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WO2018170159A1 - Dispositif d'entraînement en réalité virtuelle - Google Patents

Dispositif d'entraînement en réalité virtuelle Download PDF

Info

Publication number
WO2018170159A1
WO2018170159A1 PCT/US2018/022481 US2018022481W WO2018170159A1 WO 2018170159 A1 WO2018170159 A1 WO 2018170159A1 US 2018022481 W US2018022481 W US 2018022481W WO 2018170159 A1 WO2018170159 A1 WO 2018170159A1
Authority
WO
WIPO (PCT)
Prior art keywords
seat
input device
seat support
user
rotation
Prior art date
Application number
PCT/US2018/022481
Other languages
English (en)
Inventor
Aaron SCHRADIN
Christopher Eusebi
Original Assignee
Pravaedi Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pravaedi Llc filed Critical Pravaedi Llc
Priority to US16/571,835 priority Critical patent/US20200098185A1/en
Publication of WO2018170159A1 publication Critical patent/WO2018170159A1/fr
Priority to US18/544,253 priority patent/US20240346777A1/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C15/00—Other seating furniture
    • A47C15/004—Seating furniture for specified purposes not covered by main groups A47C1/00 or A47C9/00
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C3/00—Chairs characterised by structural features; Chairs or stools with rotatable or vertically-adjustable seats
    • A47C3/18—Chairs or stools with rotatable seat
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C7/00—Parts, details, or accessories of chairs or stools
    • A47C7/62—Accessories for chairs
    • A47C7/72—Adaptations for incorporating lamps, radio sets, bars, telephones, ventilation, heating or cooling arrangements or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47C—CHAIRS; SOFAS; BEDS
    • A47C9/00—Stools for specified purposes
    • A47C9/002—Stools for specified purposes with exercising means or having special therapeutic or ergonomic effects
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/21—Input arrangements for video game devices characterised by their sensors, purposes or types
    • A63F13/211—Input arrangements for video game devices characterised by their sensors, purposes or types using inertial sensors, e.g. accelerometers or gyroscopes
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/20—Input arrangements for video game devices
    • A63F13/24—Constructional details thereof, e.g. game controllers with detachable joystick handles
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F13/00—Video games, i.e. games using an electronically generated display having two or more dimensions
    • A63F13/25—Output arrangements for video game devices
    • A63F13/28—Output arrangements for video game devices responding to control signals received from the game device for affecting ambient conditions, e.g. for vibrating players' seats, activating scent dispensers or affecting temperature or light
    • A63F13/285—Generating tactile feedback signals via the game input device, e.g. force feedback
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Definitions

  • VR systems Another problem associated with VR systems is sickness caused by the vestibular system which provides the leading contribution to the sense of balance and spatial orientation for the purpose of coordinating movement with balance.
  • movements consist of rotations and translations
  • the vestibular system comprises two components: a first which indicates rotational movements; and a second, which indicates linear accelerations.
  • the vestibular system sends signals primarily to the neural structures that control eye movements, and to the muscles that keep an individual upright. Discoordination of these signals leads to motion sickness when using VR and AR systems.
  • VR systems couple head movement to torso movement. For example, a user in a VR environment can for example travel down a sidewalk and wherever the user's looked, the user travels in the vision direction.
  • the system measures the angle of the user's torso and feeds it back to the application so that the player axis is defined by torso angle.
  • the head mounted display is then constrained to that player but "uncoupled” so that the view from the head mounted display is not affected by the torso angle, but only by the angle interpreted by the head mounted display.
  • the torso angle information is presented as a part of the Human Interface device packet.
  • the system can include a rotary slip connector, and a quadrature rotary encoder that keeps track of the orientation of a user's body. Each degree moved is added or subtracted from the original calibration position and can be as accurate as one degree.
  • the natural response of the user is to "lean" in the direction they wish to head.
  • the design of system allows for super-fast directional changes, because a properly trained user of a system does not have to translate their center of gravity to move any direction, they simply use core muscle movement to redistribute their weight to create the movement in VR.
  • the system utilizes a solution which the seating surface tilts at a point closer to the hips or seat of the user This pivot location is critical as this approach never puts the user in a position of instability of falling.
  • the system allows a user's lower body function to allow movement in a VR space.
  • the system can incorporate mechanical binary or linear input switches and an analog representation through a multiple axis processing unit (MPU).
  • MPU multiple axis processing unit
  • the system can provide to those users which are less sensitive to the sensations of VR movement, users can optionally just use a raw analog input gradient to create user movements and use the switches for jump or some other function.
  • the system includes a rotary slip connector design, configured to reliably pass the following signals through the system to ensure that cables, and their signals, are heard loud and clear and never bind, tangle, or twist: HDMI; USB; Power; and 3 Line Developer.
  • the rotary slip connector design "Infinite" rotation with no tangle.
  • the system includes a small stool or chair.
  • an embodiment of the present invention is an input device comprising a user engaging portion; a plurality of positional sensors, the plurality of positional sensors further comprising; at least one pitch sensor; at least one yaw sensor; at least one roll sensor; and a coupling mechanism capable of coupling the input device to a computing device such that the sensing mechanisms can send data to the computing device.
  • a user will sit on, or straddle the user-engaging portion of the device and lean forwards/backwards, lean side/side, and/or rotate the device. These motions by the user will be detected by the sensors and converted to control signal(s) which are transmitted to a computing device and used to interact with the computing device and/or an application (program) running on the computing device.
  • An embodiment is a rotating sensor seat for providing freedom of movement useful for users employing motion-based input or head mounted displays.
  • the seat has a base, a rotating platform, cushions, adjustment controls and accessory attachment points.
  • the seat has the advantage that the user can place their legs in a straddle position about the seat for rotational control, tilt control and balance.
  • integrated sensors detect movement, position, and provide interactive feedback.
  • attachments and accommodations for external motion trackers and tracking head mounted displays are incorporated to ensure an ergonomic interface between the interface device, the user and the seat.
  • one or more components of the seat is a stackable module permitting user assembly and customization using interchangeable components.
  • the invention includes electronic control interfaces and sensors to measure pressure, position, rotational measurement, and bio-input which enables the control of interactive software when connected by wire or wirelessly to a computing device including a smartphone, tablet, handheld gaming device, or interactive computing device.
