is out of position or any sensor value is inappropriate based on norms and/or the more context sensitive nature of the equipment'"'"'s current anticipated values (based on a potentially extensive comparison based on active or static script or other event sequence means) and calculating corrected position values for each offending element and then effecting them through joint manipulation means;

such that

as the first program means processes an event sequence, the second program means watches for out of position conditions thus sensing a problem and, then, the positions of the prosthesis or other applicable embodiment on the body may be precision adjusted while the user is at rest or in the middle of an action, in either case with an accuracy based, not just on static norms which may be, and almost always will be, different when the user is in different circumstances or positions, but on a genuinely context sensitive basis thus effecting a means amenable to automatic “

out-of-the-box”

configuration, on-line or local tutorial based adjustment and periodic re-adjustment as user body characteristics change.

27. An apparatus and method as in claim 1 further comprising:

the data storage and second program means of claim 20;

and

program means in processing means responsive to sensor conditions for the purpose of identifying potential problems in the execution of scripted or other event sequence means based on norms and the anticipated joint positions, body attitudes, etc. as compared to the actual values for them returned by sensing means and creating context sensitive responses and directing the joint manipulation means to effect those adjustments and/or switching to another script better able to deal with the condition at hand;

such that

a means is created that is capable of comparing any number of conditions both environmental and positional with time and context sensitive anticipated values and thus recognize before a problem condition exists a needed change that would ordinarily be difficult or impossible to recognize, quantify the response based on the two quantifiably comparable sets of data and/or norms and direct a solution specific to a condition even in a complex operation with only a few of the many potential applications of the invention being, in a repetitive walking script,

the recognition from a foot mounted distance sensor of an impediment not reflected in the script-saved sensor readings indicative of an impending “

trip”

for the user based on the current script (which might be a “

smooth terrain”

script) with the response being, based on the position of the impediment and the point in the stroke, either an adjustment of the foot height to miss the impediment or a switching to a higher-stepping, rough-terrain script to prevent the same problem in more extreme circumstances;

or

the recognition of, by reviewing foot mounted distance sensors over time, a vertical pattern in the path with a height in the range associated with steps resulting in adjustments in reach of subsequent steps or a switching to a script with a different stride length, either to adjust the steps so that the steps arrive with the leading foot in the proper position for program means to switch to a step climbing script with embodiments of the invention using only one of the two just disclosed adjustment means understood to be valid and complete embodiments of the current invention.

28. An apparatus and method as in claim 20 further comprising:

command-reshaped custom body-control means which are system configurable and adjustable embodiments of the body shell segments and other body devices operatively connected to the processing means and sensor means, whose inter-related positions and attitudes are system adjustable to fit different bodies by adjustment of the connective means between them, are additively configurable by system-adjustable intra-part adjustments including one or more separation or expansion points on a part with motor/actuator and/or elastic means powered expansion and contraction optionally on an axis (where only one separation/expansion point or line is provided thus rotating on the side-opposite on a hinge or similar means) and/or including separation(s) on more than one side controlled together or separately to expand the part uniformly along a single or multiple vertical openings or even more at the top that at the bottom and vice versa as well as the obvious horizontal or other obtuse axis equivalent planes of separation, with areas of optional relative flexibility in parts walls, etc. where precision attitude control is not focused; and

adjustment program means in processing means sensitive to the points of progress in second program means (of claim

     20) for the purpose of sensing out-of-adjustment conditions by comparison with norms and/or comparison of positional or other sensor data with the stored values from the executing scripts and/or programmatic event sequences and, upon finding a body-control part that is out of adjustment directs the lateral adjustment of parts by retraction/extraction adjustments of the connective actuator means between them and/or loosens to adjust the position and/or reshapes the body part by the command-reshaped custom body-control means to best fit the context sensitive requirements of the body part and/or optionally loosening then tightening to create a partial vacuum and then expel the heated air, and/or the skewed (for example, more at one end than the other) expansion and contraction associated with a massaging action to increase blood circulation, treat itching and cool the area under the control shell or other part, and/or move the operative shells or control parts over the surface by the actuation means between them to further treat itching and then automatically return the elements to their prior memorized positions and/or pressures;

such that

with the user at rest or in the middle of an action, the current invention can sense an out-of-position conditions on a part that might seem fine in a standard calibration position (but whose numerous and context sensitive sensor values can be recognized as out of position with respect to any given scripted or programmed action) and thus respond to and fix even a body element that, because of the non-rectangular nature of body dynamics or because of an exceptional anatomical condition, or due to extreme action or because of a slight equipment mismatch, is out of position, either immediately by modification of the position of the actuation connective means or thus moving the part or, if loosening or reshaping is required and the part is at a point of stress in the event sequence, immediately after that stress point in the event sequence is passed.

