KR102053501B1 - VR haptic Tracking System and VR haptic tracking method of walking with Roller based Treadmill system - Google Patents

Abstract

The present invention relates to a walking tracking system and a method in a virtual reality (VR) environment using a roller-based treadmill system.
The system of the present invention includes a communication unit (40A) 50A, a speed measuring unit (40B) 50B, a micro-magnet brake control unit (40C) 50C and a motion recognition unit (40D) (50D) shoes 10 VR roller parts 40 and 50 for the movement control of the; A server PC 90 including a screen transmission unit 91, a screen rendering 92, a gait analyzer / recognition unit 93, and a location information receiver 93 to control the image processing server 60; HMD 30 constituting the VR output display unit, including the output unit 31, the screen adjusting unit 32 and the screen receiving unit 33; including, but, on the bottom 11 of the left and right shoes 10 Put the feet of the experience, and the chair is seated on the chair 20, characterized in that to wear the HMD (30) to meet the reality that is mapped to the same real walk in the virtual space.

Description

Walking tracking system and method in VR environment using roller-based treadmill system {VR haptic Tracking System and VR haptic tracking method of walking with Roller based Treadmill system}

The present invention relates to a walking tracking system and a method in a VR (virtual reality) environment using a roller-based treadmill system, and side effects such as headache due to sickness while satisfying the reality that is mapped with the same actual walking in virtual space. It is to provide a walking tracking system and a method in a virtual reality environment using electromagnetic brake shoes that can solve the problem.

Recently, with the application of virtual reality contents in various fields, more and more cases of dynamic space experiences interacting with the surrounding environment and other users through the static space experiences that were only looked around, and in the future, multi-spaces based on different spaces rather than the same place Experience services are also available.

In order to enable such VR service, a room scale is secured by mounting a sensor on a head mounted display (HMD) or a controller to recognize a movement by a camera and a sensing device located outside the space and mapping it to a virtual space. -scaled) motion recognition system has emerged.

However, the room-scaled motion recognition method requires a wide space of at least 3m and 5m or less in width x length, thereby decreasing efficiency per space.

To solve this problem, a solution that connects to the virtual space by recognizing the user's gait and movement on the treadmill is being serviced.

Such a VR treadmill-based motion tracking system has sufficient advantages if only about 1.3m in width x length is prepared, and it is currently widely linked with contents such as VR games that require intense movement such as FPS (First-person shooter). .

In particular, in the rapidly increasing VR experience room, the need for such a VR treadmill system is increasing because it is difficult to secure the actual space as much as the size of the virtual space.

However, the active treadmill of the VR treadmill system actively moves in response to human motion, but the motion recognition accuracy is high, but the price is not widely used in the market due to the high price. Passive treadmills, which are recognized as sliding, have a lower cost than active treadmills, but have a disadvantage in that they show unnatural walking behavior because they do not have high recognition accuracy, such as sliding a foot or walking in place.

In addition, additional movements due to inaccuracy of recognition are required rather than moving in the real space, which causes a physical burden in using the VR treadmill for a long time.

Such unnatural walking behavior and physical burden decreases the sense of reality when the difference between the expected position and the output position increases for the user who uses the VR content, causing motion sickness or headache by causing VR dissonance due to cognitive dissonance. It provides a great inconvenience in using VR content such as causing side effects such as the need for a solution.

Although walking simulation shoes have been proposed in Korean Patent Application Publication No. 10-2015-0118776 to solve this problem, the configuration is complicated, and the side effects such as motion sickness or headache due to unnatural movement of the experienced user are raised. .

The present inventors propose a walking tracking system and method in a VR environment using a new type of roller-based treadmill system to solve this problem.

Republic of Korea Patent Publication No. 10-2015-0118776

The present invention is a technical problem to improve the safety of the experience by controlling the electromagnetic brake on the no-load wheel constituting the VR roller.

In addition, the present invention is to make it possible to feel the vibration and the material of the bottom surface by changing the brake degree of the front, rear wheel and left and right wheels as a technical problem.

In addition, the present invention is a technical problem to realize a natural walking implementation through the separation of the front and rear wheels and the inclination of the front wheel and the rear wheel generated by different diameter sizes.

In addition, the present invention is to make it possible to recognize the position and walking direction of the foot and the walking speed in conjunction with the encoder mounted on the wheel and the Inertial Measurement Unit (IMU) learning data.

