WO2023133158A1 - Plate-forme omnipad alimentée - Google Patents

Plate-forme omnipad alimentée Download PDF

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Publication number
WO2023133158A1
WO2023133158A1 PCT/US2023/010141 US2023010141W WO2023133158A1 WO 2023133158 A1 WO2023133158 A1 WO 2023133158A1 US 2023010141 W US2023010141 W US 2023010141W WO 2023133158 A1 WO2023133158 A1 WO 2023133158A1
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WO
WIPO (PCT)
Prior art keywords
omniwheels
bobbin
drive
previous
support
Prior art date
Application number
PCT/US2023/010141
Other languages
English (en)
Inventor
Adam Smith
Ilia Timonin
Neil Epstein
Adam KOSKY
Original Assignee
The Omnipad Company, Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by The Omnipad Company, Llc filed Critical The Omnipad Company, Llc
Priority to AU2023205736A priority Critical patent/AU2023205736A1/en
Priority to CA3241980A priority patent/CA3241980A1/fr
Publication of WO2023133158A1 publication Critical patent/WO2023133158A1/fr
Priority to PCT/US2023/032672 priority patent/WO2024059159A1/fr
Priority to PCT/US2024/010590 priority patent/WO2024148335A2/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/0015—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with an adjustable movement path of the support elements
    • A63B22/0023—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with an adjustable movement path of the support elements the inclination of the main axis of the movement path being adjustable, e.g. the inclination of an endless band
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A63B22/0285—Physical characteristics of the belt, e.g. material, surface, indicia
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A63B2022/0271—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills omnidirectional
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A63B2071/0638—Displaying moving images of recorded environment, e.g. virtual environment
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B2071/0658—Position or arrangement of display

Definitions

  • the OmniPad is an omnidirectional treadmill that allows users to walk, jog, or run in any direction.
  • the OmniPad is coupled with computer-generated immersive environments users can maneuver their way on-foot through 360-degree VR environments of infinite expanse and scope.
  • the OmniPadTM is an Omni-Directional locomotion Input device specifically intended for use in virtual reality immersive environments.
  • the OmniPadTM is the primary component of the OmniPad Environment.
  • the OmniPad is made up of many parts and subassemblies. This document provides a general description of the operation and components of the OmniPad. Each section describes one or more inventions that will form the bases for utility patent applications.
  • Figure 1 A Illustrates an isometric view of an omnidirectional treadmill, according to various embodiments of the invention.
  • Figure IB illustrates a cross-sectional view of the treadmill, according to various embodiments of the invention.
  • Figure. 1C illustrates a detailed view of the cross-section of Figure IB, according to various embodiments of the invention.
  • Figure 2 illustrates a locomotion surface, according to various embodiments of the invention.
  • Figure 3 illustrates a bearing support system, according to various embodiments of the invention.
  • Figure 4 illustrates a motor drive system, according to various embodiments of the invention.
  • the optional motor drive system being configured to drive and/or assist the revolving tread surface.
  • Figure 5 illustrates a smart tread design according to various embodiments of the invention.
  • the fabric of the tread surface may be stiffened or loosened in certain areas, in real time, by the use of an electric Polyhedral assembly of the revolving tread surface, rather than implementing a single-skin tread.
  • FIG. 6 illustrates a ferrous tread material, according to various embodiments of the invention.
  • the ferrous tread material is designed to function as part of the magnetic levitation system, which will levitate the entire Spindle system to enable ease of revolution of the moving tread surface.
  • Figure 7 illustrates polarity of a ferrous tread material, according to various embodiments of the invention.
  • the figure includes an exemplary illustration of the polarity configuration of the Ferrous tread surface within the magnetic levitation system.
  • Figure 8 illustrates an alternative configuration of a ferrous tread material, according to various embodiments of the invention.
  • a secondary application of the Ferrous tread for magnetically reducing the friction between the elastic tread and the inner locomotion platform; which is also magnetized with the opposite polarity.
