WO2020056330A1

WO2020056330A1 - Foot deck interface system

Info

Publication number: WO2020056330A1
Application number: PCT/US2019/051120
Authority: WO
Inventors: Ondy Song Ki Ma; Ky WONG
Original assignee: Surfwheel Usa
Priority date: 2018-09-14
Filing date: 2019-09-13
Publication date: 2020-03-19

Abstract

A foot deck interface system is provided. The foot deck interface system includes a chassis, a foot deck support structure having an inverted spherical cap base and supporting a foot deck, and a set of balls rotatably supported by one of the chassis and the foot deck support structure. The set of balls supports the foot deck support structure on the chassis. At least one sensor is positioned to measure at least one of rotation of each of the set of balls about a first axis and a second axis, and downward pressure on each of the set of balls.

Description

FOOT DECK INTERFACE SYSTEM

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit of U.S. Provisional Patent Application No. 62/731 ,602, filed September 14, 2018, the contents of which are incorporated herein by reference in their entirety.

FIELD

[0002] The specification relates generally to input systems, and, more particularly, to a foot deck interface system.

BACKGROUND OF THE DISCLOSURE [0003] In an effort to make computer gaming more immersive, virtual reality (“VR”) gaming devices have been introduced. Amongst the most popular of these VR gaming devices are VR headsets that position a screen in front of the eyes of a user to visually immerse the user in a playing environment. Such VR headsets include an orientation sensing system, either optical, gyroscopic, or accelerometer-based, that determines the orientation and position of the VR headset, transmits the VR headset’s orientation to the computing device generating the displayed field-of-view (which may be within the VR headset or may be separate), and then presents updated graphics to the user in response to the detected orientation of the VR headset and the state of the game environment. The VR headsets can additionally include audio speakers and a microphone, in some cases. [0004] While such VR headsets can visually immerse a user in an environment, VR headsets, by themselves, pose challenges. In the case where the VR headset is tethered to a computer, the user must remain within a fixed distance of the computer in order to continue play, making the exploration of large environments (generally done via their own movement) difficult. Further, physical limitations of the space in which a user is situated may, itself, limit the user’s ability to explore the VR game environment. For example, where the user is Millman IP ref: KIL-098 playing the game in a room, the room’s walls and other objects can pose iimiiauoiis iu me ability of the user to navigate through the VR game environment.

[0005] In order to address such spatial limitations, various solutions have been proposed to enable a user to interact with, or“move” within, a VR game environment. These solutions, however, generally focus on enabling a user to walk or run within the VR game environment. It is particularly challenging to enable a user to interact with a VR game environment in scenarios where a person does not move through the environment by walking and/or running, but instead moves at least partially by shifting their weight on a surface. For example, it could be desirable to provide a VR game environment wherein a player controls a skateboard, a surfboard, a snowboard, or skis to perform tasks, such as traveling through a timed course or performing stunts.

SUMMARY OF THE DISCLOSURE

[0006] In one aspect, there is provided a foot deck interface system, comprising: a chassis; a foot deck support structure having an inverted spherical cap base and supporting a foot deck; a set of balls rotatably supported by one of the chassis and the foot deck support structure and supporting the foot deck support structure on the chassis; and at least one sensor positioned within the chassis to measure at least one of: rotation of each of the set of balls about a first axis and a second axis, and downward pressure on each of the set of balls. [0007] The set of balls can be rotatably supported by the chassis, and the at least one sensor can be positioned within the chassis.

[0008] The chassis can include a set of rollers supporting each of the set of balls, the sets of rollers being pivotally coupled to a frame. Each of at least two of the set of rollers supporting each of the set of balls can be coupled to an electric motor. The at least one motion sensor can include at least one optical sensor that detects motion of at least one of the set of rollers and the set of balls, and generates motion sensor data. The foot deck interface system can further include at least one controller coupled to the electric motors, Millman IP ref: KIL-098 the at least one controller being configured to receive the motion sensor uaia yeneiaieu uy the at least one optical sensor and communicate the motion sensor data to a main controller.

[0009] The at least one controller selectively can control operation of the electric motors based on received movement commands. [0010] The foot deck interface system can further comprising at least one pressure sensor positioned to measure foot pressure on each ball.