  • Interactive sensors measure user movement and position including: tilt for providing both directional and intensity input like data provided by a handheld joystick with real-time x and y coordinates; rotational position; user weight and change of pressure against the top of the seat on the vertical axis; user position measured and position changes on multiple axes.
  • user weight is used to determine the identity of the user and employed for calibration of seat interactive sensor settings and made available via an application program interface to an interfaced computing device.
  • Biofeedback through interactive sensors is provided through a software interface.
  • a further advantage is that the user is positioned to precisely rotate the seat with their legs in a straddle position, with small pushes of the feet providing rotational force orthogonal to the axis of rotation and closely aligned the rotational freedom of the invention and to adjust their position to control interactive software while maintaining balance.
  • users can control interactive software with fine precision that can be measured with an integrated sensor, with external motion controls and a tracking head mounted display.
  • the cushion in multiple sizes accommodates different user heights and body types.
  • the seat cushion is made from a flexible inflatable material that is filled with air and filler and ballast with the advantage of body contouring support for the lower body and legs of the user maintaining ergonomic body position.
  • Another advantage of flexible inflatable material is deflation for shipment and easy user inflation for installation with the ability to customize air pressure, filler and ballast for user preferences and body types.
  • An additional advantage is when deflated the flexible inflatable material reduces the total volume of the seat for shipment or user storage.
  • the flexible inflatable materials is a modular component held in place by a retaining base with the advantage of increasing the stability of the cushion while retaining ergonomic, packaging, and additional advantages of the material.
  • the flexible inflatable cushion has the advantage of ergonomic seating position like an exercise ball with additional stability featuring a cylindrical or pod shape with increased range of user leg and feet motion.
  • the seat is composed of stacking modules with close, contoured interfaces with the advantage of reconfiguration by the end user and simple assembly for interactive control, user adjustment, or feature customization.
  • a further advantage of the stacking modules with close contoured interfaces is few protruding points diminishing the chance of cord tangles from external controllers or head mounted displays.
  • An additional advantage of stacking modules is easy manufacturing, packaging and user assembly of the finished seat.
  • the seat is constructed from interconnected modules with the advantage of ease of assembly and user configuration where modules can include: a base platform adjusting the height and weight of the seat; a rotational platform with variable stops for allowing the user to turn freely or prevent continuous turning; electronic interactive sensors; a retaining base; a cushion; a back support unit; an arm support unit; a cable management unit; a platform or compartment for storage.
  • modules can include: a base platform adjusting the height and weight of the seat; a rotational platform with variable stops for allowing the user to turn freely or prevent continuous turning; electronic interactive sensors; a retaining base; a cushion; a back support unit; an arm support unit; a cable management unit; a platform or compartment for storage.
  • the seat is constructed from interconnected modules with the advantage of ease of assembly and user configuration where modules can include: a base platform adjusting the height and weight of the seat; a rotational platform with variable stops for allowing the user to turn freely or prevent continuous turning; electronic interactive controls; a cushion interface; a cushion; a back support unit; an arm support unit; a cable management unit; a platform or compartment for storage.
  • modules can include: a base platform adjusting the height and weight of the seat; a rotational platform with variable stops for allowing the user to turn freely or prevent continuous turning; electronic interactive controls; a cushion interface; a cushion; a back support unit; an arm support unit; a cable management unit; a platform or compartment for storage.
  • Figure 2 shows an exploded perspective view of seat modules in accordance with an embodiment of the disclosure
  • Figure 3 shows a top view of the rotational platform base and its top shown in accordance with an embodiment of the disclosure
  • Figure 4 shows a seat perspective view and side view in accordance with an embodiment of the disclosure
  • Figure, 5 shows a perspective view with a seated user and illustrations of motion on multiple axes in accordance with an embodiment of the disclosure
  • Figure 7 shows a side view with a seated user and an illustration of motion on multiple axes in accordance with an embodiment of the disclosure
  • Figure 8 shows side cut away views and perspective detail views in accordance with an embodiment of the disclosure
  • Figure 9 shows side view and side cut away detail views in accordance with an embodiment of the disclosure.
  • Figure 10 shows a seat side and perspective view in accordance with an embodiment of the disclosure
  • Figure 11 shows a flow chart of communication of the invention with interactive computing devices in accordance with an embodiment of the disclosure
  • Figure 12 shows a semi exploded view of an embodiment of an input device of the present disclosure
  • Figure 13 shows a semi exploded view of an embodiment of the rotation portion of the input device
  • Figure 14 shows a semi exploded view of aspects of the control switches for the input device on the seat portion.
  • Figure 15 shows a close look of the gimbal.
  • Figure 17 illustrates mechanisms for addressing and providing for variable movement speed controls
  • Figure 18A is the seating substrate to which is mounted the accelerometer and gyroscope.
  • Fig 18B is the substrate removed to show the switches;
  • Figure 19 depicts the variability of the input sensor
  • Figure 20 the switch system mounts switches on a cantilevered elastically deformable member
  • Figures 21a-21c depicts a sensing mechanism mounted on an elastically deformable cantilever support member
  • Figures 23 a - 23i represent an alternate input device for virtual reality according to the present teachings
  • Figure 24 represents a cinematic feedback device for a VR input device
  • Figures 25a - 25b represent a height raising device for the input device shown in
  • Figures 26a - 26d represents an alternate tilt mechanism for the input device according to Figure 23a - 23i;
  • Figures 27a - 27b represent perspective and cross-sectional images of an alternate input device
  • Figures 28a - 28b represent perspective views of an alternate input device according to the present teachings.
  • Figures 29a - 29c represent alternate VR input devices according to the present teachings.
  • Figures 33a - 33h represent alternate support structure for a VR input device
  • Figures 46a and 46b represents the system shown in Figures 39-45 in a collapsed foldable configuration
  • Figure 1 shows one embodiment of an input device of the present disclosure taking the form of a rotating sensor seat shown here in perspective and in profile.
  • the seat is composed of stacking modules for reconfiguration by the end user and simple assembly for interactive control, user adjustment, and / or feature customization.
  • a cushion 1001 features a lip 1007 with a taper that allows the legs to straddle the sides of the seat.
  • the cushion is flexible and inflatable thermoplastic polymer further permitting conformity to the seated user as the seat conforms to the inner thighs.