29. An apparatus and means as in claim 20 further comprising:

engagement means (optional) operatively connected to response means for the temporary engagement and disengagement of actuation means from the joint-control point served upon commands from response means to minimize or eliminate actuator resistance to user motion when appropriate, such as to leave disengaged when the user requires no, assistance; and

comparison means operatively connected to sensory means which compares all of the relevant body data with predefined and stored or calculated norms and/or compares sensor data against data recorded or programmed for the current point in the event sequence to ascertain differences between those anticipated positions and/or norms; and

decision means in processing means operatively connected to response means and responsive to differences or response-requiring conditions recognized or calculated by comparison means that may be indicative of a potential problem, user out of anticipated position, danger or any condition requiring a response, in which case it determines an appropriate response by formulaic and/or programmatic decisions and/or table-driven decision sources which may also include a complete change of script or equivalent programmatic event sequences being followed to one better able to handle the current condition; and

response means which can be passive such as a bell or alarm to warn the wearer or others of undesirable or out-of-line body actions and/or active responses such as joint position changes and/or event sequence changes all of which occur in a precisely timed fashion and through the appropriate actuation means;

such that

either alone or in coordination with other body position manipulation means, the current invention may operate unobtrusively in the background, when desired, following the user actions with respect to known actions and interact only when necessary such that a fall, spasm, out of balance condition, degenerative walking gait, flawed golfing swing or any other undesirable body action can be sensed so the user and others can be alerted and/or can be forcibly corrected with directed response to the undesirable action before it gets out of hand with only a couple of the many practical applications being;

physical training such as learning an athletic skill while in a repetitive (cyclical) event sequence in which case decision means may optionally be programmed to provide a tolerance range or “

channel”

of permitted range in which no action is taken or only limited action is taken (such as a bell for a little out of range and a bump back to position for a lot out of range);

or

physical therapy, particularly cyclical walk-recovery therapy in which an almost-cured patient can walk unhindered but with the security of knowing no fall will occur and that any degenerative gait will be warned and, if necessary, corrected and taught.

30. An apparatus and method as in claim 20 further comprising:

video display means, any video display responsive to a video image; and

video capture means operatively connected to video storage means and adequate for the chosen display means (above) essentially capturing the view of the action cataloger (the person creating a script) at every point in the event sequence as an action is modeled and stored; and

video storage means to store the captured video image; and

synchronized video playback means to replay the captured video image through the video display means in a synchronized fashion with the already time-controlled script;

such that

as a user is taken physically through an event-sequence experience, perhaps a professional golf swing for training purposes, a synchronized virtual image directly reflecting the action being taken accompanies it.

33. An apparatus and method as in claim 20 further comprising:

audio reproduction means which can be ear buds, phones or even relatively distant speakers, etc.; and

audio capture means operatively connected to audio storage means, essentially capturing the sounds heard by the action cataloger (the person creating a script) at every point in the event sequence as an action is modeled and stored and, ideally, being placed near the ears for optional stereo reproduction; and

audio storage means to store the captured audio image; and

synchronized audio playback means to replay the captured audio through the audio replaying means in a synchronized fashion with the already time-controlled script;

such that

as a user is taken physically through an event-sequence experience, a synchronized image of the sounds, optionally stereo, accompanies it.

34. An apparatus and method as in claim 33 further comprising:

extended audio capture means operatively connected to audio storage means capturing the sounds heard by the action cataloger (the person creating a script) as well as the sounds not heard as well such as the sounds behind through an array of directional microphones at least around the lateral periphery of the action cataloger'"'"'s head and potentially above and below ear-level as well such that each records a separate sound track reflective of sounds from all the directions covered at every point in the event sequence as an action is modeled; and

user interface means which may optionally include any applicable sensory means (including the one described in claim 16); and

scrolling memory program in processing means responsive to user interface means and operatively connected to audio reproduction means for the purpose of selecting an audio signal responsive to data from the user interface means thus returning a sound to each ear reflective of the sound track most reflective of the head attitude sensor or other user interface view, optionally combining the sound images of two sources where the desired sound source location per the user interface is between them;

such that

as a user is taken physically through an event-sequence experience, a synchronized and directionalized image of the sounds specifically reflective of the user'"'"'s head attitude, not necessarily the action cataloger'"'"'s, accompanies it provides not only a directional sound sense reflective of user position but the ability for the user to diverge from the event sequence and hear an appropriately oriented and scaled sound image with only a couple of the many practical applications being;

those gaming and military training applications already fitted with user-head-attitude-specific video imaging from claim 31 or 32, allowing them in an exercise, when hearing a sound, to look around and locate the source of the sound with the sound becoming naturally louder as the head is appropriately turned thus training a soldier in simulation training to pick out camouflaged sound sources by truly directional sounds specific to the point of action in an event sequence.

37. An apparatus and method as in claim 20 further comprising:

a first transducing means, operatively connected to data storage means, consisting of a logically mapped and located array of small transducers effective in the conversion of vibration to electrical signatures with a few examples being conventional micro-electret microphones, micro-machined silicon, silicon-nitride, carbon filament and printed carbon or advanced semiconducting dots, with the example chosen or other transducing means attached to a potentially curved shape in some manner with one example manner being the printing of the transducing means on a first non-conducting, semi-flexible medium which already has conducting micro-traces electrodeposited under each point that is so printed which is then covered, sandwiching the transducers, by a second medium layer also having, on the side contacting the transducer, conducting traces in a pattern or means such that the traces of the first layer do not overlap so as to short to the traces of the second layer, such that each transducer dot is contacted on one side by an unique micro-trace and on the other side an unique or shared end-point conductor common to all points on the second layer, thus establishing in this example manner one transducing array applicable to the current invention with each transducer effectively and discretely wired either dynamically or with support power, optionally in amplified form, with data from each stored in data storage means by first program means; and

driver means operatively connected to second program means with said second program means reading the data stored in data storage means originating from first transducing means and converting the sound data to a form appropriate for the reproduction of the originally captured signal and passing that electronic signal to second transducing means; and

second transducing means consisting of a logically and congruently (with respect to the array of first transducing means) mapped and located array of any small transducer technology effective in the conversion of electrical signatures to vibrations or skin stimulations with a couple of examples being miniature voice coils, micro-crystal or carbon-based speakers and simple contact electro-stimulation providing either a vibration produced by the conversion of the electronic signal to vibration or the application of the optionally amplified (by driver means) signal by direct electrical contact to the skin with either approach effected in a parallel manner such that a user wearing the second transducing array as applied to a potentially curved form;

