User control of simulated locomotion

• US 6,646,643 B2
• Filed: 01/05/2001
• Issued: 11/11/2003
• Est. Priority Date: 01/05/2001
• Status: Expired due to Fees

• Current Assignee: The United States of America As Represented By The Secretary of Agriculture
• Original Assignee: the united states of america as represented by the secretary of the navy
• Inventors: Templeman, James N.
• Primary Examiner(s): Padmanabhan, Mano
• Application Number:
  US09/755,904
• Publication Number:
  US 20020089506A1
• Time in Patent Office: 1,040 Days
• Field of Search: 345/473, 345/474, 345/156
• US Class Current: 345/473
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/012 Head tracking input arrangements

Abstract

A method and apparatus for interfacing locomotive 3D movements of a user to a reference in a virtual or remote environment are provided. Initially, a 3D motion of a body portion of a user is sensed as the user takes a gestural pace. This sensing includes the determining of a beginning and an end of the gestural pace taken by the user, the determining of a 3D direction characteristic of the body portion motion during the gestural pace, and the determining of a 3D extent characteristic of the body portion motion during the gestural pace. Next, a 3D direction and extent of motion in the environment corresponding to the determined direction and extent characteristics of the gestural pace is computed. Finally, the computed 3D motion is used to move the reference in the environment.

Claims

1. A method for interfacing locomotive 3D movements of a user to a reference in a virtual or remote environment comprising the steps of:

sensing a 3D motion of a body portion of a user as the user takes a gestural pace, said sensing step including the steps of

determining a beginning and an end of the gestural pace taken by the user,

determining a 3D direction characteristic of an initial horizontal motion of the body portion during the gestural pace, and

determining a 3D extent characteristic of a return horizontal motion of the body portion during the gestural pace;

computing a 3D direction and extent of motion in the environment corresponding to the determined direction and extent characteristics of the gestural pace; and

using the computed 3D motion to move the reference in the environment.

2. A method for interfacing locomotive 3D movements of a user as claimed in claim 1, wherein the body portion sensed during said sensing step is a part of a leg of the user.

3. A method for interfacing locomotive 3D movements of a user as claimed in claim 2, wherein the body portion sensed during said sensing step is a knee of the user.

4. A method for interfacing locomotive 3D movements of a user as claimed in claim 3, wherein said determining a 3D direction characteristic step includes a step of measuring an initial horizontal motion of the knee to a maximum displacement thereof.

5. A method for interfacing locomotive 3D movements of a user as claimed in claim 3, wherein said determining a 3D extent characteristic step includes a step of measuring a return horizontal motion of the knee from a maximum displacement thereof.

6. A method for interfacing locomotive 3D movements of a user as claimed in claim 1, wherein said determining a beginning and an end step includes a step of measuring a force exerted by a foot of the user on a base such that the gestural pace begins when the measured force first starts to diminish, given that this decline leads to the measured force falling below a threshold, and the gestural pace ends when the measured force reaches one of a plateau, beyond the force threshold, or bears a selected proportion of the weight of user.

7. A method for interfacing locomotive 3D movements of a user as claimed in claim 6, wherein said selected proportion of the weight of user is about one half.

8. A method for interfacing locomotive 3D movements of a user as claimed in claim 1, wherein said computing step (a) computes the direction of motion in the environment to be equal to the determined direction characteristic, and (b) computes the extent of motion in the environment to be a multiple of the determined extent characteristic.

9. A method for interfacing locomotive 3D movements of a user as claimed in claim 7, wherein said determining of the 3D extent characteristic step includes a step of measuring a rocking motion of the knee of the user during the gestural pace.

10. A method for interfacing locomotive 3D movements of a user as claimed in claim 8, wherein the multiple of the determined extent characteristic is four.

11. A method for interfacing locomotive 3D movements of a user as claimed in claim 1:

wherein the reference in the environment includes a point of view; and

further including the steps of;

determining changes to an orientation of a second body portion of the user associated with a point of view of the user, and

moving the point of view of the reference in the environment to match the determined changes of the point of view of the user.