The present invention drives the VR roller installed in the shoe by the experienced person wearing a shoe in a narrow space, while driving the VR roller to the front, rear, left and right while reducing the tension of the applied brake, the actual feeling of walking long distance To receive it.

The present invention is characterized by the integrated tracking method between the precision control-based VR roller unit and the IMU module linked to the content.

In addition, the front and rear wheels of the shoes do not move by themselves, the stability is increased through the electromagnetic brake according to the content, it is characterized by providing a feeling of the bottom surface shake by setting different brake rates (rate).

In addition, the present invention can track the user's walking motion through the encoder connected to the wheel, the sensing coordinates of the IMU module installed in the upper part of the shoe is integrated to recognize the final coordinates, so that the movement close to the actual gait in the virtual space It is characterized by.

In addition, it is designed so as not to interfere with the natural movement of the sole by actually bending the middle of the shoe. Through this, the same movement as the actual walking motion is mapped to the virtual space so that the user can receive a realistic VR service experience.

According to the present invention, the inclination of inaccurate walking, which is expressed as a simple slip in the VR shoes constituting the conventional VR treadmill system, is integrated through the roller rotation sensing encoder and the IMU, and the slope is controlled by different tensions of the front, rear wheel, left and right wheels. VR roller-based walking recognition method that can express the material and the material is integrated with the model through the mechanical learning of the roller rotation data and IMU data, and it recognizes the pattern of walking motion and improves the recognition accuracy of the more natural walking motion. It eliminates side effects such as motion sickness and headaches by eliminating effects and cognitive dissonance, which greatly enhances the convenience of using VR contents, and provides a realistic feeling that gait is mapped in the virtual space similar to actual walking motion. Has

In particular, the present invention while driving the front wheel and the rear wheel constituting the VR roller portion in the state in which the experienced person is seated on the chair, while moving the shoes before, after, left, right while reducing the tension of the brake given a strong tension You can feel the experience in the virtual space where you can actually walk in the direction or near or long distance you want, so you can improve the accuracy of recognition, reduce the physical expenditure of the experience, and perform the experience in a narrow space, depending on the installation location This has the effect of reducing overall costs.

1 is an overall system configuration for implementing the present invention
2 is a perspective view of a shoe for implementing the present invention
3 is a bottom perspective view of a shoe for implementing the present invention
4 is a conceptual diagram showing the detailed process of the walking recognition operation in the present invention
5 is a block diagram illustrating an overall circuit of the present invention.
6 is a flow chart of the present invention.

Before describing the embodiment of the present invention in detail, the contents to be pointed out first are as follows.

That is, the advantages and features of the present invention, and a method of achieving them will be apparent with reference to the embodiments described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments set forth below, but may be embodied in many different forms and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. .

The embodiments set forth below are provided to make the disclosure of the present invention complete, and to fully inform the scope of the invention to those skilled in the art.

In the following description of the present invention, if it is determined that the detailed description of the related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the invention.

Singular expressions include plural expressions unless the context clearly indicates otherwise.

In the description of the present invention, the terms "comprise" or "having" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more. It is to be understood that it does not exclude in advance the possibility of the presence or addition of other features or numbers, steps, operations, components, components or combinations thereof.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms.

The terms are used only for the purpose of distinguishing one component from another.

The term "virtual reality" in its entirety may include a human-computer interface that makes a particular environment or situation into a computer and makes the user interact with the real situation.

Virtual reality is a concept that includes artificial reality, cyber space, virtual world, virtual environment, synthetic environment, artificial environment, and the like.

The virtual reality system applying this concept may include a system that allows people to view and manipulate the environment as if they are entering the environment without directly experiencing an environment that is difficult to experience everyday.

In the entire contents, the term “device” may include a device included in a virtual reality system that detects a change in a user's viewpoint or motion and displays a corresponding change in a virtual environment, thereby enhancing the user's realism. It may include a stereoscopic display device or a head mount display (HMD).

In particular, the head-mounted display was merely a monitor in front of the eye, but recently, it has been developed to a higher level through various sensor technologies and wireless technologies.

For example, if the user turns his head to the left, the scene displayed on the screen may move to the left. That is, the user's head movement can be reflected in the content manipulation. In other words, the head mounted display is an output device and at the same time recognizes and reflects the user's motion (ie, head, finger, body movement, etc.).