  • the cushion includes shaped stabilizing feet 1002 that fit into the shaped intersection 1004 of the retaining base 1003 and the cushion 1001.
  • interactive sensors 1006 have the advantage of allowing subtle user movements to be translated into motion input, direction of movement, and / or function selection in an interactive software application when employed with a computing device.
  • the interactive sensors 1006 have the advantage of pressure sensitivity such that direction is derived through comparison of all sensors with intensity measured and translated into primitive data and commands for control of a computing device.
  • Pressure on evenly placed sensors has the advantage of interpretation as a desire to move in the direction of the interpreted region, either directly on a sensor on based on weighted average between multiple sensors.
  • Calibration of sensors is accomplished by a user sitting in multiple positions and making core body movements, with measurement spanning all sensors and retained by software and employed for later comparison. Feedback and interaction may also be provided by software input from these devices to interactive sensors such as those in 1006 for feedback including but not limited to sound, vibration, light, light effects, steam or smoke, and other interactive effects.
  • An electronic circuit board 7009 is mounted to and shown within the inner cup 7004 with the advantage of creating wired or wireless interfaces between seat sensors and a computer 7009, mobile device, handheld gaming device or other computing device.
  • the electronic circuit board 7009 transmits signals using Wi-Fi and TCP/IP enabling an internet connection to a wired or wireless access point 7011 with the advantage of enabling motion output from the seat to be transmitted over the internet to local or remote computers and interactive computer software.
  • motion control devices and head mounted displays may be routed through the seat to the electronic circuit board through data connections such as USB and video connections such as HDMI and relayed to local or remote computers and interactive computer software with the advantage of utilizing the interface in the chair as a hub for motion control devices and head mounted displays.
  • a mechanical sensor couple has the advantage of allowing free movement of the positional guide 8002 while remaining connected to the electrical mechanical sensor 8009 like the control of a finger on a joy stick, where finger joints allow a finger to freely guide movement of a mechanical stem of a joystick while remaining in contact.
  • the electrical mechanical sensor 8009 or wireless sensor 8005 are operatively coupled to an electronic circuit board Figure 7 7009 with the advantage of providing motion input to a computing device.
  • the electronic connection may be wired or wireless and include power and data connections.
  • FIG. 9 there is shown a side view and side cutaway detail views where motion translates to movement of a cushion 9006 by means of optical sensing.
  • an optical far sensor 9002 which tracks movement of an optical marker 9003 positioned on the inside of the seat cushion 9006.
  • the optical far sensor 9002 reading the optical marker positioned on the underside of the seat 9003 has the advantage of measuring body movement just underneath the seated user Figure 7 7002 for detection of fine movements on multiple axes including up and down and left and right movement.
  • the optical far sensor 9002 is reaches inside the cushion forming a cushion sensor couple 9001 which allows it to remain prone while the cushion moves.
  • the optical far sensor 9002 is integrated as a plug for an inflatable cushion.
  • an optical near sensor 9005 reads movement of an articulating pivoting cap 9004.
  • the optical near sensor 9002 reading the movement of an articulating cupped surface 9004 has the advantage of providing input like a track ball being able to translate motion of the full cushion 9006 from the user Figure 7 7002 with precise sensor measurement and tight mechanical interface.
  • the optical far sensor 9002 or optical near sensor 9005 is electronically connected to an electronic circuit board Figure 7 7009 via a wired or wireless interface with the advantage of providing motion input to an interactive computing device.
  • the cushion 10001 includes contoured surfaces 10002 with the advantage of providing additional support for the legs of a seated user enabling a straddle position and more precise control of lower body, leg and foot movement.
  • the contoured surfaces are indentations on a seat cushion.
  • the contoured surfaces involve an adjustable surface.
  • FIG. 12 represents an exploded view of an embodiment of the input device is shown.
  • the input device in this embodiment comprises an ergonomic seating surface 12000 which couples to an endo / exoskeletal seating 12005.
  • a shroud surface 12010 and endo/exoskeletal shroud 12015 surrounds the endo / exoskeletal seating 12005.
  • a system chassis 12025 serves as a central support structure to which the other components are attached.
  • the system chassis sits on a plurality of feet 12030.
  • the feet serve aesthetic functions as well as serving to adjust the height of the device.
  • the feet may further comprise casters for rotation/translation.
  • the feet may further comprise fixed tangential wheels for axial rotation.
  • a foot ring / trim bezel / kick plate 12020 fits over the base of the system chassis.
  • Figure 15 shows a gimbal that reduces a digital on/off switch scenario to a simple one board solution.
  • the gimbal comprises outer mounts 15010, in this case, seat mounts, a gimbal X-axis spanner 15020, a gyro / accelerometer / anglo meter sensor 15030, inner mounts 15040, in this case chassis, and a gimbal Y- axis spanner 15020.
  • Components of an example machine able to read instructions from, for example, a non- transitory machine-readable medium and execute them in one or more processors (or controllers).
  • a machine in the example form of a computer system 1300 within which instructions 1324 (e.g., software or program code) for causing the machine to perform any one or more of the methodologies discussed herein may be executed.
  • the machine operates as a standalone device or may be connected (e.g., networked) to other machines.
  • the machine may operate in the capacity of a server machine or a client machine in a server-client network environment, or as a peer machine in a peer-to-peer (or distributed) network environment.
  • the machine for this configuration may be a mobile computing device such as a tablet computer, an Ultrabook (or netbook) computer, a personal digital assistant (PDA), a cellular telephone, a smartphone, a web appliance, or like machine capable of executing instructions 1324 (sequential or otherwise) that specify actions to be taken by that machine.
  • a mobile computing device such as a tablet computer, an Ultrabook (or netbook) computer, a personal digital assistant (PDA), a cellular telephone, a smartphone, a web appliance, or like machine capable of executing instructions 1324 (sequential or otherwise) that specify actions to be taken by that machine.
  • PDA personal digital assistant
  • a flexible coupling Disposed between the seat support / seat and the skeleton is a flexible coupling which can be a love-joy coupler, a universal joint, a cv joint, or a polymer or metal braid tube which allows for the rotation of the seat surface in a plurality of directions perpendicular to the longitudinal direction.
  • the coupling allows for the rotation in any direction perpendicular to the longitudinal direction.
