ITBG20100019A1 - GIOSSCOPE OF MOVEMENT FOR VIRTUAL SENSORY IMMERSION. - Google Patents
GIOSSCOPE OF MOVEMENT FOR VIRTUAL SENSORY IMMERSION. Download PDFInfo
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- ITBG20100019A1 ITBG20100019A1 IT000019A ITBG20100019A ITBG20100019A1 IT BG20100019 A1 ITBG20100019 A1 IT BG20100019A1 IT 000019 A IT000019 A IT 000019A IT BG20100019 A ITBG20100019 A IT BG20100019A IT BG20100019 A1 ITBG20100019 A1 IT BG20100019A1
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- 230000001953 sensory effect Effects 0.000 title claims description 14
- 238000007654 immersion Methods 0.000 title claims description 7
- 230000033001 locomotion Effects 0.000 title claims description 6
- 230000003993 interaction Effects 0.000 claims description 6
- 238000013519 translation Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000011161 development Methods 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 4
- 238000005339 levitation Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 241000193935 Araneus diadematus Species 0.000 claims description 2
- 230000006698 induction Effects 0.000 claims 2
- 238000013475 authorization Methods 0.000 claims 1
- 230000002490 cerebral effect Effects 0.000 claims 1
- 238000004891 communication Methods 0.000 claims 1
- 238000000034 method Methods 0.000 claims 1
- 230000014616 translation Effects 0.000 description 4
- 230000018109 developmental process Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 210000001428 peripheral nervous system Anatomy 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 230000001846 repelling effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000008207 sensory development Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B19/00—Hoop exercising apparatus
- A63B19/04—Hoop exercising apparatus movably supported on a framework or spheres or cylinders carrying the user inside
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
- A63B21/0058—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/22—Resisting devices with rotary bodies
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/22—Resisting devices with rotary bodies
- A63B21/222—Resisting devices with rotary bodies by overcoming gyroscopic forces, e.g. by turning the spin axis
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0075—Means for generating exercise programs or schemes, e.g. computerized virtual trainer, e.g. using expert databases
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/80—Special sensors, transducers or devices therefor
- A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
- A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
Description
DESCRIZIONE del breveo d’invenzione avente per titolo: DESCRIPTION of the brief of invention entitled:
“Giostra giroscopica per immersione sensoriale virtuale” "Gyro carousel for virtual sensory immersion"
Premessa Premise
1- L’ingegneria applicata ìn campo informatico, ha permesso in pochi decenni di sviluppare tecnologie capaci di cambiare Interamente lapproccio tecnologico quotidiano della società moderna. Il ritrovato qui descritto è un miglioramento dello stato dell’arte applicata ai dispositivi giroscopici già descritti. U. S.Pat.N°- 5,046,721 e 4,799,667. E all’ interfaccia data manager N°- 20,090,325,699. 1- Applied engineering in the field of information technology has allowed in a few decades to develop technologies capable of completely changing the daily technological approach of modern society. The invention described here is an improvement of the state of the art applied to the gyroscopic devices already described. U. S.Pat.N ° - 5,046,721 and 4,799,667. And to the data manager interface N ° - 20,090,325,699.
Cam di applicazione: Application Cam:
> interazione linguaggi informatici di programmazione virtuale VRLM (Virtual Reality Lenguage Machine ) e l3VR,e, ogni applicazione compatibile. > interaction of computer languages for virtual programming VRLM (Virtual Reality Lenguage Machine) and l3VR, and any compatible application.
> Industria del divertimento e sviluppo sensoriale in ambienti virtuali interattivi immersivi. > Entertainment industry and sensory development in immersive interactive virtual environments.
Produzione industriale del ritrovato come deviec di interazione web di massa. Industrial production of the invention as a deviation of mass web interaction.