with

one example embodiment being to fit over a fingertip, receive vibrations at points on that second transducing means specifically related to the points that received vibrations on the first transducing means (in the example covering the fingertip) thus allowing the user to feel sensations through the second transducer array specifically relative to the vibrations sensed on the first transducing array; and

another example manner or embodiment being like the just previous manner except that the second transducing array is located in another area of the body so that the user, potentially unable to feel touch in an area congruent to the area in which it was sensed, can learn to associate data responsive to contact, for example, on a remote fingertip, with vibrations or stimulations on any other area of the user'"'"'s body such as the back of the neck;

such that

when following an event procedure, the user can feel the virtual environment associated with the action and surroundings from the natural impact and shape of the objects provided by the elements of claim 20 and the delicate touch of this claim.

38. An apparatus and method as in claim 1 further comprising:

video display means operatively, with a preference for a head-worn display, connected to virtual reality engine; and

virtual engine, operatively connected to conversion program means, comprising any virtual reality means capable of maintaining a virtual body reflective of the body wearing the equipment of claim 1 (with said virtual image ideally having the same joint-control points and actuation means as the user'"'"'s equipment to minimize conversion of data to adjust for different body geometries) and capable of exporting in real time the current virtual body positions exerted upon them and virtual body attitude data to conversion means and receiving in real time from conversion program means new positions and, optionally, the body attitudes of the non-virtual user,

(using any mutually acceptable data protocol but with the option of using the extremely compact, data efficient and rapidly processed joint-control point position data which can alone provide all the data needed for the virtual body to precisely respond to all forces exerted by the non-virtual user and, along with virtual body attitude, also supplies all the data needed for the user'"'"'s body to accurately reflect the effects of the virtual environment thus making the current invention exceptionally amenable to tensor-based or similar virtual technologies that favor such elegantly geometry and vector-friendly paradigms); and

conversion program means, operatively connected to processing means, converting user body position data into a form desirable to the particular virtual reality engine chosen and forwarding it to said engine which applies the positions to the virtual body which is affected by the virtual environment such that when the virtual engine returns its virtual-environment-affected values back to conversion program means, conversion program means converts the data to native joint-control point data and applies it to the joints through the joint manipulation means causing the user to assume the positions of the virtual body; and

should the virtual body walking forward, for example, have encountered a headwind resisting the forward motion, the non-virtual user will feel the resistance as the positions of the non-virtual body reflect the joint positions of the slightly backward arching virtual body, normally resulting in a user response of leaning forward with new data reflecting that returned to virtual engine causing the virtual body to respond to the wind as well, and so on as the cycle continues; and

should the user rest an arm on a virtual table, the user'"'"'s will feel the effect of the table as the user'"'"'s arm now rests mid-air supported by the equipment and the user feeling the arms weight resting on the table which is actually the equipment; and

the virtual engine also sends an image reflective of the virtual view from the virtual body'"'"'s eyes to video display means so that what the user sees is the virtual world with the virtual hands where the virtual user senses the non-virtual hands to be, etc.;

thus

the user experiences visual and physical effects of being in the virtual environment and makes changes and operated on the virtual environment even while the virtual environment operates on the user.

39. An apparatus and method as in claim 37 further comprising:

pressure application means which, in the case of hydraulic actuation is inherent and, in the case of other actuation means, by actuator retraction or extension to create pressure and the automatic retreat of actuation means when pressure sensing means senses user intent to move into a direction by known means only one example of which is that the actuation means may apply pressure by achieving a demanded position normally and then assuming a position whose tension on the joint-control points are known to be and/or sensed by pressure sensing means to be the appropriate pressure and, when pressure sensing means sense a pressure in excess of that desired amount, actuation means, guided by processing means, retreats to a calculated position and/or retreats until the pressure reported from pressure sensing means is the appropriate pressure desired and vice versa for too little pressure; and

pressure sensing means operatively connected to processing means reporting the pressure on a joint-control point; and

the addition of pressure data sent between the virtual engine and the processing means by way of the conversion program;

such that

when the virtual engine sends its data to the processing means (via the conversion program), maintenance pressure is provided on the user equipment after a position is achieved but no locking of that position is enforced so that the user feels the weight (the amount of pressure) on each joint that the virtual engine sent which was reflective of the pressure on those points on the virtual body such as the amount of a burden being carried and the user is free to try and overcome this resistance that is reflective of a resistance, burden or impact with something in the virtual world; and

the next time the processing means sends a current set of user data to the virtual engine (via the conversion program), the pressure sensed on each joint is sent with it reflecting, for example, any reactive force the user applied to overcome the virtual burden, and the virtual engine applies that pressure to the virtual joint-control point to achieve motion in the virtual environment applicable to virtual resistance;

thus

effecting the ability for a user to feel and react with a virtual environment whose objects can be held (with the shape of the object felt in the hand), manipulated, impacted, rested upon, lifted, etc. with a precise responsive burden felt by the user as if bearing the burden that exists only in the virtual environment.