What's more, HMDs are starting to appear that don't even require displays. In other words, instead of mounting the display, the user's smartphone is used as the display. The smart phone is a device having a high resolution display, a wireless communication device, various sensors (eg, a gyroscope, an accelerometer, etc.), a storage device for storing content, and an app marketplace for purchasing content. As a result, most of the parts and functions needed for a head-mounted display are available.

Head-mounted displays are defined in terms of all devices that allow virtual reality to be experienced as data, even if not mounted on the head.

Thus, the head mounted display can be replaced with any device capable of outputting virtual reality data and experiencing virtual reality or augmented reality to the user.

In the entire content, "content" is a work such as a video or animation that is played on a device for a virtual reality experience, and may include a game, a cyber shopping mall, a cyber tourist site, a cyber learning field, and a user's viewpoint or motion. Any work that can detect the change in and output the appropriate change to the virtual environment can be replaced.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is an overall system configuration for implementing the present invention, the foot of the experienced person on the bottom 11 of the left and right shoes 10, the experienced person is seated on the chair 20 and then the HMD 30 It is possible to increase the accuracy of recognition by satisfying the reality that is mapped with the same physical walking in virtual space by wearing a snorkel, as well as reducing the physical consumption of the experienced person and performing the experience in a narrow space. It is to help reduce the cost.

In the above, the shoe 10 is a front and rear VR roller part 40 (installed before and after the bottom of the bottom 11, as in the perspective and bottom perspective view of the shoe 10 shown in Figs. 50), wherein the VR HMD 30 is connected to the image processing server 60 and the VR rollers 40 and 50 by wire and wirelessly to be output as a virtual space screen.

The front and rear VR roller parts (40) (50) are the unloaded front wheel (42), the rear wheel (52) inserted into the rotating shaft (41) (51); Electromagnetic brakes 43 and 53 installed inside the front wheels 42 and rear wheels 52 and encoders 44 and 54 which are rotation sensors, respectively, and the front and rear VR roller parts 40 are included. ) 50 may be referred to as a heptic roller.

The bottom 11 of the shoe 10 is divided into a front part 11A and a rear part 11B, and the front part 11A and the rear part 11B are connected to each other by a hinge part 11C. 10) can be configured to be bent.

That is, the shoe 10 includes the front and rear VR roller parts 40 and 50 based on electromagnetic brakes 43 and 53 and encoders 44 and 55 for measuring the degree of rotation, and the front wheel ( 42) and the rear wheel 52 is separated, the IMU module for connecting the front wheel 42 and the rear wheel 52 by the hinge portion (11C) to express the bending during the walking motion, and recognize the correct walking motion And 70.

In addition, the present invention can be proposed to realize a natural walking implementation through the inclination and the fold design or the separation of the front and rear wheels 42, 52 generated by different diameters of the front wheel 42 and the rear wheel 52 In addition, different brake rates may be set to provide a feeling of shaking the floor surface.

Then, by adjusting the tension of the front wheel 42 and the rear wheel 52 and the left and right wheels differently, the shaking effect can be greatly enhanced.

In addition, the micro-control unit 80 and the IMU module 70 capable of 6-DOF (6 Degrees Of Freedom) measurement may be arranged in the frame 12 installed on the front portion 11A. Accordingly, the sensing coordinates of the IMU module 70 are integrated to recognize the final coordinates and to display the movement close to the actual gait in the virtual space.

In particular, the present invention improves the safety of the experienced person through the control of the no-load front wheel 42, the micro-magnet brakes 43, 53 installed on the rear wheel 52, the brake tension of the front, rear wheels 42, 52 Dynamically change, that is, by setting different brake rates (rate) to feel the vibration and the material of the floor surface can enhance the realism through the feeling of the floor surface shake.

That is, when the front wheel 42 and the rear wheel 52 are repeatedly set and released at different points in time at a fast time, the shoe 10 is shaken while the user is sliding. The user wearing the VR HMD 30 is further maximized to feel it, the shaking experience is increased.

In the above, the factors that make the user feel the vibration and the material of the floor surface are when the floor material in the virtual environment content is adopted as a material with high friction or low material, and the user walking on the floor experiences the floor material by adjusting the tension of the brake. It is possible to provide, for example, to provide a bottom surface of the material, such as ice floor, sand bottom, etc. to feel a sense of reality.

In addition, the present invention by interlocking the learning data of the encoder 44, 54 and the IMU module 70 mounted on the front wheel 42, the rear wheel 52, it is possible to recognize the position of the foot and the walking direction and walking speed.

