GB2417548A - Support limb motion tracking device - Google Patents

Support limb motion tracking device Download PDF

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Publication number
GB2417548A
GB2417548A GB0515403A GB0515403A GB2417548A GB 2417548 A GB2417548 A GB 2417548A GB 0515403 A GB0515403 A GB 0515403A GB 0515403 A GB0515403 A GB 0515403A GB 2417548 A GB2417548 A GB 2417548A
Authority
GB
United Kingdom
Prior art keywords
device
support
movement
computer
limb
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
GB0515403A
Other versions
GB0515403D0 (en
GB2417548B (en
Inventor
Roger Pendleton
Original Assignee
Roger Pendleton
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
Priority to GB0418808A priority Critical patent/GB0418808D0/en
Application filed by Roger Pendleton filed Critical Roger Pendleton
Publication of GB0515403D0 publication Critical patent/GB0515403D0/en
Publication of GB2417548A publication Critical patent/GB2417548A/en
Application granted granted Critical
Publication of GB2417548B publication Critical patent/GB2417548B/en
Application status is Expired - Fee Related legal-status Critical
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input 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
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0354Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input 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
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input 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
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

A device which tracks the position in a horizontal plane of a contact point between a support limb, such as a leg, and a support surface, and the height of the contact point above the support surface at any moment, and uses these data to infer the movement of the support limb and hence the movement relative to the support surface. The device tracks the motion of the support limb(s) of a person, animal or mechanical system, and allows the direction and speed of movement in three dimensions to be reported to a computer running a suitable program. An electrically operated brake is also provided. The device may utilise a parallelogram type arrangement designed to hold a moving plate in constant orientation. The device enables full body motion to be incorporated into an operator's interaction with a computer by tracking the motions of the feet of the operator and thus allowing the computer to infer the position of the operator and adjust the view presented accordingly.

Description

Support Limb Mohon Tracking Device 241 7548

Description

lo This description may use the word foot to represent the contact point or points of the support limb with the surface upon which it is resting. This device is capable of reproducing the motion of any system, human, animal or mechanical where motion is produced by the interaction of support limb with the supporting surface. Similarly singular nouns may include plural and the male form may include for the female The developments of high speed computers and the improvements in view screen technologies, including stereoscopic viewing, have led to the development of interactive systems used for games, training, medical investigations and other applications. The interaction between the computer system and the human player/operator has largely been restricted to a hand-operated device such as a mouse, joystick or weapon.

This invention will allow for full body motion to be incorporated into the interaction with the computer by tracking the motions of the feet of the operator which will allow 2s the computer to infer the position of the player/operator and adjust the view presented accordingly. For example the view screen, which may be extensive and/or stereoscopic, may show an image of a street. The player/operator may walk forward and the view would advance towards him by the correct distance. He may see a staircase in front of him and walk up it, the view changing appropriately. This invention deals only with the physical arrangements which allow him to simulate these motions while remaining essentially in the same position with respect to the screen. The vision system interactions are already proven applications being developed by several universities and others.

The primary embodiment of this invention is shown in Figures 1 and 2. Only the right foot device will be described, the left foot device being a mirror image of the right. A footrest, (I) to which the player/operators feet are fastened by means of a strap (2) for normal shoes or hinge to specially prepared shoes. Each footrest is mounted on a vertical slide (3) with provision for its motion to be controlled by an electrically operated brake in a collar (4) on the slide support (5). The footrest, slide and slide support are mounted on a plate which has a constant horizontal alignment through a double parallelogram arrangement (6 & 7) to a fixed support in the main floor surface (8). The parallelograms and joining plates are constructed from Low Mass to strength ratio materials such as carbon fibre composites or titanium.

The slide support (5) is held a fixed distance above the main floor area of the machine by 2 castors (9) mounted on a plate attached to the slide support. The base of the slide support is equipped with a ball type tracking or optical motion sensing device (10) similar to that used on a computer mouse. This device tracks the position of the slide support and hence the footrest in the horizontal plane and feeds these data back to the computer program running the game/simulation. The requirement to hold the housing of the tracker ball at a constant bearing relative to the surroundings in order for the correct direction of motion to be recorded is the reason for the parallelogram arrangements. An alternative embodiment might be two simply jointed arms with angle resolvers at each joint where the position of the foot would be computed from the geometry of the system. This is proven teclmology from coordinate measuring machines. A further embodiment may involve using other means such as solid state gyroscopes and/or accelerometers to infer the position and attitude of the foot.

The top plate of the slide support assembly is equipped with a proximity switch (I l) which indicated the foot-rest is in its bottom position, and the slide mechanism incorporates a linear position transducer (12) to indicate the position of the slide in the vertical plane to the computer program.

The player/operator is constrained to the same position horizontally by a belt (13) provided with at least two struts (14) fastened to the main supports fixed posts (8) in the play/operating area.

The operating principle is as follows.

The player/operator fastens his feet onto the footrests (1) and fits the belt (13) around his waist. He has a certain amount of freedom of movement allowed by the pivots between the belt and the struts (14).