40. An apparatus and method as in claim 1 further comprising:

support means (the body control elements of claim

     1), to suspend the user, with example embodiments including from the back of a supportive waist ring and/or from a support shell located on the back, providing, through motor or hydraulic powered, user roll rotation by the rotation of the support means and user pitch by raising and lowering the pitch/angle of the support means; and

data source means operatively connected to processing means which can be any source of data with a couple of the many acceptable sources being the event sequence data of claim 20 or the virtual data of claim 37;

such that

processing means, treating support means like any other actuation means in claim 1, in that it responds to body pitch data by modifying the user'"'"'s pitch to reflect the pitch data and responds to roll data by rotating the user until the user'"'"'s roll matches that of the data, effects a limitless travel, virtual reality environmental support facility which requires no stage, set or setup;

with a few of the many applicable example embodiments including

the addition of the event sequences of claim 20, the enhanced full-periphery visual means of claim 31, the wide peripheral, position-relative sound of claim 34, the touch sensitivity of claim 37, and the rapidly created, size independent virtual reality means of claim 31 in an embodiment supported by a waist support ring that allows the upper body to rotate from waist position actuators effecting;

a) a safe rehabilitation therapy platform that allows the user to exercise and be exercised in a virtual environment that can extend the acceptable therapy time and remove fear from young patients by entertaining as it provides exercise through adventure (including walk/climbing trails, skiing, rowing with the feel of the oars in the hand and the rocking of the waves felt as the user, who appears to be sitting on nothing but feels and sees an effective virtual view, etc.) and games for the user to perform with burdens optionally controlled by the burden pressure control of claim 23 allowing the user to, for example, provide some portion of the power to walk with the equipment picking up any slack and completely protecting the user from falls, etc. and, with the addition of claim 24 protection from falling or personal damage related to spasms while rehabilitating; and

b) with the addition of the responsive pressure sensing of claim 23, a full-body virtual-reality environment of unlimited size and scope with exercises, training scripts, etc. rapidly created and immediately usable allowing

c) with the full virtual-reality elements of claim 38, a full-body virtual experience feeling, holding (and feeling virtual elements held in the hand which appear exactly where the user senses the user'"'"'s hands to be) while manipulating the objects, such as operating on a virtual heart, and fully interacting with a full virtual environment, hanging from virtual trees, etc. allowing not just a virtual experience but the ability to live and perform real work and change in a virtual environment including testing equipment that currently exists only in virtual design environments.

41. An apparatus and method as in claim 39 further comprising:

the event-sequence following abilities of claim 20;

and

vertical lifting/lowering acceleration means operatively attached to support means and operatively attached to processing means to raise and lower the user responsive to the upward or downward motion recorded in an event sequence or from any other source powered by position controlled lifting motors or actuators; and

“

across-the-floor”

accelerating means operatively attached to support means and operatively attached to processing means responsive to the lateral (forward/backward/side) motion recorded in an event sequence or from any other source; and

powered by position controlled lateral motion equipment with only one of the many applicable embodiments being the entire assembly supported on a horizontal plane supported and driven by a set of omni-directional wheels on each corner moving the assembly laterally as directed by processing means;

such that

additional inertial effects are added to the user'"'"'s perception.

10. A device for allowing the user to interface with external or remote equipment using the mouth consisting of:

battery means operatively connected to user input means through wires or ribbon cable and operatively connected, normally by wire(s), to transmission means; and

user input means operatively connected to transmission means which can be any form of push-button, touch-sensitive pad, etc. located in the mouth and responsive to tongue or mouth contact; and

transmission means, powered by battery means also operatively connected to input means by wire or mini-wireless transmission, which transmits, using radio or any other practical signal transmission means, the user inputs from user input means and, optionally, sufficient processing means can be included with transmission means to otherwise format data, thus transmitting data reflective of the user'"'"'s input to receiving means; and

receiving means, located as near transmission means as is practical to permit low-intensity transmissions, which are capable of receiving the signal sent by transmission means and forwarding to the interfacing means, by conventional means including wire or subsequent wireless transmission to a second receiving means in or associated with interfacing means, the received data; and

interfacing means, operatively connected to the end receiver (the entity ultimately using the user input) with said interfacing means located in receiving means or separately for receiver size constraints, performing conversion, if any is required (if none is required the interfacing means is just a wire to the end receiver i.e. no interfacing means is required) and the data is thus sent to the end receiver; and

binding means which can be the adhesive or more permanent affixation of the above means, except the receiving means, to the teeth, or the affixation of the same elements to a convenient frame, such as one similar to an orthodontist'"'"'s retainer, that is easily secured in and removed from the mouth or, alternatively, a combination of all the elements into individual redundant elements such as touch, heat or other contact sensitive keys with embedded battery and transmission means in each key requiring only, at minimum, for transmission means the communication of a square wave or click with any required distinguishing between key signals provided by a tiny crystal or other frequency or other signal definitive means producing an unique signal, each unit of which can be affixed individually to the teeth or a frame;

such that

the user, including those completely disabled outside of the mouth, can control hands-free any equipment connected to and compatible with or modified to become compatible with the data passed on by receiving means including but by no means limited to typing data to run a computer, directing a PC mouse, dialing a telephone number through tone generation means, and controlling the operation of the assistive clothing.

11. The apparatus and method of claim 10 further comprising:

user input means operatively connected to transmission means by wire or mini-wireless transmission consisting of keys sensitive to tongue contact with applicable conventional varieties including any practical means including but not limited to push-key, touch-sensitive, heat-sensitive, galvanic skin response-based, etc. affixed and assembled as described in claim 10.