  • the bumpers can be supported in members defining plurality of holes configured to allow the selective placement of the first and second bumpers to change the relative radial location from the longitudinal axis.
  • the first and second bumpers can have vertical adjustment in the form of a thread.
  • the input device can have at least one binary on/off switches which provides a digital output signal or at least one analog sensor which provides an analog output signal.
  • the analog sensor detects one of the change in resistance and a change in capacitance
  • the use of a belt and I or gear combined with a motor provides feedback into the seat to provide guidance or resistance to user input.
  • This allows for force feedback (like popular racing simulator steering wheels) which in VR, could be implemented as director's nudges/encouragement to ensure that the participant is not missing key cinematic or other important events.
  • the use of an encoder to track angular position is provided.
  • the encoder can be part of the motor, in some embodiments, and is driven through gears or belt mechanisms.
  • the drive can be placed to cause rotation of the skeleton support structure, seat support, and seat with respect to the floor about the longitudinal axis L.
  • linear actuators can be positioned adjacent to the bumpers to cause slight rotation of the seat support with respect to the skeletal frame.
  • Switch cartridge located between two surfaces that approach each other as the top surface "2" is deformed by input from occupant; 2. Seating surface concave or convex; 3. Adjustable collar for modifying flexure characteristics; 4. Form that meshes well with the body (thighs, calves, heels, ankles; 5. Turn table; 6. Location of rotary encoder; 7. Wall could be self-supporting polymer or collapsible "pressurized” exercise- ballish; 8. Can be a belt or tube that could contain matter to pressurize to decrease flexibility; and 9. Location of sensing device for pressure as well as magnetometer, accelerometer, compass, gyro, etc "MPU.
  • the systems described herein will function to provide a controller where a user can actuation movement within the VR system by swiveling his or her hips with respect to the floor and by leaving the torso generally upright. This will pave the head in a position + or - 30 degrees from vertical and preferable + or - 15 degrees from vertical.
  • Figures 23a - 23i represent an alternate input device for virtual reality according to the present teachings. Shown is an alternate input device in the form of a chair having a floor engaging member having a floor engaging surface and a longitudinal axis generally perpendicular to the floor engaging surface. A skeleton support structure having a seat support surface generally parallel to the floor engaging surface. A bearing disposed between the skeleton support structure is configured to allow relative rotation of the skeleton support structure about the longitudinal axis with respect to the floor.
  • the seat support can include first, second, and third bumpers each radially disposed about the longitudinal axis to affect the kinematics of the rotation.
  • the first and second bumpers can be disposed at a second radial distance from the longitudinal axis, the second radial distance being less than the first radial distance.
  • the third bumper is disposed at a third radial distance from the longitudinal axis, the third radial distance being less than the first radial distance and different than the first radial distance.
  • FIGS 23H and 23 I represent cross sectional views of the chair shown in figures 23a- d. Shown is the floor engaging surface which supports a bearing set which allows the rotation of the skeletal support structure a seat by a user's feet. Disposed through a central cone, is a slip ring member, which allows for the electrical connection of power, sensor data, or video data. As shown in figure 231, a pair of hinges can be disposed between the seat and seat support surface. By placing the hinge pivot pins within slots defined within the seat or the seat support surface, the overall profile of the piviotable connection can be minimized.
  • Figure 24 represents a cinematic feedback device for a VR input device.
  • the input device further has an actuator configured to apply a force to one of the support structure, and a seat support to signal a user.
  • This actuator can be in the form of a gear set which applies forces to the gear set to cause rotation of the user in the chair.
  • a slip ring electrically disposed along the longitudinal axis, the slip rings configured to bring at least one of power, sensor signals, or video signals through a rotating interface.
  • Figures 26a - 26d represents an alternate tilt mechanism for the input device according to Figure 23a - 23i. Shown is a pair of hinges in an alternate configuration to that shown in Figures 25a-25b. Shown is a first fore hinge, and a second aft hinge which allow for the relative fore and aft rotation of the seat with respect to the seat support.
  • Figures 27a - 27b represent perspective and cross-sectional images of an alternate input device. Shown is a blow molded support structure configured to accept an annularly disposed inner tube. The inner tube resists the relative the rotation of a seat portion of the chair with respect to a conical base. Disposed between the seat and the support base is a plurality of sensors configured to measure the rotation of the seat portion with respect to the base portion. Optionally, these sensors scan be used to measure an amount of elastic deformation of the inn- tube in a specific direction. These sensors will provide an analog or digital signal indicative of a desire movement.
  • Figures 31 a - 31 d represent an alternate input device according to the present teachings. Shown is an alternate rear side support skeleton.
  • the support skeleton can support the dual hinge or gimbal interface with the seat.
  • Figure 32 represents an alternate input joint according to the preset teachings.
  • This input joint can be placed between the support structure and the seat support member.
  • the input joint has a second rotational interface which allows a user to input a sliding motion into a character in a VR or AR space.
  • a user can apply left to right forces causing rotation about rotational axis 2.
  • the rotation can be used as an input to cause the character to slide left to right. (Or visa 'versa).
  • This device utilizes, in some embodiments, simple pivots in place of complex, sloppy, and expensive linear rails.
  • Each pivot or any pivot could contain balance springs to reduce the weight felt by an occupant, or increase the weight felt by an occupant.
  • the device could be driven up or down by a single point as well to provide desired simulation results.
  • the axes indicated by the arrows share locations for torsion or rotary springs for reducing or increasing the weight felt by an occupant.
  • Rotary dampers could be applied to slow movement in some embodiments.
  • a single rotary encoder could be applied to know the exact location of the top plane of the device to help software understand the stature of the occupant as well as information as to if the occupant is prone, crouching, jumping, or standing.
  • Figure 33a depicts the support in a collapsed storage condition.
  • a user whose hips are coupled to the inner ring can crouch within the device. As the user stands, the height of the ring with respect to the ground will increase. A non-friction convex low friction surface can allow the user to "run" within the device. The entire construction can be disposed above a lazy-Suzan type bearing with supports the rotation by the user.
  • the device can be used to reduce the weigh impact of a user by lifting the user in a saddle relative to the concave floor surface.
  • each solid link upper could be replaced with a plurality of linear actuator with spherical joint or "heim" joints.
  • Figures 34 - 37c are alternate coupling devices used in the system above.