  • Figures 9A and 9B illustrate a polyhedral configuration of a tread surface, according to various embodiments of the invention.
  • Polyhedral assembly of the revolving tread surface, rather than implementing a single-skin tread has advantages.
  • Polyhedral tread assembly is optionally produced with holes in the segments in order to reduce the stress on the individual components, and to allow frictional heat to ventilate from inside of the revolving tread.
  • Figure 10 illustrates a spring hinge, according to various embodiments of the invention.
  • the illustration includes a spring hinge to allow bending and stretching between the polyhedral components as the segments move around the sides of the inner platform while in motion.
  • Figures 11 A and 1 IB illustrate single and multi-layered tread surfaces, according to various embodiments of the invention.
  • Various embodiments include a single-skinned revolving tread surface, where the single skin may be comprised of multiple layers suiting the anti-friction requirements of the inner tread, while concurrently suiting the anti-slip requirements of the outer tread where the locomotion takes place.
  • Figure 1 IB includes a cut-away close-up of multilayered single-skinned revolving tread material.
  • Figure 12 illustrates a top view of a multi-layered tread surface, according to various embodiments of the invention. The illustration includes a multi-layered single-skinned tread, wherein the inner layers do not necessarily need to be bonded.
  • Figure 13 illustrates air flow within a tread, according to various embodiments of the invention. Air levitation of the revolving tread in order to reduce friction on the interior locomotion surface; similar to a bellows or an air hockey table.
  • Figure 14A illustrates magnetic levitation of a tread, according to various embodiments of the invention.
  • Magnetic levitations systems description 1) the tread material may have ferrous characteristics, and the inner locomotion surface may have permanent or electromagnetic magnetism of opposite polarity, thereby raising the elastomer tread from the inner surface to minimize friction; 2) the inner locomotion platform may exude magnetism, and there may be opposing magnetism exuding from the base of the device, thereby raising the entire Spindle system via magnetic levitation minimizing friction on the under-mounted rollers.
  • Figure 14B illustrates a detailed view of the tread of Figure 14A, according to various embodiments of the invention.
  • the illustration includes a cut-away close-up view of magnetic tread and repelling inner locomotion surface magnets.
  • Figure 15 illustrates an inner locomotion surface, according to various embodiments of the invention.
  • Ball bearing encircled inner locomotion surface, which enables freedom of movement of the spheroid revolving tread.
  • Figure 16 illustrates a ball bearing rig, according to various embodiments of the invention.
  • Figure 17 illustrates an adapted ball bearing rig, according to various embodiments of the invention.
  • Figure 18 illustrates a bearing retainer assembly according to various embodiments of the invention.
  • Figure 19 illustrates a roller assembly including a plurality of motor drives, according to various embodiments of the invention.
  • Figure 20 illustrates details of an alternative roller assembly, according to various embodiments of the invention.
  • Figure 21 illustrates a magnetically levitated spindle, according to various embodiments of the invention.
  • Figure 22 illustrates a cross-sectional view of a magnetic levitation system, according to various embodiments of the invention.
  • the illustration includes both the Spindle and the Spindle support system.
  • Figures 23A and 23B illustrates alternative magnetic levitation systems, according to various embodiments of the invention.
  • Figure 23B illustrates the detail and polarity configuration of both the Spindle and the Spindle support system, according to various embodiments of the invention.
  • Figure 24 illustrates a cross-sectional view of an alternative spindle support system, according to various embodiments of the invention.
  • Figures 25 and 26 illustrate a detailed view of a section of Figure 24- A, according to various embodiments of the invention.
  • Figure 27 illustrates an omni- wheel spindle support configuration, according to various embodiments of the invention.
  • the Omni-wheel Spindle supports configuration omni-wheel rigs affixed intermittently to the base of the device will support the Spindle unit while concurrently allowing the tread surface to revolve freely in any direction.
  • Figure 28 illustrates a segmented inner locomotion platform, according to various embodiments of the invention.