12. The apparatus and method of claim 10 further comprising:

user input means operatively connected to transmission means by wire or mini-wireless transmission consisting of a surface area sensitive to tongue contact with applicable varieties including any practical means including but not limited to touch-sensitive (common to laptop touchpads), heat-sensitive, galvanic skin response-based, etc. also being sensitive to and returning data reflective of the location of contact on a perceived grid on the surface as is normal for touchpads and an optional click responses effected through click-keys such as claim 11, by touch of special areas on the surface area or by a “

flat tongue”

caused by pressing hard on the surface, and thus producing transmittable data for transmission means, being bound as described in claim 10 and locatable inside the mouth at any advantageous location such as, for example, the inside of the lower front teeth and the roof of the palate;

such that

the user can direct anything directable by a mouse.

22. The apparatus and methods of claim 20 further comprising:

user interface means operatively connected to processing means and being any practical user interface means including, as examples only, those disclosed in claims 10-16; and

program means in processing means responsive to user interface means to allow the processing of a script or programmatic process to be adjusted by the user and simultaneously metered by the user or other processes;

such that

the scripts or programmatic event series can be used for a wide variety of precision, user directed tasks with only one example of many being the ability for a user fitted with the sensory means, processing means and execution means, for example only, of claim 16, with no otherwise use of hands or arms using a script, rich in fluid motion detail to reach out and grasp a glass from a standard sitting position, while simultaneously modifying the fine positioning of the hand, for example, and keeping the approach at a rate comfortable to the user through the user interface which allows user directions such as head attitude or oral keyboard input, etc. to adjust the relative position (relative to the scripted or programmed position) of a programmatically selected or script selected joint or collection of joints even as the process continues thus allowing variation, timing control and precision in the use of complex scripts or programs.

14. A lens-less focusing mechanism for more effective focusing and better handling of close-quarters optics comprising:

collimating film from any of the currently available sources of collimating films, which may, depending on the film chosen, also be multiple layers of film with potentially different alignments for more effectiveness; and

a concave mirror or, for other embodiments, a partially reflecting mirror (partially-reflecting/partially transmitting), optionally application-specifically warped to eliminate incident-angle distortion; and

an assembly positioning the center of the light coming through the collimating film(s) to occur near the center of the mirror but at an oblique angle such that the collimated light strikes the curved mirror and is reflected such that the reflected light, instead of returning to intersect (beyond some minor possible diffraction) the collimating layer(s), continues in a slightly convergent form with said convergence determined by the effective focal length of the mirror;

such that

a light, inexpensive and exceptionally compact lens-less focusing assembly is effected which can also have an uncommonly short distance required for visibility (the eye can be very close to the assembly and still focus on it).

13. A wearable display device positioned on the head much like regular eyeglasses and with no overhanging appendages in front of the glasses and thus the image is also not warped by the refraction of any glasses prescription, for allowing a user to see computer or other video display images and/or text with the ability to also obtain a full field of view of the non-video image at will (without moving a bulky prism or head mounted projector out of the way and then having to reposition it later) including full upper, lower and side periphery for safety and convenience and also to control, either programmatically or through a potentially hands-free user interface, the relative dominance of either image both as a means to select a view and to share a view of both video and the through the lens landscape in an environment also permitting a wide field of view of the video image consisting of:

power supply means such as batteries operatively connected to projection means and receiving means; and

receiving means operatively connected to projection means which, in the case of a video signal delivered by wire from a nearby video signal, is simply that wire which, in that case, carries only the power from power supply means to the projection means but, for embodiments and applications where a head-mounted video receiver is used, this includes the video receiver which then passes the received image to the projection means typically by wire; and

projection means consisting of near-proximity projection display means being any form of projection means producing an image discernable at the close range afforded by a glasses-like arrangement such as relatively collimated light either pre-focused by the optional special optics of claim 14 or by more classical collimation or focusing means with said image being reflected off the inside surface of the normal (or non-prescription) glasses thus avoiding any image warping by passing through the lens or the image is reflected by special movable beam splitters (some embodiments stay permanently in position), either or both of which can be optionally coated with an aluminum vacuum coated or otherwise-manufactured partially reflective see-through-mirrored coating to balance relative reflectance and control visual noise, which, in either case, reflects the image to the eye; and

optional program means which, when included in an embodiment, may allow the user, through any of the user interfaces in the current invention or any others compatible with the current invention, to select when a beam splitter should be placed in position or removed out of the way (where beam splitters are used and when the user chooses not to just leave the beam splitter in position at all times) and adjust that position for better image centering as well as adjust the brightness of the reflected image to determine which image is visible or most visible allowing a full landscape panorama through the glasses'"'"' lens or a bright, wide image video image, or, for example, a video image consisting only of text or small image in one corner while simultaneously viewing the full panorama of the through the lens image including behind the text;

such that

a non-bulky, compact, head-wearable video display with no through-the-lens distortion and no hardware in front of the glasses to obscure the view or amuse passerby is provided that allows, selectively, a wide angle view of both the through the lens image and the video image optionally simultaneously.