According to the present invention having such a configuration, when the virtual space screen is output after connecting the HMD 30 to the image processing server 60 and the VR roller unit 40 and 50 in a wired and wireless manner, the VR roller unit 40 and 50 The front wheel 42, the rear wheel 52 of the movement, and the IMU module 70 recognizes this to release the tension of the front wheel 42, the rear wheel 52 to roll, the front wheel 42, the rear wheel Encoder 44, 54 measures the speed of 52 and transmits it to image processing server 60, and IMU module 70 also transmits the moved data to image processing server 60 to analyze the data. As a result, the gait pattern is recognized and the screen corresponding thereto is converted and output to the HMD 30.

4 is a conceptual diagram showing a detailed process of the walking recognition operation in the present invention, wherein the IMU module unit 70 and the VR roller unit 40, 50 are configured to operate by a program of the server PC 90, It may have a process that is divided into two steps, a walking operation by the rotation rate generated while releasing the electromagnetic brakes 43 and 53 and a walking operation by position recognition and tracking in the IMU module 70.

In the case of the former, the electromagnetic brakes 43 and 53 are engaged so that the front wheels 42 and the rear wheels 52 of the VR roller parts 40 and 50 do not move at first, and then the IMU module 70 When it is recognized that the walking motion is started, the tension applied to the electromagnetic brakes 43 and 53 is gradually released, and the front wheel 42 and the rear wheel 52 are rearward at the point where the shoe 10 touches the ground. It is controlled to be driven by. Thereafter, the encoders 44 and 54 mounted on the front wheel 42 and the rear wheel 52 measure the rotation rate to calculate the distance and the speed. In the latter case, the opposite shoe (left or right) 10 steps forward, and processes the walking motion recognition process through the IMU module 70 located on the top of the shoe 10.

Fig. 5 is a block diagram showing the overall circuit structure of the present invention. The system of the present invention includes a communication unit 40A and 50A, a speed measuring unit 40B and 50B, an electromagnetic brake control unit 40C and 50C and a motion recognition unit ( VR roller parts 40 and 50 for controlling the movement of the shoe 10, including 40D and 50D; A server PC 90 including a screen transmission unit 91, a screen rendering 92, a gait analyzer / recognition unit 93, and a location information receiver 94 to control the image processing server 60; And an output unit 31, a screen adjusting unit 32, and a screen receiving unit 33, including an HMD 30 constituting the VR output display unit. The VR roller unit 40, 50 and The server PC 90 may transmit / receive control communication over the wireless Internet, and the server PC 90 and the HMD 30 may be configured to be connected by wire / wireless.

6 is a flowchart of the present invention.

The present invention is a walking tracking method in a VR environment using a roller-based treadmill system, which performs system drive switching and inputs the VR roller parts 40 and 50 and the HMD 30 connected to the image processing server 60. A first step (S1) of receiving a signal; A second step (S2) of loading virtual space data from the image processing server 60 and delivering a basic image to the HMD 30; A third step S3 of determining whether a sensor is received in the IMU module 70 capable of 6-DOF measurement of the VR roller parts 40 and 50; A fourth step (S4) of analyzing the gait pattern and transmitting it to the image processing server (60) when the IMU module (70) receives a sensor signal in the third step (S3); A fifth step S5 of determining whether to recognize the walking pattern in the fourth step S4; A sixth step S6 of changing the tension of the electromagnetic brakes 43 and 53 and moving the screen when recognizing the walking pattern in the fourth step S4; And a seventh step S7 of determining whether the IMU module 70 has no sensor reception signal in the third step S3 or if the system driving switching input signal is re-received after the sixth step S6. When the system driving switching input signal is re-received in the seventh step S7, an eighth step S8 of terminating the output of the virtual space data is performed.

In the roller-based VR motion tracking method proposed by the present invention, unlike the conventional movement recognition-oriented wheel system, the brake tension of each of the front wheel 42, the rear wheel 52, and the left and right wheels is set differently so that the floor material and the shaking of the content are reduced. In the present invention, after recognizing the start time of the walking operation by learning the data of the IMU module 70, the electromagnetic brakes 43 and 53 are released to track the natural steps and display them in the virtual space. Normally, the front wheels 42 and the rear wheels 52 were not moved by the electromagnetic brakes 43 and 53, thereby enhancing the safety of the experienced person, and the shoes 10 were separated to allow natural movement. The front wheel 42 with tension mapped to the ground material on each speed and content at the time of the ground landing where the tension of the electromagnetic brakes 43 and 53 is maximized. , Roll the rear wheel (52).