[0011] The foot deck interface system can further comprise a controller being coupled to the at least one pressure sensor corresponding to each ball to determine a center of gravity of the foot deck support structure atop of the set of balls. [0012] The chassis can include a set of ball module bases, each of the set of ball module bases rotatably supporting at least one of the set of balls, the set of ball module bases being arrangeable in at least a first configuration so that the set of balls supported by the ball module bases support the foot deck support structure.

BRIEF DESCRIPTIONS OF THE DRAWINGS [0013] For a better understanding of the various embodiments described herein and to show more clearly how they may be carried into effect, reference will now be made, by way of example only, to the accompanying drawings in which:

[0014] FIG. 1 is a perspective view a foot deck interface system in accordance with one embodiment thereof and its operating environment; [0015] FIG. 2 is a section elevation view of the foot deck interface system of FIG. 1 having a set of balls within a chassis supporting a foot deck support structure;

[0016] FIG. 3 is a plan view of the chassis of the foot deck interface system;

[0017] FIG. 4 is a schematic diagram of various components of a main control module of the foot deck interface system of FIG. 1 ; [0018] FIG. 5 is an exploded schematic diagram of a ball module supporting one of the set of balls of the foot deck interface system of FIG. 1 ; Millman IP ref: KIL-098

[0019] FIG. 6 is a schematic section view of the ball module of Flo. o,

[0020] FIG. 7 is an elevation view of a self-balancing board secured atop of the foot deck input system of FIG. 1 ;

[0021] FIG. 8A is a top plan view of the chassis of the foot deck interface system during rotation of the foot deck support structure;

[0022] FIG. 8B is a top plan view of the chassis of the foot deck interface system during rotation of the foot deck support structure; and

[0023] FIG. 9 is a perspective view of the self-balancing board secured to the foot deck support structure of the foot deck interface system as shown in FIG. 7, wherein the foot deck support structure is both rotated and pivoted atop of the chassis.

DETAILED DESCRIPTION

[0024] For simplicity and clarity of illustration, where considered appropriate, reference numerals may be repeated among the Figures to indicate corresponding or analogous elements. In addition, numerous specific details are set forth in order to provide a thorough understanding of the embodiments described herein. However, it will be understood by those of ordinary skill in the art that the embodiments described herein may be practiced without these specific details. In other instances, well-known methods, procedures and components have not been described in detail so as not to obscure the embodiments described herein. Also, the description is not to be considered as limiting the scope of the embodiments described herein.

[0025] Various terms used throughout the present description may be read and understood as follows, unless the context indicates otherwise:“or” as used throughout is inclusive, as though written“and/or”; singular articles and pronouns as used throughout include their plural forms, and vice versa; similarly, gendered pronouns include their counterpart pronouns so that pronouns should not be understood as limiting anything described herein to use, implementation, performance, etc. by a single gender;“exemplary” should be understood as“illustrative” or“exemplifying” and not necessarily as“preferred” over other embodiments. Further definitions for terms may be set out herein; these may Millman IP ref: KIL-098 apply to prior and subsequent instances of those terms, as will be undeisioou uom a leaumy of the present description.

[0026] Any module, unit, component, server, computer, terminal, engine or device exemplified herein that executes instructions may include or otherwise have access to computer readable media such as storage media, computer storage media, or data storage devices (removable and/or non-removable) such as, for example, magnetic disks, optical disks, or tape. Computer storage media may include volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information, such as computer readable instructions, data structures, program modules, or other data. Examples of computer storage media include RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by an application, module, or both. Any such computer storage media may be part of the device or accessible or connectable thereto. Further, unless the context clearly indicates otherwise, any processor or controller set out herein may be implemented as a singular processor or as a plurality of processors. The plurality of processors may be arrayed or distributed, and any processing function referred to herein may be carried out by one or by a plurality of processors, even though a single processor may be exemplified. Any method, application or module herein described may be implemented using computer readable/executable instructions that may be stored or otherwise held by such computer readable media and executed by the one or more processors.

[0027] A foot deck interface system 20 in accordance with an embodiment is shown in FIGS. 1 to 3. In this embodiment, the foot deck interface system 20 enables a self-balancing board to be secured thereto to provide input within a VR game. Self-balancing boards are powered vehicles having a foot deck supported by one or more wheels that are concentrically aligned. One or more motors drive the wheel(s) based on the orientation of the foot deck relative to horizontal. A rider can position their feet on the foot deck and cause the self-balancing board to accelerate or decelerate by shifting their center of gravity. Thus, Millman IP ref: KIL-098 by shifting their weight forward, the foot deck is tilted downwards lowaius me iioni enu thereof, and the motor accelerates the wheel(s) in a forward direction. Such self-balancing boards provide a somewhat-skateboard-like user experience. Accordingly, it can be desirable to design VR games and systems that have a player“ride” a self-balancing board within the VR game to simulate the experience of riding the self-balancing board in a real- world environment without some of the risks associated therewith.