Esposizione del ritrovato: Exhibition of the discovery:
3-<U0tì2) Forma oggetto del presente ritrovato un’armatura giroscopica a cuscinetti assiali dì rotazione magnetici o meccanici a tre gradi dì libertà. Tale armatura permetterà a un soggetto assicurato al punto centroide e di rotazione agli anelli N: 2, 7, 9 di irasìare su ognuno degli assi di rotazione X, Y, Z, singolarmente o in sincrona. L'esperienza verrà a questo punto completata a livello sensoriale grazie all’ utilizzo di una tuta IMC (Inertial Motin Capture) 6 DOF, e un visore o casco HMD (Head Muunted Display ) gestiti in trasferimento dati wireless ad un’unità di controllo remota. 3- <U0tì2) The subject of this invention is a gyroscopic armature with axial bearings of magnetic or mechanical rotation with three degrees of freedom. This armature will allow a subject secured at the centroid and rotation point to the rings N: 2, 7, 9 to irase on each of the rotation axes X, Y, Z, individually or synchronously. The experience will now be completed on a sensory level thanks to the use of an IMC (Inertial Motin Capture) 6 DOF suit, and a HMD (Head Muunted Display) visor or helmet managed in wireless data transfer to a remote control unit. .
4- Il ritrovato ha come fine l’interazione e il miglioramento sensoriale in ambienti virtuali. Ogni sequenza audio-video qui riprodotta verrà vìssuta dai soggetto in un ambiente multi dimensionai e completamente svincolato e ìnteragibile, per usi privati o commerciali. 4- The purpose of the discovery is interaction and sensory improvement in virtual environments. Each audio-video sequence reproduced here will be experienced by the subjects in a multi-dimensional and completely free and uninterageable environment, for private or commercial use.
Testo dì descrizione: Description text:
5- (0001), Fig. 1 è lo schema combinato impiegato per la traslazione del ritrovato sulasse Z di imbardata con l'ausilio di due motori elettromagnetici già noti allo stato dei l'arte, e meglio descritti dallo stesso inventore nei brevetti U.S. Parent Office N: 416,191, e U.S. Patene Office N:382,279. 5- (0001), Fig. 1 is the combined scheme used for the translation of the invention on the Z axis of yaw with the aid of two electromagnetic motors already known in the state of the art, and better described by the inventor himself in the U.S. patents. Parent Office N: 416,191, and U.S. Patene Office N: 382,279.
6- (DOOI)Tale motore è costituito da ima struttura telaio esterna N: 12, per la base inferiore e N:11 per quella superiore, da una struttura interna N. 13,18, I primi 2 circuiti denominati Z, Z1, dallo stesso inventore permettono agli alberi portanti N: 1, 6, di rimanere perfettamente centrati e di ruotare in una situazione di vuoto grazie a campi magnetici generati dai magneti N: M-l, M-2, M-3, M-4, 6- (DOOI) This motor consists of an external frame structure N: 12, for the lower base and N: 11 for the upper one, by an internal structure No. 13,18, The first 2 circuits called Z, Z1, by the same inventor allow the bearing shafts N: 1, 6, to remain perfectly centered and to rotate in a vacuum situation thanks to magnetic fields generated by the magnets N: M-l, M-2, M-3, M-4,
7- (0001 ), Il peso della struttura e del soggetto in immersione sensoriale viene ripartito in due punti rimanendo in stato di levitazione bilanciata e, rappresentate raffigurata dai blocchi Nri4, 15, Gli alberi portanti delle due strutture terminanti con due piatti magnetici N-16, 17, respinti dalle basi induttive N: 19,20, per repulsione magnetica seguendo leggi note dell'elettromagnetismo ( Maxwell e di Coulomb). Quest’ultima in particolare esprime quantitativamente riterazione tre le due cariche elettriche con polarità opposta e respingente. 7- (0001), The weight of the structure and of the subject in sensory immersion is divided into two points remaining in a state of balanced levitation and, represented by the blocks Nri4, 15, the bearing shafts of the two structures ending with two magnetic plates N- 16, 17, rejected by the inductive bases N: 19,20, by magnetic repulsion following known laws of electromagnetism (Maxwell and Coulomb). The latter in particular expresses quantitatively reteration between the two electrical charges with opposite and repelling polarity.