That is, for example, when lifting the shoes 10 with the electromagnetic brakes 43 and 53 set in the initial time for the walking operation, the IMU module 70 recognizes that the walking behavior is started by analyzing the data. At the time of the ground landing, which is the last action of the walking pattern, the electromagnetic brakes 43 and 53 begin to be released to roll the front wheels 42 and the rear wheels 52.

 In this case, the tension is set according to the inclination and the material of the content. For example, in the case of an ice floor, the tension release brake rate may be increased, and in the case of a rubber plate, the tension release brake rate may be decreased.

Through this, the user is provided with the reality that the gait is mapped in the virtual space similarly to the actual walking motion.

Particularly, in the present invention, the wheels 42 and 52 of the shoe 10 do not roll, so that the motion recognition accuracy during the time the foot, which is hard to recognize movement, stays in the air is improved, the upper end of the shoe 10 X-, y-, and z-axis conversion data and rotation data in the pitch, roll, and yaw directions generated by the IMU module 70 capable of 6-DOF measurement After collecting and learning the model, and building a model for the walking motion, and based on this, if the experiencer starts the motion in a similar pattern to the walking motion model, the front wheel 42 and the rear wheel 52 do not roll and the encoder 44 ( Even when the rotation information is not transmitted to 54), the walking motion is recognized and the speed, direction, and distance corresponding to the walking model are calculated and transmitted to the coordinates of the virtual space. This solves the problem of walking motion inconsistency seen in other VR treadmill solutions.

That is, according to the present invention, since the electromagnetic brakes 43 and 53 and the inner encoders 44 and 54 recognize the motion only when the roller is rolling, the shoes appearing in the step of stepping out the foot, which is the beginning of the actual walking motion, are provided. Within 10 hours of staying in the air, the walking motion recognition based on the IMU module 70 is solved to solve the difficulty in expressing the content of the walking motion.

As described above, the present invention integrates the inaccurate walking recognition represented by the simple slip in the VR shoes constituting the conventional VR treadmill system, and the integrated processing between the roller rotation sensing encoders 44 and 54 and the IMU module 70 and the front and rear. The rotational data of the VR roller parts 40 and 50 and the machine of the IMU module 70 data through the VR roller-based walking recognition method that can express the inclination and the material by adjusting the different tensions of the wheels 42 and 52. The integrated processing with the model through learning, recognizes the pattern of the walking motion, improves the recognition accuracy of the more natural walking motion, and eliminates cognitive dissonance to prevent side effects such as motion sickness and headaches, and different break rates. By setting the rate, the floor surface can be shaken, which greatly enhances the convenience and substantive feeling of VR content. If a high or low material is present, the user walking on the floor can experience the floor material by adjusting the tension of the brake.

Although the above has been described with reference to the embodiments, these are merely examples and are not intended to limit the present invention, and those skilled in the art to which the present invention pertains are not exemplified above without departing from the essential characteristics of the present embodiments. It will be understood that various modifications and applications are possible.

 And differences relating to such modifications and applications should be construed as being included in the scope of the invention as defined in the appended claims.

10: shoes 11: bottom
11A, 11B: front and rear 11C: hinge
12: frame 20: chair
30: HMD 31: output unit
32: screen adjustment unit 33: screen receiving unit
40, 50: VR roller part 40A, 50A: communication part
40B, 50B: Speed measuring part
40C, 50C: Electromagnetic Brake Control Unit
40D, 50D: Motion recognition unit 51: rotation axis
42, 52: front and rear wheels 43, 53: electromagnetic brake
44, 54: encoder 60: image processing server
70: IMU module 80: micro control unit
90: server PC 91: screen transfer unit
92: screen rendering 93: gait analysis / recognition unit
94: location information receiver

Claims (8)