[0028] The foot deck interface system 20 includes a cylindrical chassis 24. The chassis 24 has a flat bottom surface that is designed to rest on a surface S, such as a level floor. The chassis 24 has a chassis housing 28 that is preferably made from a rigid material such as a plastic or metal. The chassis housing 28 is hollow and houses various components that will be described hereinbelow. Feet (not shown) on a bottom surface of the chassis housing 28 are adjustable in height to compensate for imperfections in the flatness or grade of the surface S.

[0029] Inside of the chassis housing 28 are five ball modules 32. Each ball module 32 has a ball module base 36 that supports a ball 40. The balls 40 are made of a rubber and are resistant to compression. One of the ball modules 32 is positioned centrally adjacent an inside surface of the chassis housing 28, and four ball modules 32 are secured atop of module platforms 44. The size of the balls 40 in the set and the spacing therebetween can be varied. In the illustrated embodiment, the balls 40 have a diameter of approximately five inches with a spacing between the balls 40 of about 28 inches between the central ball 40 and each of the peripheral balls 40. In other embodiments, the size of the balls can be, for example, between two inches and four inches, and the spacing can be from 18 inches to 24 inches. The module platforms 44 are rigid structures that support the ball modules 32 secured thereon, and are secured to the chassis housing 28 at positions distributed about the periphery of the chassis housing 28. In particular, when viewed from the top as shown in FIG. 3, the ball modules 32 form a cross pattern, aligning along two axes that intersect in the middle of the central ball 40. The peripheral ball modules 32 are secured to the module platforms 44 so that the ball modules 32 are angled at about 45 degrees towards a central axis CA. Millman IP ref: KIL-098

[0030] A generally rigid chassis housing cap 48 is secured to the cnassis Mousing o along an upper peripheral edge thereof via helical threading or any other suitable means. The components within the chassis housing 28 are protected by the chassis housing cap 48. Five ball openings 52 in the chassis housing cap 48 enable extension of the balls 40 through the chassis housing cap 48. A top surface 56 of the chassis housing cap 48 is concave, having a spherical profile.

[0031] A foot deck support structure 60 is positioned atop of the chassis 24 and rests atop of and supported by the balls 40. The foot deck support structure 60 has a convex bottom surface 64 having the form of an inverted spherical cap. Points along the bottom surface 64 are equidistant from a pivot point PP. A generally planar upper surface 68 of the foot deck support structure 60 has two board supports 72 that extend upwardly from the upper surface 68 thereof. Each of the board supports 72 has an axle channel 76 on its top for receiving an axle of a self-balancing board. An axle clamp 80 is affixed to each of the board supports 72 for clamping an axle of a self-balancing board, and is releasable via a quick release lever 84.

[0032] The ball modules 32 are positioned so that each firmly contacts the convex bottom surface 64 of the foot deck support structure 60 having an inverted spherical cap form.

[0033] A main control module 85 is secured to an inside surface of the chassis housing 28. The main control module 85 is coupled to a power source, such as an external electrical outlet via a power cable or a battery, and powers and communicates with the ball modules 32. The main control module 85 is in communication with a computing device 22, such as a personal computer, a gaming console, or a smartphone.

[0034] FIG. 4 shows various components of the main control module 85 in greater detail. The main control module 85 has a microprocessor 86 that is in communication with a storage 87 for storing computer executable instructions and data, a module communication chip 89 for communicating with the ball modules 32, and a wireless communication module 90 for communicating with the computing device 22. The microprocessor 86 processes computer-executable instructions stored in the storage 87 to operate the foot deck interface Millman IP ref: KIL-098 system 20. In other embodiments, the foot deck interface system 20 can communicaie wnn the computing device 22 via any type of wired or wireless communications.

[0035] The main control module 85 is controlled by the computing device 22 to provide an interactive experience for an application such as a game. The computing device 22 directs the main control module 85 to control the ball modules 32, and receives sensor data from the ball modules 32 via the main control module 85. A power management chip 91 of the main control module 85 manages the power provided to each ball module 32.