8- (0001). 1 sensori N: S-l S-2, 5-3, S-4, rileveranno la distanza fìsica ira le due superfici in tempo reale e in ogni momento di carico, inviando le informazioni ad una centralina gestita da un software in grado di variare il voltaggio delle basi N: 19.20, in tempo reale e quindi fa forza respingente generata in ogni momento impedendo il contatto o lo sfregamento tra basi induttrici e piati. 8- (0001). 1 sensors N: S-l S-2, 5-3, S-4, will detect the physical distance between the two surfaces in real time and at any loading moment, sending the information to a control unit managed by a software capable of varying the voltage of the N bases: 19.20, in real time and therefore makes the buffering force generated at any time, preventing contact or rubbing between inductive bases and plates.
9- (0001). T-l, rappresenta una struttura a ragno crociata assicurata alla struttura interna della base superiore, capace egli stessa di assorbire e scaricare parte del peso del ritrovato nella soletta. 9- (0001). T-1, represents a cross spider structure secured to the internal structure of the upper base, capable of absorbing and discharging part of the weight of the device in the insole.
10- (0tU3) Forma parte integrante degli alberi rotori portanti N-l, N-6, il primo anello della Giostra giroscopica N: 7. Tale anello permette la traslazione del soggetto per 360° secondo l’asse dì imbardata Z e può essere elettrificalo permettendo ai cuscineti assiali magnetici N-2, 5. 3, 4 di essere costantemente alimentati. 10- (0tU3) The first ring of the gyroscopic carousel N: 7 forms an integral part of the bearing rotor shafts N-1. the magnetic axial bearings N-2, 5. 3, 4 to be constantly powered.
11- L’anello N:9, permette la traslazione secondo l’asse Y di cabrata o picchiata, 11- The N ring: 9, allows the upward or swooping translation according to the Y axis,
12- (tìOÌ<)>3), L’anello più interno N:I0, incorpora l’armatura ovoidale interna permetendo la rotazione secondo l'asse X di rollio. Nello stesso, viene assicurato al punto centroide del ritrovalo il soggeto fissato per mezzo di una cintura o struttura fissante o un sedile ergonomico, facendo combaciare il baricentro del soggetto con il centro di rotazione del ritrovato. 12- (tìOÌ <)> 3), The innermost ring N: I0, incorporates the internal ovoid armature allowing rotation according to the X axis of roll. In the same, the subject fixed by means of a belt or fixing structure or an ergonomic seat is secured to the centroid point of the find, making the subject's center of gravity match up with the center of rotation of the finding.
Concettualizzazione a blocchi: Block conceptualization:
13- I.a simulazione incomincia con la vestizione dellesploratore di una tuta IMC ( 1 nenia! M odori Captare 6 DOF ). Viene a questo punto verificato il segnale dì rilevamento della luta ai sensori e al software di gestione e trasmissione dati, 13- The simulation begins with the explorer wearing an IMC suit (1 chant! M odori Captare 6 DOF). At this point, the lute detection signal to the sensors and to the management and data transmission software is checked,
14- Vengono controllate le rotazioni degli anelli N: 2, 7, 9 , e il corretto funzionamento dei corrispondenti cuscinetti assiali magnetici o meccanici. Una volta verificati lutti gii standard si sicurezza richiesti l'esploratore viene fissato per mezzo di una cintura o sedile ergonomico al ccntroide del ritrovato. N: 8, 14- The rotations of the rings N: 2, 7, 9, and the correct functioning of the corresponding magnetic or mechanical axial bearings are checked. Once the required safety standards have been verified, the explorer is fixed by means of a belt or ergonomic seat to the center of the device. N: 8,
15- Viene indossato un visore o un casco HMD ( Head Mounted Display), e ogni periferica Hardware associabile e meglio performance allo scopo dell’esperienza, che a questo punto entra nella fase di avvio preliminare, 16- Si eseguono test di verifica iniziali e funzionali per l avvio dellesperienza di immersione sensoriale, partendo dai canali audio e visivo, per poi passare a rotazioni sincroniche degli anelli. 15- A headset or an HMD (Head Mounted Display) helmet is worn, and each Hardware peripheral that can be associated and improved performance for the purpose of the experience, which at this point enters the preliminary start-up phase, 16- Initial and functional for starting the experience of sensory immersion, starting from the audio and visual channels, and then moving on to synchronous rotations of the rings.