12. A method for interfacing locomotive 3D movements of a user as claimed in claim 11, wherein said determining changes to an orientation of a second body portion determines changes to a head of the user.

13. A method for interfacing locomotive 3D movements of a user as claimed in claim 1, further including the steps of:

sensing a 3D motion of a body portion of a user as the user takes an actual pace, said sensing of the actual pace step including the steps of

determining a beginning and an end of the actual pace taken by the user,

determining a 3D direction of the body portion motion during the actual pace, and

determining a 3D extent of the body portion motion during the actual pace; and

using the determined direction and extent of the actual pace to likewise move the reference in the environment.

14. A method for interfacing locomotive 3D movements of a user as claimed in claim 13, and further including the step of distinguishing between an actual pace and a gestural pace by determining an extent of a return motion of the knee of the user.

15. A method for interfacing locomotive 3D movements of a user to a reference in a virtual or remote environment comprising the steps of:

sensing a 3D motion of a knee of a user as the user takes a gestural pace, said sensing step including the steps of

determining a beginning and an end of the gestural pace taken by the user,

determining a 3D direction characteristic of an initial horizontal motion of the knee during the gestural pace, and

determining a 3D extent characteristic of a return horizontal motion of the knee during the gestural pace;

computing a 3D direction and extent of motion in the environment corresponding to the determined direction and extent characteristics of the gestural pace; and

using the computed 3D motion to move the reference in the environment.

16. A method for interfacing locomotive 3D movements of a user as claimed in claim 15:

wherein said determining a 3D direction characteristic step includes a step of measuring an initial horizontal motion of the knee to a maximum displacement thereof; and

wherein said determining a 3D extent characteristic step includes a step of measuring a return horizontal motion of the knee from a maximum displacement thereof.

17. A method for interfacing locomotive 3D movements of a user as claimed in claim 16, wherein said computing step (a) computes the direction of motion in the environment to be equal to the determined direction characteristic, and (b) computes the extent of motion in the environment to be a multiple of the determined extent characteristic.

18. A method for interfacing locomotive 3D movements of a user as claimed in claim 17:

wherein the reference in the environment includes a point of view; and

further including the steps of;

determining changes to an orientation of a second body portion of the user associated with a point of view of the user, and

moving the point of view of the reference in the environment to match the determined changes of the point of view of the user.

19. A method for interfacing locomotive 3D movements of a user as claimed in claim 18, wherein said step of determining changes to an orientation of a second body portion determines changes to a head of the user.

20. A method for interfacing locomotive 3D movements of a user as claimed in claim 19, further including the steps of:

sensing a 3D motion of a knee of a user as the user takes an actual pace, said sensing of the actual pace step including the steps of

determining a beginning and an end of the actual pace taken by the user,

determining a 3D direction of the knee motion during the actual pace, and

determining a 3D extent of the knee motion during the actual pace; and

using the determined direction and extent of the actual pace to likewise move the reference in the environment.

21. A method for interfacing locomotive 3D movements of a user as claimed in claim 20, and further including the step of distinguishing between an actual pace and a gestural pace by determining an extent of a return motion of the knee of the user.

22. A method for interfacing locomotive 3D movements of a user as claimed in claim 17, wherein the multiple of the determined extent characteristic is about four.

23. An apparatus for interfacing locomotive 3D movements of a user to a reference in a virtual or remote environment comprising:

a sensing system which senses a 3D motion of a body portion of a user as the user takes a gestural pace, said sensing system including

a first means for determining a beginning and an end of the gestural pace taken by the user,

a second means for determining a 3D direction characteristic of an initial horizontal motion of the body portion during the gestural pace, and

a third means for determining a 3D extent characteristic of a return horizontal motion of the body portion during the gestural pace;

a computer which computes a 3D direction and extent of motion in the environment corresponding to the determined direction and extent characteristics of the gestural pace; and

an interface which uses the computed 3D motion to move the reference in the environment.