[0036] FIGS. 5 and 6 show one of the ball modules 32 that is made of one of the ball module bases 36 and a corresponding one of the balls 40. Each of the set of balls 40 is paired with a ball module base 36 to form a ball module 32. The ball module base 36 has generally cubic ball module housing 42 having a generally square floor from which four sidewalls 92 extend. The top of the ball module 32 is shown being open, defining a ball recess 96 between the four sidewalls 92. Four rollers 100 are rotatably mounted on support bars 104 that span between the sidewalls 92. The support bars 104 are notched to form halved crossing joints where they meet at a right angle, so that the four support bars 104 are horizontally mounted at the same elevation within the ball module 32. The four support bars 104 are arranged so that opposing pairs of the support bars 104 are parallel. The rollers 100 are made from a material that is sufficiently gripped by the ball 40 so that rotation of the ball 40 causes the rollers 100 to rotate appropriately. Conversely, rotation of the rollers 100 cause the ball 40 to rotate. Each of the rollers 100 is generally centrally positioned on the corresponding support bar 104 and is limited from axial movement in one direction along the corresponding support bar 104 by a limiter ring 108 fixed to the support bar 104. Each of the support bars 104 has a flexure sensor in the form of a strain gauge 1 12 positioned thereon to measure flexure of the support bar 104. Further, indicia on the rollers 100 are tracked by motion sensors in the form of optical modules 114 that include a light source, such as a laser, and an optical sensor. One optical module 1 14 is provided for each roller 100. One of each pair of rollers 100 on opposing support bars 104 is coupled to an electric motor 116 affixed within the ball module housing 88 of the ball module 32 via a bevel gear arrangement 120. Millman IP ref: KIL-098

[0037] A mini controller 124 is coupled to the strain gauges 112 anu me muiuis no. me mini controller 124 controls operation of the motors 1 16. Further, the mini controller 124 receives pressure sensor data from the strain gauges 112 that indicate the flexure of the support bars 104, thus acting as a pressure sensor. [0038] The board supports 72 enable a self-balancing board to be secured to the foot deck support structure 60.

[0039] FIG. 7 shows a self-balancing board 128 secured to the foot deck support structure 60 via the board supports 72. The self-balancing board 128 has a foot deck 132 provided by two foot deck portions 136. The foot deck portions 136 extend longitudinally forward and backward from a central wheel 140. The central wheel 140 has an axle 144 that extends coaxially through and laterally from the wheel 140 on either side.

[0040] In order to use the self-balancing board 124 with the foot deck interface system 20, the self-balancing board 128 is powered off and the axle 144 is secured to the board supports 72 by opening the axle clamps 80 via the quick release levers 84, placing the lateral ends thereof in the axle channels 76 of the board supports 72, and reclosing the axle clamps 80 via the quick release levers 84. The orientation of the foot deck 132 relative to the upper surface 68 of the foot deck support structure 60 is fixed via a stabilizer bar 148 secured to one of the foot deck portions 136 and one of the board supports 72. Other approaches to fixing the orientation of the foot deck 132 relative to the upper surface 68 of the foot deck support structure 60 can be employed, such as by spacing the foot deck portions 136 from the upper surface 68 with blocks.

[0041] Once the self-balancing board 128 is secured to the foot deck support structure 60, a user can step on the self-balancing board 128.

[0042] During play of the VR game, a travel surface over which the self-balancing board 128 is to travel virtually can slope or otherwise change. In order to provide an immersive experience to the user, the computing device 22 can communicate movement commands to the main control module 85 to move the foot deck support structure 60.

[0043] Turning now to FIGS. 1 to 7, during operation, the computing device 22 sends movement commands to the foot deck interface system 20 to control the pose and Millman IP ref: KIL-098 movement of the foot deck support structure 60 relative to the chassis

I ne looi uec* support structure 60 can be moved relative to the chassis 24 via rotation about the central axis CA and/or pivoting about the pivot point PP. Rotation of the foot deck support structure 60 about the central axis CA maintains the orientation of the upper surface 68 of the foot deck support structure 60 relative to horizontal. In contrast, pivoting of the foot deck support structure 60 relative to the pivot point PP causes the upper surface 68 of the foot deck support structure to pivot towards or away from horizontal.