  • a segmented solid inner locomotion platform that expands outwards equally in all directions for the purpose of fitting the inner platform snugly inside of the spherical revolving tread; useful for initial assembly of the device, as well as for periodic adjustments to the fitting of the revolving tread. Sections may expand via a hydraulic system that may be activated by remote control and powered by a wireless charging mechanism.
  • Figure 29 illustrates an injection system, according to various embodiments of the invention. Injection of substance into spherical locomotion tread that solidifies and is able to be formed into the locomotion surface.
  • FIG 30 illustrates an internal locomotion tread drive system, according to various embodiments of the invention.
  • the internal locomotion tread drive system includes assistive or driving motors configured to be controlled wirelessly and powered by inductive charging.
  • Figure 31 illustrates a cross-sectional view of a drive system, according to various embodiments of the invention.
  • Figure 32 illustrates an adaptation of omni-wheels, according to various embodiments of the invention.
  • Figure 33 illustrates a cross-sectional view of the system of Figure 32, according to various embodiments of the invention.
  • Figure 34 illustrates an omni directional motor, according to various embodiments of the invention.
  • Example of the omnidirectional motor that will be a part of a series of similar motors comprising the motor drive system.
  • Omnidirectional motors will be affixed intermittently around the base of the device, driving and/or assisting the movement of the revolving tread surface; based upon real time data describing where the user is on the device and in the virtual environment.
  • Figure 35 illustrates use of an omni-directional motor in a drive system, according to various embodiments of the invention.
  • Figure 36 illustrates a cross-sectional view of the system of Figure 35, according to various embodiments of the invention.
  • Figure 37 illustrates a motor drive option, according to various embodiments of the invention.
  • Option for a motor drive system where two motors drive a ball, which in turn contacts the revolving tread surface in order to assist and/or drive the revolution of the tread. This option may be used in conjunction with the motor drive option illustrated in Figure 4.
  • Figure 38 illustrates a ball transfer motor configuration, according to various embodiments of the invention.
  • Figure 39 Illustrates views of an omnidirectional treadmill, according to various embodiments of the invention. This shows an option for the motion tracking system placement and configuration, which will relay the locomotion data of the user in real time both to the VR environment and to the motor drive system, and optionally to the Tilting and Varying Surface Robotic Platform described below.
  • This combination of systems will implement predictive artificial intelligence, where the device will attempt to predict, based upon bio-kinetic analysis, the user’s locomotion, and the motor drive system will respond by keeping the user centered on the circular locomotion surface.
  • Other uses of the predictive analysis and motion tracking include enhanced interfacing of the user into the virtual environment.
  • Figures 40 and 41 illustrate various views of a tilting omnidirectional treadmill, according to various embodiments of the invention. These views include a side view of the undermounted Tilting Robotic Platform option, which will respond in real time to the user’s location in the virtual environment, wherein when the user encounters an incline in the VR environment the platform, and in turn, the locomotion surface, will tilt upwards in whatever direction the user is moving in order to emulate walking or running up a hill. The reciprocal is also true for emulating declines in the VR environment. Side view of the Varying Surface Platform option, which may work in conjunction with the Titling mechanism described in Figure 40. This option will emulate elevation, and raising and descending in the virtual environment. [0048] Figure 42 illustrates a top view of 3 axis motion control using 120-degree trines and drive axis that pass through the platform center according to various embodiments of the invention.
  • Figure 43 is a perspective view of 18 single plane omni wheels according to various embodiments of the invention.
  • Figure 44 shows a perspective view, and a front view, of a dual plane omni wheel according to various embodiments of the invention.
  • Figure 45 illustrates an exemplary balloon in the process of being molded according to various embodiments of the invention.
  • Figure 46 illustrates the molding of a balloon by low pressure injection molding within a multi-part tool according to various embodiments of the invention.
  • Figure 47 illustrates two parts of the mold of Figure 46.