31. An apparatus and method as in claim 30 further comprising:

extended video capture means operatively connected to video storage means for the purpose of capturing a time and context sensitive, user flexibly changeable view also sensitive to user chosen head position, consisting of additional video cameras arrayed around and secured by head gear to capture image areas beyond the peripheral vision of the action cataloger (at time of action cataloging, i.e. recording the script) placed such each captures a piece of the extra-peripheral view and such that each is pointed in a direction along a vector such that the vector, extended behind the video capture means and through the action cataloger'"'"'s body passes through or essentially through the center of the effective axis of rotation of the neck, which in its simplest approximation form is an imaginary ball joint, with images captured and saved in video storage means; and

user interface means which may optionally include a sensory means similar to the one in claim 16 or other practical user interface; and

scrolling memory program in processing means responsive to user interface means and operatively connected to video display means for the purpose of selecting a segment or segments of video image from video storage means responsive to data from the user interface means thus returning a view, potentially seamed with images originally captured from more than one camera source with said image then displayed by video display means;

such that

an interactive image landscape that is time and context-sensitive but completely variable by user choice and synchronized with a currently executing event series reflecting a user head attitude in that action even when that attitude is substantially different than the anticipated head attitude providing many potential applications with only a few being;

when using a worn video display, a training mechanism for any athletic or military skill to be learned, with a golf swing used here as an example, such that a right handed user can rotate the head to the left and see the pin and rotate the head to the right during the back-swing and see where the experts hands were and, if the beam-splitting visual display of claim 13 is used, see the expert'"'"'s arms and body at that precise parallel and moving point of reference in the execution superimposed over the user'"'"'s to easily spot and gauge an out of position condition; and

in an environment where only the head is involved, which can be configured as an entirely passive actuation session, or one in which the entire body is actively, even roughly, experiencing the actions, impacts, etc., an improved set of military training or gaming glasses are created when using a worn video display allowing the user exceptional realism associated with a view that moves with the head and allows the player or military simulation trainer to look around and see what is behind thus effecting a form of interactive virtual reality training that requires no studio, set, props or computer environment and tensor, etc. creation or the massive memory and hardware requirements of traditional simulations and which naturally provides the “

feel”

of the elements held in the hand or bumped into as well as, with the optional addition of omni-directional sound such as the method described in claim 34, or other method, provides exceptional virtual depth, but requires only a person wearing the equipment to, without restriction to location or size of arena, create an immediately usable training tool in the time it takes to model the action which can even be an actual event to be relived and rehearsed later such as a battle; and

32. An apparatus and method as in claim 30 further comprising:

extended video storage means storing a video image similar to the composite image captured by the extended video capture means of claim 31 but created artificially or modified from an image captured by a means similar to the extended video capture means of claim 31;

and

user interface means which may optionally include the sensory means of claim 16 or other practical user interface; and

scrolling memory program in processing means responsive to user interface means and operatively connected to video display means for the purpose of selecting a segment or segments of video image from extended video storage means responsive to data from the user interface means thus returning a view responsive to the attitude of the user'"'"'s head;

such that

an interactive image landscape that is time and context-sensitive but completely variable by user choice and synchronized with a currently executing event series reflecting a user head attitude in that action even when that attitude is substantially different than the anticipated head attitude providing many potential applications with only a couple being;

when using a worn video display, a training mechanism for any athletic or military skill to be learned, with a golf swing used here as an example, such that a right handed user can rotate the head to the left and see the pin and rotate the head to the right during the back-swing and see where the experts hands were and, if the beam-splitting visual display of claim 13 is used, see the expert'"'"'s arms and body at that precise parallel and moving point of reference in the execution superimposed over the user'"'"'s to easily spot and gauge an out of position condition; and

an improved set of military training or gaming glasses when using a worn video display allowing the user exceptional realism associated with a view that moves with the head and allows the player or military simulation trainer to look around and see what is behind thus effecting a form of interactive virtual reality training that requires no studio, set, props or computer environment and tensor, etc. creation or the massive memory and hardware requirements of traditional simulations.

35. An improved television or CD viewing system consisting of:

video capture means operatively connected to and forwarding data to storage-or-transmission means, (which may be like the extended video capture means of claim

     31) or any practical artificial image creation, simulation or wide angle video capture means capable of capturing or creating a rotation-supportive wide-panorama view comparable to that of claim 31 '"'"'s video capture means which means that there is, effectively, actually or at least approximately, an imaginary line from a common point of reference (essentially equivalent to the location of the effective shared axis of lateral and vertical human neck rotation) to the middle of the center focal point for each camera or, in the case of artificially created imaging, the middle of any rectangular subset of the created image which can be envisioned like the inside of a basketball whose center is the referenced axis, and all those lines are as close to the same length as all the others as is practical; and

storage-or-transmission means, depending on embodiment chosen, either saving the video image to data storage or transmitting it directly to video display means which, in either case, can treat each image source separately with the multiple images seamed for at display time, or the images can be seamed prior to storage or transmission; and

receiving-or-reading means, operatively connected to storage-or-transmission means, depending on embodiment chosen, either reading the image directly from data storage or receiving it by transmission means; and

sensory means, operatively connected to processing means by wire or conventional wireless transmission, mounted anywhere on the head, including affixed to glasses, etc. measuring head attitude such as pitch and roll (and, in optional embodiments, yaw, acceleration, GPS location, compass reading); and

processing means, operatively connected to the scrolling memory program and responsive to sensory means, and assigning, from table-based, programmatic and/or formulaic means, a meaning for certain head-attitude conditions or combinations of conditions and directing the appropriate action reflective of that meaning to scrolling memory means; and

video display means, operatively connected to scrolling memory program, and wearable; and

scrolling memory program in processing means, operatively connected to storage-or-transmission means and tracking a video image from it, responsive to processing means and, for the purpose of selecting a segment or segments of video image from the oversized panorama in the video memory of video storage means specifically responsive to data from the processing means, which, based on head attitude, will instruct the scrolling memory program choose a different segment of the oversized video memory panorama reflective of which way the user'"'"'s head is pointed (for example if head pitch was increased, the segment(s) of video memory chosen will be related to a camera or view-portion that was higher to the photographer) to thus return a view, potentially seamed with images originally captured from more than one camera source, with said image then displayed by video display means;

such that

when the user'"'"'s head rotates and, in embodiments where images from above and below the normal vision are also stored, when the user'"'"'s head moves up or down, the image seen moves naturally with the viewer allowing a user to “

look all around” and

get a full panoramic view and better sense of the surroundings for a substantially improved perception without distortion due to the congruence between the effective axes of the use'"'"'s neck and the imaginary centric axes of the video capture means.