If he makes the motion of walking forwards, the raising of the first foot (say right), lifts the footrest (I) off the proximity switch (I 1) which indicates to the computer that this motion is "off the ground" therefor the movement will not result in the trackerball or optical device ( 10) motion being recognised as motion of the player/operator.

When the right foot moves back down again and touches the "floor" the proximity switch ( 1 1) indicated this to the computer program such that the following backwards movement of the right foot indicated by the trackerball or optical device (10) is recorded as forward motion of the player/operator. During this backwards motion the left foot has moved forwards with the footrest off the proximity switch (11), so this movement is similarly ignored. In this fashion movement in any direction will be recorded by the computer program and the view on the screen(s) altered to suit.

Should the player/operator encounter a step or stair, this would be recognised by the program and the following routing initiated. Assume a step of 200 mm height is required. The player operator lifts his right foot say 300mm and places it over a position (indicated by the trackerball or optical device (10) position) where the program indicates a 200mm rise in surface. The foot can travel down 1 OOmm until it reaches the "step" at this point the program applies the brake collar (4), to the player/operator this feels the same as his foot hitting the step, as he straightens his right leg, his left leg lift off the switch indicating to the computer program that all weight is now on the right leg, the brake collar (4) reduces the braking effect slightly such that the right footrest (1) moves slowly downwards at a constant velocity controlled by the feedback from the linear transducer (12), this feels to the player/operator just like stepping up 200mm particularly as the view on the screen is rising 200mm. The illusion will be compelling. At the same time of course the tracker ballor optical device (10) will record a motion backwards equivalent to the depth of the step forwards.

Figure I Shows a general arrangement of the whole device Figure 2 Shows a magnified view of the Footrest and support assembly.

Claims (1)

  1. Claims Claim 1 A device which tracks the position in the horizontal plane
    of the contact point between a support limb and the support surface and the height of the contact point above the support surface at any moment and uses these data to infer the movement of l lo the support limb and hence the movement relative to the supporting surface of the person, animal or device of which the limb is a part.
    Claim 2 A device as in claim I which comprises in the preferred embodiment a parallelogram l is type arrangement to hold a moving plate in constant orientation such that the tracking device may infer the direction of motion in the horizontal plane.
    Claim 3 A device as in claims I and 2 which includes a ball or optical type tracking element which may easily be converted into direction and distance of movement by a computer.
    Claim 4 A device as in claims I to 3 which incorporates a vertically mounted linear transducer allowing a program running on a connected computer to measure vertical movement Claim 5 A device as in claims 1 to 4 which incorporates a computer controlled braking mechanism which operates on the vertical displacement slide of the support limb support mechanism.
GB0515403A 2004-08-24 2005-07-27 Support limb motion tracking device Expired - Fee Related GB2417548B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB0418808A GB0418808D0 (en) 2004-08-24 2004-08-24 Support limb motion tracking device

Publications (3)

Publication Number Publication Date
GB0515403D0 GB0515403D0 (en) 2005-08-31
GB2417548A true GB2417548A (en) 2006-03-01
GB2417548B GB2417548B (en) 2007-12-05

Family

ID=33042521

Family Applications (2)

Application Number Title Priority Date Filing Date
GB0418808A Ceased GB0418808D0 (en) 2004-08-24 2004-08-24 Support limb motion tracking device
GB0515403A Expired - Fee Related GB2417548B (en) 2004-08-24 2005-07-27 Support limb motion tracking device

Family Applications Before (1)

Application Number Title Priority Date Filing Date
GB0418808A Ceased GB0418808D0 (en) 2004-08-24 2004-08-24 Support limb motion tracking device

Country Status (1)

Country Link
GB (2) GB0418808D0 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0667603A1 (en) * 1994-02-14 1995-08-16 Sarcos Group Apparatus and method for simulating mobility of a human
US5872438A (en) * 1992-12-02 1999-02-16 Cybernet Systems Corporation Whole-body kinesthetic display
US5913684A (en) * 1997-01-29 1999-06-22 Computer Graphics Systems Development Corporation Computer controlled robotic system for unencumbered movement
US20040108992A1 (en) * 1996-11-26 2004-06-10 Rosenberg Louis B. Isotonic-isometric haptic feedback interface

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5872438A (en) * 1992-12-02 1999-02-16 Cybernet Systems Corporation Whole-body kinesthetic display
EP0667603A1 (en) * 1994-02-14 1995-08-16 Sarcos Group Apparatus and method for simulating mobility of a human
US20040108992A1 (en) * 1996-11-26 2004-06-10 Rosenberg Louis B. Isotonic-isometric haptic feedback interface
US5913684A (en) * 1997-01-29 1999-06-22 Computer Graphics Systems Development Corporation Computer controlled robotic system for unencumbered movement

Also Published As

Publication number Publication date
GB0515403D0 (en) 2005-08-31
GB0418808D0 (en) 2004-09-22
GB2417548B (en) 2007-12-05

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Legal Events

Date Code Title Description
PCNP Patent ceased through non-payment of renewal fee

Effective date: 20100727