17- Si entra in immersione sensoriale. 17- We enter into sensory immersion.
18- Le sequenze audio-video riprodotte potranno essere vissute in un ambiente multidimensionale senza alcun vincolo di movimento grazie all’impiego del ritrovato e della traslazione dei suoi anelli. 18- The reproduced audio-video sequences can be experienced in a multidimensional environment without any movement restrictions thanks to the use of the device and the translation of its rings.
19- Le traslazioni su ogni asse, rese possibili grazie alla giostra giro scopi ca. 19- The translations on each axis, made possible thanks to the carousel around purposes approx.
possono essere gestite da una stazione remota o dallo stesso esploratore in tempo reale a seconda delle finalità di utilizzo. they can be managed by a remote station or by the same explorer in real time depending on the purpose of use.
20 i miglioramenti sensoriali ottenuti grazie al ritrovato sono evidenti ma difficilmente compresi per descrizione astratta, 20 the sensory improvements obtained thanks to the invention are evident but difficult to understand by abstract description,
Software: Software:
21 -(0005) Forme parte delle rivendicazioni del ritrovato, la descrizione software, e del suo codice sorgente, 21 - (0005) Forms part of the claims of the invention, the software description, and its source code,
22- AI fine di migliorare l' interazione sensoriale del ritrovalo con ogni applicazione software o linguaggio di programmazione noto allo stato dell'arte, ne viene meglio descritta ora la sua natura d’essere di base. Tale necessità nasce dall’ indagine e studio dei depositi brevettali pendenti in materia di plug-in browser di file in 3B e la loro architettura di base su piattaforme virtuali, 22- In order to improve the sensory interaction of the find with any software application or programming language known at the state of the art, its basic nature of being is now better described. This need arises from the investigation and study of pending patent deposits relating to file browser plug-ins in 3B and their basic architecture on virtual platforms,
23- (0005), Per tale ragione, le rivendicazioni del ritrovato, si uniscono al desiderio di non porre limiti allo sviluppo creativo e personale di ogni esploratore e beneficerà pertanto di una licenza Open bouree GPLv3 Tale licenza, garantirà la libertà di condividete e modificare e sviluppare tutte le versioni di un programma applicabile al ritrovato e di fare in modo che esso rimanga software libero per tutti gli utenti per sempre, 23- (0005), For this reason, the claims of the invention are combined with the desire not to place limits on the creative and personal development of each explorer and will therefore benefit from an Open Bouree GPLv3 license This license will guarantee the freedom to share and modify and to develop all versions of a program applicable to the device and to ensure that it remains free software for all users forever,
24- Entrando meglio in dettaglio sulle applicazioni dì interazione del ritrovato e le sinergie con software rilasciati in licenza GNU GPU è da me ipotizzabile oggi solo l'approccio sensoriale basico dell'espioratore, Come Data Manager Virtual Reality interfacig forma parte delle stesse rivendicazioni: 24- Going into greater detail on the interaction applications of the invention and the synergies with software released under the GNU GPU license, today I can only hypothesize the basic sensory approach of the explorer, As Data Manager Virtual Reality interfacig it forms part of the same claims:
25- (0005), li ritrovato viene interfacciato ad un’unità logica Host in grado di elaborare i dati delle unità DOF situate in varie posizioni della tuta indossata dall'esploratore, e di trasferire in real-time la posizione tisica del soggetto nellamblentazione virtuale ìmmersiva percepita sensorialmente, con l’ausilio di un casco o visore HMD. In un prossimo futuro, per mezzo di un’interfaccia neurale, sarà possibile liberarsi delie periferiche sensoriali secondarie, e connettere direttamente il ritrovato a una esoeorteccìa celebrale artificiale composta ma microprocessori, memoria di massa e software in grado dì offrire una potenza di calcolo pressoché illimitata e gestite sensorialmente dal nostro sistema nervoso periferico; come reso oggi già dimostrabile da ricerche e studi sulle CPU organiche. 25- (0005), once found, it is interfaced to a Host logic unit capable of processing the data of the DOF units located in various positions of the suit worn by the explorer, and to transfer in real-time the physical position of the subject in the virtual environment. Immersive perceived sensorially, with the aid of a helmet or HMD visor. In the near future, by means of a neural interface, it will be possible to get rid of the secondary sensory peripherals, and directly connect the device to an artificial brain exoorteccia composed of microprocessors, mass memory and software capable of offering an almost unlimited computing power. and sensorially managed by our peripheral nervous system; as made today already demonstrable by research and studies on organic CPUs.