  • these couplings allow relative rotation of the seat with respect to the base in directions perpendicular to the vertical axis, while fixing the support and seat together rotationally.
  • the control system may be deployed on a variety of different devices.
  • an VR trainer system 198 will be featured in this example.
  • the VR trainer system 198 is positioned on a surface which can be a mobile platform such as an aircraft 199. Once engaged, the VR trainer system 198 simulates the movement of a vehicle on a trajectory dictated by the human interface devices 204. In the case of the VR trainer system 198, the vehicle can follow its own guidance system and operates under its own propulsion.
  • the control system disclosed here provides a deployable VR training system which can be used to rehearse a flight training of numerous numbers of vehicles.
  • the virtual reality trainer 198 has a base 200, having an optional seat 202, and a plurality of human interface devices 204. Additionally, the virtual reality trainer 198 has a virtual reality system 206 in the form of a head mounted display or goggles.
  • the base 200 defines a seat coupling number 208 which couples the seat 202 to the base 200. It should be noted that the seat 202 can take the form of an input device as described above with respect to figures 1-37.
  • the base 200 is formed of more than one generally plainer member 210, which are coupled together by at least one hinge 212.
  • the base 200 has a display support number 214 and a plurality of human interface devices coupling interfaces 216.
  • each human interface device has a specific coupling electronic connector which is accepted by the coupling.
  • the system will acknowledge which human interface devices are being used and project onto the computer screen possible vehicles to be used in the training system.
  • the sticks and armrest can be specifically designed to have button inputs which mimic those of the real vehicles being flown or deployed.
  • the system uses its own accelerometers, gyroscopes, radio receivers, GPS receivers and the like; for reliability and fail-safe reasons these system components are preferably not shared with the control system.
  • the base member has a 9 DOF sensor set 305 which includes a magnetometer and a thermometer which is used as a reference in case the base member 200 is placed onto a moving platform.
  • the exemplary electronic circuit board package 300 generally is used to measure the angular position of a seated user.
  • the package can be configured to measure the relative change in of a user with respect to the reference frame.
  • the package sensors can be used to measure the change in angle of the user's thighs or hip about an axis parallel to the floor or the earth's surface, as by measuring the change in angle of a top or bottom surface of the seat bottom or seat support structure. This change in angle, in the forward or reverse direction is measured, and is translated by the system into an output signal that is used to move a user's perspective within the augmented or virtual reality environment.
  • the electronics circuit board package 300 can include a magnetometer that will determine the orientation of the circuit board package relative to the earth's magnetic field.
  • the magnetometer will provide a signal indicative of a relative compass heading.
  • Rotation of the user or chair about a central axis that is generally in line with or parallel to the earth's gravity can be measured by monitoring the change in compass heading of the circuit 300.
  • the measurement of the heading and the magnetic field can be used to produce a signal that can be used to calculate a change in angle, in the in left or right rotation.
  • This is translated by the system into an output signal that is used to move (rotate) a user's perspective within the augmented or virtual reality environment. This change can be used for instance to rotate the direction of a user's torso within the AR/VR space.
  • the IMU can use a Kalman filter to integrate changes in the relative angular position of the circuit board 300 with changes in the measured magnetic field to reduce error.
  • the electronic circuit board 300 can be physically and separably coupled to a chair to measure rotation of an occupant.
  • the electronic circuit board can be placed on a seat bottom structure.
  • the board can be for instance directly coupled to the seat bottom using a selectively releasable structure or material. This can be for instance can be VelcroTM or a selectively releasable bracket.
  • the circuit board 300 can be located near the pivot point of a seat and support interface or can be located at a front or rear edge of the seat bottom or support structure. Additionally, the circuit board can be located on a seat back support structure. As shown in figure 42 and 43 the coupling of the circuit to the seat back structure allows a user to lean backward to affect a large signal. Optionally, in the case of for instance a vehicle simulation, leaning in a rearward direction can impart forward movement. The addition of gravity in this configuration can simulate forces encountered due to acceleration, thus reducing the chance of sickness caused by disruption of the vestibular system.
  • the circuit 300 can be used as an input device for manipulating a streaming image, for a seated user.
  • the input device includes, a floor engaging member having a floor engaging surface and a longitudinal axis generally perpendicular to the floor engaging surface.
  • a support structure Disposed between the user and the floor engaging member is a support structure having a seat support surface generally parallel to the floor engaging surface.
  • a bearing is disposed between the support structure and the floor engaging member. It is configured to allow relative rotation of the support structure about the longitudinal axis with respect to the floor.
  • a seat support is provided which can support a seat cushion.
  • a joint having a neutral, a forward, and a reverse configuration, is disposed between the seat support and the support structure, the joint pivotably coupling the seat support surface to the seat support in a manner which restricts the rotation of seat support with respect to the seat support about the longitudinal axis and allows for the rotation of the seat support in a pair of directions perpendicular to the longitudinal direction.
  • a circuit having a plurality of accelerometers configured to measure a component of gravity, each accelerometer configured to provide a signal indicative the component of gravity, said circuit configured to measure changes in at least one of the signals indicative of a gravity component and provide an output signal indicative of the rotation of the seat support with respect the seat support surface.
  • the plurality of accelerometers is configured to detect the movement of the seat support and are radially disposed about the longitudinal axis at a first radial distance from the longitudinal axis.
  • the input device has at least one magnetometer configured to provide a signal indicative of a direction with respect to the earth's magnetic field.
  • An IMU can be operably coupled to the plurality of accelerometers and the magnetometer.
  • a rotation sensor configured to measure relative rotation of the seat support with respect the floor bearing surface and provide a signal thereof.
  • the input device can have an output device having at least one piezoelectric actuator configured to provide a vibrational output.
  • the input device for a seated user can be used by a user seated on a chair having a floor engaging member having a floor engaging surface and a longitudinal axis generally perpendicular to the floor engaging surface, and a skeleton support structure having a seat support surface generally parallel to the floor engaging surface.
  • the seat can include a bearing disposed between the seat and the floor engaging member, configured to allow relative rotation of the skeleton support structure about the longitudinal axis with respect to the floor.
  • a pivot joint can be disposed between the seat and the seat support surface the pivot joint pivotably coupling the seat support surface to the seat in a manner which restricts the rotation of seat with respect to the skeleton support structure about the longitudinal axis and allows for the rotation of the seat in a plurality of directions perpendicular to the longitudinal direction.