[0044] FIG. 8A shows how each of the balls 40a to 40e of the chassis 24 are moved within their respective ball modules 32 to cause the foot deck support structure 60 positioned atop thereof to rotate in a rotational direction RD.

[0045] FIG. 8B shows how each of the balls 40a to 40e of the chassis 24 are moved within their respective ball modules 32 to cause the foot deck support structure 68 positioned atop thereof to pivot about the pivot point PP in a pivotal direction PD.

[0046] The movement commands sent by the computing device 22 can be high level, such as“rotate the board +5 degrees/second for two seconds” or“pivot the board (+1 .0 degrees in direction x, +0.8 degrees in direction z)/second for three seconds”. The main control module 85 can translate these movement commands into commands for each ball module 32 and communicate them to the ball modules 32. In alternative embodiments, the movement commands can specify to move in a specific manner at a specified speed until notified otherwise. In still other embodiments, the movement commands can represent poses to which the foot deck support structure 60 should be moved via an absolute coordinate system.

[0047] In turn, the main control module 85 transmits commands to the mini controller 124 of each ball module 32 to power one or both of the motors 116 to cause the ball(s) 40 to rotate. As the balls 40 are rotated, the orientation and/or position (that is, the pose) of the foot deck support structure 60 changes. For example, in an application, it may be desirable to cause a foot deck upon which a user is standing to change its pose by rotating and/or pivoting. Millman IP ref: KIL-098

[0048] In an alternative embodiment, the movement commanus iiaiismiiieu uy me computing device 22 to the foot deck interface system 20 can be instructions for each ball module 32 as to how to move each ball 40 that, in turn, moves the foot deck support structure 60. In this latter case, the main control module 85 can relay the movement commands to the ball modules 32.

[0049] During operation, the foot deck interface system 20 can enable a user to provide input by enabling the user to rotate and/or pivot the foot deck support structure 60 by shifting their center of gravity and applying lateral, longitudinal, and/or downward forces on the self- balancing board 128. In turn, the foot deck interface system 20 generates digital pressure sensor data and communicates it to the computing device 22 for use in controlling the VR game. For example, a user may lean towards a lateral side of the self-balancing board 128. The shift in the center of gravity can be sensed by the foot deck interface system 20, and communicated to the computing device 22. In turn, the computing device 22 can effect a change in direction of the virtual self-balancing board and rider in the VR game, resulting in a change in at least the visual information presented to the user.

[0050] This sensor data can include motion sensor data that is generated as a result of rotation of the balls 40 in response to rotation and/or pivoting of the foot deck support structure 60 and/or changes in pressure on each of the balls 40, for example, as a result of a shift in the center of gravity of the rider. [0051] Rotation of the ball 40 of a ball module 32 causes one or both of the rollers 100 to rotate. Rotation of the rollers 100 is detected via the optical modules 114. One pair of the rollers 100a is rotated by rotation of the ball 40 about a first axis A1 , and the other pair of the rollers 100b is rotated by rotation of the ball 40 about a second axis A2. When the rollers 100 are rotated, the optical modules 114 detect motion of the rollers 100 via the indicia and determine the speed at which the rollers 100 are rotating along each axis. The mini controller

124 receives digital motion sensor data from the optical modules 114 that can be communicated to the main control module 85 with which it is in communication.

[0052] Further, pressure on the ball 40 of a ball module 32 causes the support bars 104 to flex, and thus cause the strain gauges 112 to provide analog pressure sensor data the Millman IP ref: KIL-098 mini controller 124. In turn, the mini controller 124 generates digital sensor uaia irum me analog pressure sensor data and communicates it to the main control module 85.

[0053] The sensor data received by the main control module 85 from the ball modules 40 is then analyzed by the main control module 85 to determine the rate and direction of rotation and pivoting of each of the balls 40, as well as the pressure being applied to each of the balls 40. The main control module 85 communicates the sensor data (that is, the rate and direction of rotation and pivoting of each of the balls 40, as well as the pressure being applied to each of the balls 40) to the computing device 22. The computing device 22 can then determine the pose and the rate of change of pose of the foot deck support structure 48 and the position of the center of gravity of a rider relative to the foot deck support structure

48. This sensor data can then be used to as inputs to the VR game.

[0054] Various aspects of the foot deck interface system can be varied. For example, the size of the chassis, the number of balls, their sizes and spacing, the types of sensors, the construction of the chassis, the diameter of the inverted spherical cap form of the bottom surface 64, etc.