26- (0005), Sistema comprendente trasmissione dati motion input unità DOF soggetto, Host di elaborazione e ritrasmissione dati al visore HMD. 27- (0005), Al fine di ricreare la migliore immersione sensoriale è necessario stimolare l'esploratore in ogni canale percettivo. Per raggiungere tale realismo, lo sviluppo degli attuali Rendering Game Engine come il progetto open souree Blender 3D rilasciato con licenza GNU Geneal Puplic license ben sì addice allo sviluppo de! ritrovato presentato, 26- (0005), System comprising data transmission motion input unit DOF subject, processing host and data retransmission to the HMD viewer. 27- (0005), In order to recreate the best sensory immersion it is necessary to stimulate the explorer in each perceptual channel. To achieve such realism, the development of current Rendering Game Engines such as the open souree Blender 3D project released under the GNU Geneal Puplic license is well suited to the development of the! found presented,
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| IT000019A ITBG20100019A1 (en) | 2010-04-14 | 2010-04-14 | GIOSSCOPE OF MOVEMENT FOR VIRTUAL SENSORY IMMERSION. |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| IT000019A ITBG20100019A1 (en) | 2010-04-14 | 2010-04-14 | GIOSSCOPE OF MOVEMENT FOR VIRTUAL SENSORY IMMERSION. |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| ITBG20100019A1 true ITBG20100019A1 (en) | 2011-10-15 |
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| IT000019A ITBG20100019A1 (en) | 2010-04-14 | 2010-04-14 | GIOSSCOPE OF MOVEMENT FOR VIRTUAL SENSORY IMMERSION. |
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| IT (1) | ITBG20100019A1 (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997024163A1 (en) * | 1995-12-29 | 1997-07-10 | Alton Michael J | Human activity simulator |
| US5759107A (en) * | 1996-10-03 | 1998-06-02 | Amusement Technologies, Inc. | Gyroscopic amusement apparatus |
| US20050178221A1 (en) * | 2002-03-01 | 2005-08-18 | Tippett Raymond K. | Apparatus and method for gyroscopic propulsion |
| WO2007062240A2 (en) * | 2005-11-28 | 2007-05-31 | Epley John M | Hemispheroidal-truss spatial manipulator system and apparatus |
-
2010
- 2010-04-14 IT IT000019A patent/ITBG20100019A1/en unknown
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1997024163A1 (en) * | 1995-12-29 | 1997-07-10 | Alton Michael J | Human activity simulator |
| US5759107A (en) * | 1996-10-03 | 1998-06-02 | Amusement Technologies, Inc. | Gyroscopic amusement apparatus |
| US20050178221A1 (en) * | 2002-03-01 | 2005-08-18 | Tippett Raymond K. | Apparatus and method for gyroscopic propulsion |
| WO2007062240A2 (en) * | 2005-11-28 | 2007-05-31 | Epley John M | Hemispheroidal-truss spatial manipulator system and apparatus |
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