  • the input device includes a plurality of first sensors configured to measure changes in orientation of the seat by measuring components of gravity indicative of movement of the seat support with respect the seat support surface and provide a signal thereof, and a rotation sensor configured to measure rotation of the skeleton support structure with respect to the floor.
  • the rotation sensor can contain a magnetometer.
  • the plurality of first sensors are configured to detect the movement of the seat are radially disposed about the longitudinal axis at a first radial distance from the longitudinal axis. These plurality of first sensors can be disposed adjacent the user's ribs or can be are coupled to one of a seat bottom and a seat back.
  • the rotation sensor provides a signal indicative of a compass heading.
  • the seat can have a slip ring electrically disposed along the longitudinal axis, the slip rings configured to bring at least one of power, sensor signals, or video signals through a rotating interface.
  • a VR headset can be coupled to the slip ring.
  • the system provides method of displaying a three-dimensional virtual reality space for at least one user, the method includes the steps of receiving a plurality of signals from a plurality of accelerometers configured to measure a component of gravity, each accelerometer configured to provide a signal indicative of the gravity component. Changes in at least one of the signals indicative of the component of gravity is calculated by subtracting successive changes in the measured value in time. An output signal indicative of the rotation of the seat support with respect the seat support surface is provided.
  • the system then acquires three-dimensional graphics data associated with a geographic region to be used by the plurality of users in a shared manner and an update object whose state is updated according to an operation performable by each of the plurality of users.
  • the three- dimensional graphics data is functionally coupled to a physics engine configured to physical rules to obj ects within the virtual reality dataset.
  • a display engine is coupled to the physics engine to convert the dataset into first and second content streams.
  • a first content set from the three-dimensional graphics data is streamed to a VR headset and a second content set three- dimensional graphics data to the VR headset.
  • the first content set in the VR headset is changed in response to output signal indicative of the rotation.
  • the afore mentioned circuit can for instance be mounted to a user's chest or back using an appropriate strap or support harness.
  • the circuit can be used to measure and calculate the changes of angle with respect to ground (measuring the direction of gravity described above) or can be used to measure the relative heading of the user with respect to the earth's magnetic field.
  • the measured changes of the chest or back about an axis parallel to the earth's surface or about the earth's gravitational line that is perpendicular to the earth's surface.
  • the VR system 306, Human interface devices, and the sensor 305 operate upon data in three dimensions and three axes of rotation. This is because the reference frame of each of these sensors may potentially undergo not only translations in three-dimensional space but also rotations about each of the pitch, roll and yaw axes.
  • the base can be positioned on top of any flat surface such as a floor in a building. Additionally, it can be fixedly couples to the floor of a mobile platform such as a Humvee or and aircraft such as a C-130.
  • a mobile platform such as a Humvee or and aircraft such as a C-130.
  • the use of the virtual reality system allows for multiple users to be seated in a similar system to have a shared experience within virtual reality.
  • the seating systems can be configured for a pilot in one configuration or hey copilot in A second configuration.
  • the system is collapsible to fit into a shipping container such as a PELICAN (TM) case.
  • the base member 200 has a plurality of rotatable joints which allows the system to fold into a configuration that allows storage.
  • the seat is configured to fall into a first position away from the base. While the base is configured to collapse along two axes to allow before portion of the base to be located adjacent to the seat.
  • Figures 47 and 48 depict the system for training a user shown in schematic detail.
  • the user is shown on the training device having a plurality of human interface devices.
  • the user has a virtual reality headset acts as a display and an input device which allows the user to control a vehicle within virtual reality space.
  • Inputs from the human interface devices are sent to the system model, in this case a physics engine to provide an input into the virtual reality device.
  • Visualizations are then generated by the model and provided to the virtual reality headset. Movement of the head set provides an input into the model which changes the view seen by the user.
  • they view can be set either to view of, for instance, an overhead view the vehicle being controlled, or a view through a virtual gimbals camera in virtual reality space.
  • the system can be used to steer a real autonomous vehicle such as a drone.
  • the human interface device will be used to communicate with the model which is coupled to a set of transceivers which communicate with the unmanned vehicle.
  • the model sends at least 9 degrees of freedom of data to the drone to allow control of the drone's control surfaces.
  • the user can selectively engage the visual system which will allow the user to see the drone in virtual reality space which is mimicking the real world.
  • the user can selectively engage camera elements on the drone such as a gimbaled camera. While the drone is being flown using sticks and pedals, a camera gimbals' movement is controlled by movement of the user's head. Views from the camera can be streamed directly into the users head mounted display as opposed to through the engine.
  • each of these training simulators can be supported on mobile platforms, there is a problem with respect to movement of the human interface devices with respect to ground. This is because the moving platform will induce accelerations into the accelerometers when the mobile platform changes velocity or direction. In this regard, for example should the trainer system be coupled to the floor of a C-130 aircraft, movement of the aircraft would add additional Errors to the accelerometer inputs from the human interface devices as well as the VR head mounted display. To accommodate this error, as described below the reference frame for the human interface device and the virtual reality goggles must be adjusted, either using an Euler or quaternion transformation.
  • a set of sensors positioned on the base is used to provide a signal which is either subtracted or added to the acceleration signals given in the human interface device or virtual reality goggles to correct errors caused by movement of the mobile platform (e.g. C-130) in the Earth's reference frame. These corrections allow for the proper use of the training system as well as an autonomous vehicle in a mobile platform.
  • the mobile platform e.g. C-130
  • the reference frame of the drone must also be considered, thus leading to multiple transformations of data to and from the autonomous vehicle. And this can regard, the graphics engine will additionally adjust the view as seen by the user in the VR goggle system. In situations where the user is also controlling the camera system of a gamble on the drone, the reference frame between the drone and the camera must also be accounted for, leading to an additional transformation. As shown in Figure 48, a truth table is depicted which shows the transformations which need to be accomplished for a given situation.
  • transformations Tl and T3 need to be accomplished should the camera be controlled by movement of the virtual reality headset, transformations Tl, T3 and T4 are needed.
  • transformations Tl, T2 and T3 are needed.
  • transformations Tl, T2 and T3 are needed.
  • the gimbaled camera is being controlled by the headset on mobile platform transformations Tl, T2, T3 and T4 are needed.