[0055] Other types of motion sensors can be used. For example, each ball can have a pattern of markings that are tracked by an optical sensor within the ball module.

[0056] Other types of pressure sensors can be employed, such as a biasable structure with a Hall effect sensor. Still alternatively, no pressure sensor may be included in some embodiments.

[0057] In some embodiments, the system can include only pressure sensors or motion sensors.

[0058] In other embodiments, the mini controllers of the ball modules can control operation of the motors independently. [0059] While, in the above-described embodiments, each ball module has a single ball, in other embodiments, the ball modules can have two or more balls.

[0060] The foot deck interface system can be controlled to simulate the slipperiness, stickiness, etc., of a surface by controlling the rotation of the rollers in response to detected motion and/or pressure. Millman IP ref: KIL-098

[0061] In still other embodiments, additional elements can be empioyeu iu simuiaie an immersive environment, such as fans, rain and/or mist generators, etc.

[0062] In further embodiments, the balls supporting the foot deck support structure on the chassis can be positioned on the bottom surface of the foot deck support structure. Further, the sensors can be positioned within either of the foot deck support structure or the chassis to measure pressure and/or rotation of the balls.

[0063] Persons skilled in the art will appreciate that there are yet more alternative implementations and modifications possible, and that the above examples are only illustrations of one or more implementations. The scope, therefore, is only to be limited by the claims appended hereto.

Millman IP ref: KIL-098

List of reference numerals

20 foot deck interface system

22 computing device

24 chassis

28 chassis housing

32 ball module

36 ball module base

40 ball

44 module platforms

48 chassis housing cap

52 ball opening

56 top surface

60 foot deck support structure

64 bottom surface

68 upper surface

72 board support

76 axle channel

80 axle clamp

84 quick release lever

85 main control module

86 microprocessor

87 storage

88 ball module housing

89 module communication chip Millman IP ref: KIL-098

90 wireless communications module

91 power management chip

92 sidewall

96 ball recess

100 roller

104 support bar

108 limiter ring

112 strain gauge

114 optical module

116 motor

120 bevel gear arrangement

124 mini controller

128 self-balancing board

132 foot deck

136 foot deck portion

140 wheel

144 axle

148 stabilizer bar

CA central axis

PP pivot point

S surface

Claims

1. A foot deck interface system, comprising:

a chassis;

a foot deck support structure having an inverted spherical cap base and supporting a foot deck;

a set of balls rotatably supported by one of the chassis and the foot deck support structure and supporting the foot deck support structure on the chassis;

at least one sensor positioned to measure at least one of:

rotation of each of the set of balls about a first axis and a second axis, and downward pressure on each of the set of balls.

2. A foot deck interface system and claimed in claim 1 , wherein the set of balls is rotatably supported by the chassis, and the at least one sensor is positioned within the chassis.

3. A foot deck interface system as claimed in claim 1 , wherein the chassis includes a set of rollers supporting each of the set of balls, the sets of rollers being pivotally coupled to a frame.

4. A foot deck interface system as claimed in claim 3, wherein each of at least two of the set of rollers supporting each of the set of balls is coupled to an electric motor.

5. A foot deck interface system as claimed in claim 4, wherein the at least one motion sensor can include at least one optical sensor that detects motion of at least one of the set of rollers and the set of balls, and generates motion sensor data.

6. A foot deck interface system as claimed in claim 5, further comprising at least one controller coupled to the electric motors, the at least one controller being configured to receive the motion sensor data generated by the at least one optical sensor and communicate the motion sensor data to a main controller.

7. A foot deck interface system as claimed in claim 6, wherein the at least one controller selectively controls operation of the electric motors based on received movement commands.

8. A foot deck interface system as claimed in claim 1 , further comprising at least one pressure sensor positioned to measure foot pressure on each ball.

9. A foot deck interface system as claimed in claim 8, further comprising a controller being coupled to the at least one pressure sensor corresponding to each ball to determine a center of gravity of the foot deck support structure atop of the set of balls.

10. A foot deck interface system as claimed in claim 1 , wherein the chassis includes a set of ball module bases, each of the set of ball module bases rotatably supporting at least one of the set of balls, the set of ball module bases being arrangeable in at least a first configuration so that the set of balls supported by the ball module bases support the foot deck support structure.