36. An apparatus and method as in claim 35 further comprising:

extended audio capture means operatively connected to audio storage-or-transmission means capturing the sounds heard by the photographer, as well as the sounds not heard, such as the sounds behind, through an array of directional microphones at least around the lateral periphery of the action cataloger'"'"'s head and potentially above and below ear-level as well such that each records a separate sound track reflective of sounds from all the directions covered at every point in the event sequence as an action is modeled; and

audio storage-or-transmission means, depending on embodiment chosen, either saving the video image to data storage (which may be an individual file for each source or a composite data file), or transmitting it directly to audio reproduction means (either as a separable composite signal or discrete signals for each sound source; and

sound-selecter program in processing means responsive to sensory means and operatively connected to audio storage-or-transmission means as well as audio reproduction means for the purpose of selecting an audio signal responsive to data from sensory means thus returning a sound to each ear reflective of the sound track most reflective of the head attitude sensor or other user interface view, optionally combining the sound images of two sources where the desired sound source location per the user interface is between them; and

audio reproduction means, with one example being ear buds, reproducing the sound so selected;

such that

as a user is taken through a video experience in which the head may be turned in any direction and both see different moving images and hear directional sounds appropriate to that head attitude (as if turning your head in the real world), providing not only a directional sight and sound sense reflective of user action but the ability for the user to diverge from the event sequence and see and hear an appropriately oriented and scaled sound image for both a more engrossing television experience but an improved teaching tool as well.

15. A lens-less focusing mechanism for more effective focusing and better handling of close-quarters optics comprising:

a concave-shaped LCD or other display means (looking like a planar slice of a basketball with a display on the inside); and

collimating film from any of the currently available sources of collimating films, which may, depending on the film chosen, also be multiple layers of film with potentially different alignments for more effectiveness in a concave shape, also shaped in a convex form and placed against the light-emitting side of the curved display;

such that

a light, inexpensive and exceptionally compact lens-less focusing assembly is effected which can also have an uncommonly short distance required for visibility (the eye can be very close to the assembly and still focus on it).

17. An enhancement to conventional actuators comprising:

actuation means operatively connected to elastic means, which said actuation means can be any form of controlled motion actuation means with a few common examples being servo-motors, stepper motors, hydraulic actuators and hydraulically driven inflate-to-retract muscles; and

elastic means with common examples being springs and flexible cable; and

directing means, which is any device, smart or dumb including even a manual off/on or forwards/backwards switch or physical engagement lever, that makes use of the current invention disclosed in this clam, examples of which are computers, controller cards, switches, etc., operatively connected to actuating means;

such that

as the actuation means, as directed by directing means, rotates, pulls or pushes in one direction, the connected elastic means resists that motion increasing the burden of actuating means and increasing the stored potential energy of the elastic means and, when actuation means moves in the other direction, the elastic means releases potential energy increasing the effective thrust of actuator means in that current direction thus effecting a closed, two way actuating device with many applications;

with

one example of which being the ability to replace existing actuation means and operate identically as they currently do but with significantly more power in a preferred direction thus increasing potential payload from the same power supply and a potentially smaller actuator and thus smaller footprint one example application being robotics applications whose actuators are bearing a heavy load in flexion (such as raising a body up a stair) but a very light load in extension, the return stroke (or vice versa); and

in new equipment and even more in older equipment where friction has increased actuator burden, the current invention extends the life and increases the power of equipment requiring more power in a preferred direction but having to operate off of the existing power supply and controlling means (such as a trash compactor motor replaced by the current invention using the same power supply and controller circuits, which, in the previously largely unburdened return cycle, when the compression arm is raised, elastic means now burdens that light cycle but, when in the compression phase, the elastic means provides a potentially almost double force from the same power source; and

the current invention of this claim also can be used to provide a single device that can be easily adjusted to provide, at one time, an exceptionally energy efficient actuation means where the elastic contribution is, for example, essentially equal to the gravitational overhead of a lift operation with no extra “

payback”

energy required on the return stroke making the lift essentially effortless and the actuator device exceptionally efficient, and, with adjustment, the same device serves as a much more powerful actuation device in a preferred direction by setting the elastic means closer to its most distended position which, although a return-stroke payback is now required, potentially almost twice the force of actuation means can be delivered thus providing a device tunable to easily provide a wide range of efficiency and power ratings.