  • the control system includes a multi-axis accelerometer sets for each human input device as well as the head mounted VR goggles and the base. These accelerometer sets can include a three-axis accelerometer system and a multi-axis gyroscope system, such as a three- axis gyroscope system.
  • the outputs of these respective systems are fed to microprocessor or microcontroller that has been programmed as described more fully herein to perform the control function.
  • Microprocessor may be implemented, for example, using a digital signal processor (DSP) device shown by way of example only in Figure 39.
  • DSP digital signal processor
  • the microprocessor enters a nested iterative loop. Essentially, the loop computes the incremental distance traveled between the current entry and the previous entry.
  • the microprocessor has values stored within its memory that correspond to the incremental distances traversed, considering any rotations that may have occurred in any of the three gyroscope axes during that increment. These values are transmitted back to the system to allow proper adjustment of the visuals in the head display.
  • the processor compensates for drift of the accelerometer by utilizing data from the three-axis gyroscope, and magnetometers.
  • the microprocessor uses the incremental distance traveled, taking all three position dimensions and all three rotation orientations into account, to compute a traveled distance.
  • the traveled distance is generally defined as the distance from the origin (at an engagement control) to the current position of the device.
  • Displacement values in periodic increments the travel distance is calculated by summing the squares of the individual x, y and z components of these incremental displacements. In this regard, the true incremental distance would be calculated by taking the square root of the sum of the squares.
  • the square root step is dispensed with. It is possible to do so because the Travelled Distance squared can be readily compared with the safe distance squared to arrive at a safe feedback decision. Having calculated the current travelled distance, the microprocessor then updates distance to make these values available to the feedback algorithm.
  • the acceleration data from the three-axis accelerometer (after having been corrected) are used to define global orientation vectors corresponding to each of the pitch, yaw and roll orientations of the virtual or real vehicle.
  • the current orientation for each of the accelerometer sensors within the three-axis accelerometer system is accounted for by using data from the three-axis gyroscope. Because the measurement system for computing travelled angle operates on incremental angles, there is a possibility for unwanted cumulative error to creep into the solution. Small incremental changes in position can add up over time to give the impression that a large distance has been traversed when, in fact, the distance perceived is merely an artifact of adding up many infinitesimal values that should have been disregarded.
  • the microprocessor next performs another time integration to calculate displacement.
  • Time integration is performed by multiplying the velocity by the time step interval.
  • the microprocessor has calculated a current position based on acceleration data acquired and compensated for yaw, pitch and roll orientation.
  • the yaw, pitch and roll orientations cannot be assumed constant.
  • the system calculates and updates the global orientation vector for use during the subsequent iteration.
  • the orientation vector updating procedure begins by linearly interpolating angular rate from the last measured value to a present value. Then the angular rates are time integrated to compute an angular displacement value. Computation of angular displacements can be performed using standard Euclidean geometry, Euler angles, and using a mathematical system based on the set of all integer values. Rotations in such conventionally-represented three- dimensional space involve a set of computationally expensive calculations that pose practical limits on the speed at which a given microprocessor can compute rotational solutions. In addition, performing rotations in such three-space can give rise to the so-called Gimbal Lock problem, whereby under certain rotations one or more of the rotational axes can be lost if they become aligned in the same plane.
  • the scalar component is qO and the vector component corresponds to the iq 1 + jq 2 + kq 3 component.
  • unit vectors, quaternion elements and other intermediate values that are guaranteed to be within [-2, +2] are stored as fixed-point numbers.
  • the processor creates a quaternion representation of measured angular displacements.
  • the quaternion representation is calculated by applying predetermined trigonometric relationships to the rotation magnitude and combining those results with a normalized rotation vector to generate the scalar and vector components of the quaternion representation.
  • the current rotation quaternion is multiplied with the freshly calculated quaternion value (using a quaternion multiplication operation) to generate an updated current orientation quaternion.
  • the stored current orientation quaternion is used to compute the respective pitch, yaw and roll vectors used to calculate the travelled distance and used to update the gravity vector or translated for movement of the base reference frame.
  • Each of the three pitches, yaw and roll calculations correspond to scalar values can be expressed as integers. Beyond this point, however, the system is working with vector quantities (and later quaternion quantities). The transition to vector representation takes place where the scalar values are multiplied by the respective pitch vector, yaw vector and roll vector that are each stored in memory. These respective pitch vector, yaw vector and roll vector values are updated using the current orientation quaternion later in the process.
  • the processor performs vector addition to combine the respective pitch, yaw and roll values to form a vector representation of these three orientations.
  • the resulting vector corresponds to a total rotation rate vector, in other words, a vector indicating the rate of change in pitch, yaw and roll with respect to time.
  • the total rotation vector is split into two components: a total rotation value magnitude A and a normalized vector component B.
  • the rotation magnitude component A is a scalar value
  • the normalized rotation vector is a vector value.
  • the total rotation magnitude is then applied using sine and cosine trigonometric calculations and these are then combined at with the normalized rotation vector to generate a quaternion representation of the total rotation vector.
  • a presently preferred embodiment performs the sine and cosine calculations using lookup tables to gain speed.
  • the total rotation quaternion corresponds to the incremental value obtained using the current readings from the pitch, yaw and roll gyroscopes. This value is then combined with a previously obtained value stored in memory designated at the current orientation quaternion.
  • the current orientation quaternion corresponds to the value previously calculated and in process of being updated using the value calculated. More specifically, the total rotation quaternion is combined with the current orientation quaternion using a quaternion multiplication operation. The result of this multiplication is stored at step back into the current orientation quaternion memory location. Thus, the current orientation quaternion is being updated based on information just obtained from the three-axis gyroscope system.
  • the current orientation quaternion having been updated, is now used to update the pitch vector, yaw vector and roll vector.
  • the updating is performed by performing a vector- quaternion rotation operation (one operation for each of the three pitches, yaw and roll vectors). Focusing for the moment on vector-quaternion rotation operation, the operation is performed by taking the current orientation quaternion and applying to it the unit vector [1.0, 0.0, 0.0] which, in effect, extracts a newly calculated pitch vector which is then stored by process into the memory location. Similar operations are performed for the yaw and roll vectors. Note that the unit vectors differ from one another and from the unit vector to allow the desired component to be selected.