Front for controlling the movement of the shoe 10, including the communication unit 40A, 50A, speed measurement unit 40B, 50B, electromagnetic brake control unit 40C, 50C, and motion recognition unit 40D, 50D. And a rear VR roller portion 40, 50; A server PC 90 including a screen transmission unit 91, a screen rendering 92, a gait analyzer / recognition unit 93, and a location information receiver 94 to control the image processing server 60; Including the output unit 31, the screen adjusting unit 32 and the screen receiving unit 33, HMD (30) constituting the VR output display unit, in the configuration, including, the front and rear VR roller unit 40 (50) ) Front wheels 42 and rear wheels 52 inserted into the rotary shafts 41 and 51 installed on the bottom of the shoe 10; Electromagnetic brakes 43 and 53 installed inside the front wheels 42 and rear wheels 52 and encoders 44 and 54 which are rotation sensors, respectively, and the bottom of the shoe 10 11 is divided into the front portion (11A) and the rear portion (11B), by connecting the front portion (11A) and the rear portion (11B) by the hinge portion (11C) so that the shoe 10 can be folded, the shoe The micro-control unit 80 and the IMU module 70 capable of 6-DOF measurement are arranged in the frame 12 installed on the upper part 11A of the bottom part 11 of the 10. In addition, the brakes of the front wheels, the rear wheels 42 and 52 and the left and right wheels are dynamically changed, and at the same time, the diameters of the front wheels 42 and the rear wheels 52 are changed so that the vibration and the material of the bottom surface can be felt. And the inclination and bending operation generated at the same time, and the IMU module 70 and the VR roller unit 40 and 50 are programmed in the server PC 90. It is configured to operate by a ram, and the dynamics of the brakes of the front wheels, rear wheels (42) (52) and the left and right wheels dynamically change and at the same time the walking operation by the rotation rate generated by releasing the electromagnetic brakes (43) (53) and Walking tracking system in a VR environment using a roller-based treadmill system, characterized in that the IMU module 70 has a process that is divided into walking motion through location recognition and tracking. delete delete A walking tracking method in a VR environment using the roller-based treadmill system according to claim 1, wherein the VR roller unit 40 (50) and the HMD (30) which perform system driving switching and are connected to the image processing server (60) A first step of receiving an input signal of S1; A second step (S2) of loading virtual space data from the image processing server 60 and delivering a basic image to the HMD 30; A third step S3 of determining whether a sensor is received in the IMU module 70 capable of 6-DOF measurement of the VR roller parts 40 and 50; A fourth step (S4) of analyzing the gait pattern and transmitting it to the image processing server (60) when the IMU module (70) receives a sensor signal in the third step (S3); A fifth step S5 of determining whether to recognize the walking pattern in the fourth step S4; A sixth step S6 of changing the tension of the electromagnetic brakes 43 and 53 and moving the screen when recognizing the gait pattern in the fourth step S4; And a seventh step S7 of determining whether the IMU module 70 has no sensor reception signal in the third step S3 or if the system driving switching input signal is re-received after the sixth step S6. In the VR environment using the roller-based treadmill system, characterized in that performing; and the eighth step (S8) to terminate the output of the virtual space data when the system drive switching input signal is received again in the seventh step (S7) Walking tracking method. 5. The method of claim 4, wherein the third step S3 to the fifth step S5 include the x, y, z conversion data and pitch, roll, yaw directions generated by the IMU module 70 capable of 6-DOF measurement. In the VR environment using a roller-based treadmill system, it collects rotational data, learns it, builds a model for walking motion, and then uses it to start the motion in a pattern similar to the walking motion model. Walking tracking method. The method of claim 4, wherein the sixth step S6 starts with the electromagnetic brakes 43 and 53 held so that the front wheels 42 and the rear wheels 52 of the VR roller parts 40 and 50 do not move. By recognizing that the IMU module 70 starts the walking operation, the tension applied to the electromagnetic brakes 43 and 53 is gradually released, and the front wheel 42 at the point where the shoe 10 touches the ground, The rear wheel 52 is controlled to be driven in the rearward direction, but the front wheel 42 and the encoder 44 and 54 mounted on the rear wheel 52 measure the rotation rate to calculate the distance and the speed of movement, and the opposite shoe (Left or Right) 10 is walking forward in the VR environment using a roller-based treadmill system, characterized in that it performs to process the walking motion recognition process through the IMU module 70 located on the top of the shoe 10 stepped forward Tracking method. The VR environment using a roller-based treadmill system according to claim 6, wherein the brake tensions of the front wheels 42, the rear wheels 52, and the left and right wheels are set differently so that vibration and material of the bottom surface can be felt. How to track walking in The method of claim 6, wherein the sensing coordinates of the IMU module 70 installed on the upper portion of the shoe 10 are integrated to recognize the final coordinates so that the same movement as the actual walking motion is mapped to the virtual space to provide a realistic VR service experience. A walking tracking method in a VR environment using a roller-based treadmill system, characterized by the ability to receive.

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