18. The apparatus and method of claim 17 further comprising:

disengagement means capable of both disengaging and re-engaging;

a few examples of which are clutch assemblies, belt and pulley engagement, and wheel or gear contact engagement, operatively connected to and electively separating elastic means from actuation means and/or separating actuation means from execution means depending on which of the two disengagement means are used in a given embodiment of the current invention, both of which may be used in the same embodiment and which are operatively connected to directing means; and

the directing means of claim 17 or additional separate directing means further operatively connected to disengagement means and optional braking means; and

braking means, optional to the current invention, operatively connected to prevent the advancement of elastic means and/or executing means using conventional equipment which typically uses one brake for each of the two means;

such that

when directing means sends a signal to a “

smart”

disengagement means or simply applies a current or other activating influence to a “

dumb”

or other actuation mechanism of the particular disengagement means in use, the disengagement means separates the two connected means previously joined by disengagement means and, similarly, directing means can effect re-engagement;

thus

in an embodiment with disengagement means present between the elastic means and the actuation means, the elastic means may be automatically disengaged for safety and control reasons by directing means in exceptional circumstances or in any circumstance where the previously advantageous strong-side leverage might cause a problem (such as an now-inverted device which required strong-side power when vertical such as to overcome gravity on a very heavy part but, when inverted, would overpower the weak side with the unanticipated reverse gravitational force thus allowing configurations to be tuned to absolutely maximize or even exaggerate strong side bias to maximize energy efficiency and get the maximum strength out of the process without the otherwise present dangers of exceptional conditions overpowering the weak side of the bias-leveraged device); and

in embodiments with disengagement means present between the actuation means and the execution means, directing means can adjust the position of the actuating means relative to the executing means (such as, in a cable-pulling actuator, disengaging long enough to wind up excess cable to remove slack between them before re-engaging the actuator to the execution means thus not disturbing the current position of elements at the other end of the cable with said retractive tension measurable by optional sensing means outside or inside the current invention of this claim); and

using that same embodiment, even some non-reciprocating processes, such as a short-cycle automobile engine starter with the addition by directing means of a reverse direction phase automatically following each starting phase just to create additional potential and thus increase the rated strength of rotation in the preferred, starting, direction without a differently rated power source or controller from the same size actuator (starter) to be run within the constraints of the existing power supply, by simple plug-and-play replacement with potentially even smaller power requirements can be accomplished by the selective disengagement while the reverse motion is accomplished and re-engagement when it is complete; and

in that same embodiment, the nature of the current invention of this claim and claim 17 can be radically changed automatically and even in the middle of an action (but more often when the activity, and thus the need, changes) by the modification of elastic means tension by the advancement of actuation means while actuation means is separated from execution means by disengagement means, and execution means, if necessary, is secured in position by optional braking means, an example application being the rapid, on-the-fly conversion of a device tuned to provide an exceptionally energy-efficient actuation means that had just enough elastic distention to exactly offset a gravitational pull on execution means (with essentially no energy overhead on the return cycle because of that balance making normal lifting almost effortless) being converted to a substantially more powerful device upon command of directing means by increasing the distention of the elastic means closer to its maximum distension for the same relative position with the execution means.

19. An apparatus and method for communicating the sensation of touch in a comprehensible form consisting of:

first transducing means operatively connected to communication means consisting of a logically mapped and located array of small transducers effective in the conversion of vibration to electrical signatures with a few examples being conventional micro-electret microphones, micro-machined silicon, silicon-nitride, carbon filament and printed carbon or advanced semiconducting dots, with the example chosen or other transducing means attached to a potentially curved shape in some manner with

one example manner being the printing of the transducing means on a first non-conducting, semi-flexible medium which already has conducting micro-traces electrodeposited under each point that is so printed which is then covered, sandwiching the transducers, by a second medium layer also having, on the side contacting the transducer, conducting traces in a pattern or means such that the traces of the first layer do not overlap or short to the traces of the second layer, such that each transducer dot is contacted on one side by an unique micro-trace and on the other side an unique or shared end-point conductor common to all points on the second layer, thus establishing in this example manner one transducing array applicable to the current invention; and

communications means operatively connected to second transducing means carrying and, optionally, amplifying the signal from first transducing means although some embodiments of the second transducing means may include transistor or other miniature or micro-machine amplification means thus performing amplification on their own; and

second transducing means operatively connected to communications means and consisting of a logically mapped and located array of any small transducer technology effective in the conversion of electrical signatures to vibrations or skin stimulations with a couple of examples being miniature voice coils and simple contact electro-stimulation providing either a vibration produced by the conversion of the electronic signal to vibration or by the application of the optionally amplified signal by direct contact to the skin by in with either approach effected in a parallel manner with one example manner being an array of micro-voice coils or equivalent signal to vibration transducers effectively congruent to the pattern of the first transducing means such that a user wearing the second transducing array as applied to a potentially curved form, one example being to fit over a fingertip, receives vibrations at points on that fingertip specifically related to the points receiving vibrations on the first transducing means thus allowing the user to feel sensations through the second transducer array specifically relative to the vibrations sensed on the first transducing array; and

another example manner being like the just previous manner except that the second transducing array is located in another area of the body so that the user, potentially unable to feel touch in an area congruent to the area in which it was sensed, can learn to associate data responsive to contact, for example, on a remote fingertip, with vibrations or stimulations on any other area of the user'"'"'s body such as the back of the neck.

42. A lens-less imaging mechanism for better handling of close-quarters optics comprising:

an image source; and

collimating film from any of the currently available sources of collimating films, which may, depending on the film chosen, also be multiple layers of film with potentially different alignments for more effectiveness with said film(s) against or roughly perpendicular to the center of the desired viewing image; and

a mirror or, for other embodiments, a partially reflecting mirror (partially-reflecting/partially transmitting), optionally application-specifically warped to eliminate incident-angle distortion; and

an assembly positioning the center of the light coming through the collimating film(s) to occur near the center of the mirror but at an oblique angle such that the collimated light strikes the mirror and is reflected such that the reflected light, instead of returning to intersect (beyond some minor possible diffraction) the collimating layer(s), continues in another direction;

such that

a light, inexpensive, lens-less and exceptionally compact close-up viewing means is effected which can also have an uncommonly short distance required for visibility (the eye can be very close to the assembly and still focus on it).