  • the orientation information extracted from the three-axis gyroscope system is used to update the respective pitch, yaw and roll vectors, which are in turn used in the next succeeding update operation.
  • the current orientation quaternion is also used to update the gravity vector. This is accomplished by performing a vector-quaternion inverse rotation operation upon the initial gravity vector. The results of this inverse rotation operation are then stored. It will be recalled that the initial gravity vector was initially obtained prior to an engagement control.
  • the result of these scalar vector operations is a set of vectors for each of the x, y and z accelerations. These are combined by vector addition to generate a single vector value representing each of the x, y and z acceleration components. It will be recalled that the gravity vector is updated by the vector-quaternion inverse rotation operation. Vector addition of the gravity of base vector effectively removes the component of the acceleration vector attributable to the force of gravity or the mobile platform.
  • this support member When used as a seat, this support member can he used as a zero-balance seat for elevation control is shown and described where the height of posterior shelf I seat is measured, corresponding to an axis of control suitable for use as an input instruction on a computing device. Where there is a dead zone to accommodate for regular movement (like breathing or fidgeting), and then the ability for the user to support themselves to thereby change the height of the seat.
  • a plurality of switches can be used to differentially measure rotational or linear displacement for addressing and providing for variable movement speed controls.
  • a combination of analog tilt and switches create move modifier conditions, which could have the analogous function to pressing 'shift' or 'control' on a keyboard based on the angle of the seat. For example, the angle of the chair begins after a dead zone and then it tilts enough to create the slow to medium speed move, and then the switch creates the "shift" for "sprint” or a combination thereof where the switch could be made first for move, but still be in the analog dead zone, and then after the switch is made and more tilt is added to read outside of the dead zone, it could be interpreted as sprint. It may be desirable to use the tilt angle of the surface to imply relative velocity that would increase as angle increased, and then use the switch for a function such as jump.
  • Figure 34 and 35 flexible joints which can be disposed between the seat and the seat support.
  • Figures 36A - 36d represent various mechanisms which facilitate the connection of the seat support structure and the seat. By positioning support pins, in different partem holes, as depicted in Shown in figures 36B and 36C the user can increase or decrease effort required for actuating any of the switches. The switches can also be adjusted to be in different scenarios as well. It would be possible to put multiple switches in the same adjustment range.
  • Figure 37d represents and optional slip ring, in this configuration, the inner rotating member is electrically connected to an outer conductor using a conductive fluid dispose between a cavity defining the interface.
  • the system mounts switches on a cantilever so that the switches can travel to extents and then the cantilever will flex before and after switch actuation to ensure that the switch engagement is consistent and the force from a rigidly mounted switch could be destructive.
  • above each switch range is a ramp that can be slid to a lower or higher profile to increase or decrease sensitivity of the switch.
  • the use of springs, or belts belt and I or gear combined with a motor provides feedback into the seat to provide guidance or resistance to user input. This allows for force feedback (like popular racing simulator steering wheels) which in VR, could be implemented as director's nudges/encouragement to ensure that the participant is not missing key cinematic or other important events.
  • the use of an encoder to track angular position is provided.
  • the encoder can be part of the motor, in some embodiments, and is driven through gears or belt mechanisms.
  • an encoder and a motor can be used for allowing for intelligent force feedback, user orientation prompting and/or enforcement.
  • the motor is direct drive while in other embodiments a transmission is employed.
  • a computer program can be written in any form of programming language, including compiled or interpreted languages, and it can be deployed in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.
  • a computer program does not necessarily correspond to a file in a file system.
  • a program can be stored in a portion of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub programs, or portions of code).
  • a computer program can be deployed to be executed on one computer or on multiple computers that are located at one site or distributed across multiple sites and interconnected by a communication network.
  • the processes and logic flows described in this specification can be performed by one or more programmable processors executing one or more computer programs to perform functions by operating on input data and generating output.
  • the processes and logic flows can also be performed by, and apparatus can also be implemented as, special purpose logic circuitry, e.g., an FPGA (field programmable gate array) or an ASIC (application specific integrated circuit).
  • one or more aspects of the disclosure can be implemented on a computer having a display device, e.g., a CRT (cathode ray tube), LCD (liquid crystal display) monitor, or touch screen for displaying information to the user and optionally a keyboard and a pointing device, e.g., a mouse or a trackball, by which the user can provide input to the computer.
  • a display device e.g., a CRT (cathode ray tube), LCD (liquid crystal display) monitor, or touch screen for displaying information to the user and optionally a keyboard and a pointing device, e.g., a mouse or a trackball, by which the user can provide input to the computer.
  • Other kinds of devices can be used to provide interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback, e.g., visual feedback, auditory feedback, or tactile feedback; and input from the user can be received in any form, including acoustic, speech, or tactile input
  • Spatially relative terms such as “inner,” “outer,” “beneath,” “below,” “lower,” “above,” “upper,” and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Spatially relative terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below”, or “beneath” other elements or features would then be oriented “above” the other elements or features. Thus, the example term “below” can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

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  • Human Computer Interaction (AREA)
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Abstract

La présente invention concerne un dispositif d'entrée permettant de fournir une entrée utilisateur à un dispositif informatique et comprenant une partie siège qui permet à un utilisateur de s'asseoir sur le dispositif. Le dispositif d'entrée comprend en outre plusieurs dispositifs d'interface humaine ayant des capteurs de position qui détectent des changements de tangage, de lacets et de roulis et convertissent ces changements détectés en un signal de commande permettant de mettre en œuvre des fonctions sur un dispositif informatique et/ou de fournir une entrée à des applications qui sont exécutées sur le dispositif informatique.
PCT/US2018/022481 2017-01-17 2018-03-14 Dispositif d'entraînement en réalité virtuelle WO2018170159A1 (fr)

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CN119511741A (zh) * 2025-01-22 2025-02-25 杭州格度家具设计有限公司 一种基于调控组件的智能沙发自适应控制系统
RU2842819C1 (ru) * 2024-10-04 2025-07-02 Федеральное государственное бюджетное учреждение "Национальный исследовательский Центр "Институт имени Н.Е. Жуковского" (ФГБУ "НИЦ "Институт имени Н.Е. Жуковского") Система пространственно-звуковой индикации углового положения дистанционно пилотируемого воздушного судна для внешнего пилота

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