  • Figure 48 illustrate a balloon within the mold of Figure 46, partially unmolded.
  • Figure 49 illustrates an exemplary manual process of stretching a balloon over a bobbin according to various embodiments of the invention.
  • Figure 50 illustrates an exemplary bobbin complete with balloon cover according to various embodiments of the invention.
  • Figures 51 and 52 illustrate an exemplary process of sealing the hole in an injection molded balloon according to various embodiments of the invention.
  • Figure 53 illustrates a top view schematic representation of an OmniPad showing exemplary tracking cameras according to various embodiments of the invention.
  • Figure 54 illustrates a perspective view of an OmniPad including an exemplary video display according to various embodiments of the invention.
  • Figure 55 illustrates a cross-sectional view of an omnidirectional treadmill according to various embodiments of the invention.
  • Figure 56 illustrates a top view of a bobbin of an omnidirectional treadmill without the bladder, according to various embodiments of the invention.
  • Figures 57 and 58 illustrate top views of a bobbin of an omnidirectional treadmill, with and without the bladder, showing drive and stabilization omniwheels arranged around the bobbin according to various embodiments of the invention.
  • Figure 59 illustrates a perspective view of the arrangement of Figure 58.
  • Figure 60 illustrates a side view of the arrangement of Figure 58.
  • Figure 61 illustrates a perspective view of a single plane omni wheel according to various embodiments of the invention.
  • Figure 62 illustrates a front view of the single plane omni wheel of Figure 61.
  • Tread The tread will be fabricated using highly flexible and extremely durable rubber-like material like Silicone, EPDM or natural rubber which can be motivated by a person walking or running.
  • the tread is manufactured in such a way that it is a single sphere like embodiment, which is then wrapped over the spindle, entirely encasing the spindle and bearings. This material is flexible enough to enable a 360- degree change in direction around the spindle.
  • the Spindle - Walking Platform The Spindle will be approximately 200mm thick and approximately 1 - 2 meters diameter.
  • the Top Surface is designed to support the user during operation.
  • Edge Bearings reduce the friction on the tread (bladder) as it rotates around the spindle. The bearings enable the free 360-degree mobility of the bladder.
  • Bobbin Referring to Figure 2.
  • the bobbin assembly is the combination of the tread (bladder), spindle, edge bearings and lubrication as shown below.
  • the bobbin assembly allows the user to be in the virtual environment and move as if they are in the natural world. This assembly is supported by the support bearing blocks.
  • Support Bearing Block Referring to Figure 3.
  • the bearing support system allows the bobbin assembly to move with little or no friction, as shown below. This system supports the bobbin during operation and translates the loads to base system.
  • Motor Drive System Referring to Figure 4.
  • the Motor drive system is used to assist the users' natural locomotion, and to relay the locomotion gestures to the virtual environments, which will update in real time, as shown below.
  • the tread will be fabricated using highly flexible and extremely durable rubber-like material like Silicone, EPDM or natural rubber which can be motivated by a person walking or running.
  • the tread is manufactured in such a way that it is a single sphere like embodiment, which is then wrapped over the spindle, entirely encasing the spindle and bearings. This material is flexible enough to enable a 360- degree change in direction around the spindle.
  • the tread will be manufactured in such a way that it is a continuous surface, which is then wrapped over the spindle to entirely encase the spindle and bearings.
  • the tread is formed from a balloon.
  • the tread is also referred to herein as a bladder or walking surface.
  • the Ferrous tread material allows for the omnidirectional locomotion surface to be magnetically polarized, thereby, attracting or repelling magnetic or electromagnetic forces. This allows the tread to magnetically levitate the bobbin assembly.
  • Area 1 Magnetically polarized tread
  • Area 2 Mag-Lev bearing block.
  • Friction Reduction Referring to Figure 8, another use for the ferrous tread material is to be suspend away from the spindle, therefore lowering the frictional forces. By using the magnetically repelling forces and the elasticity of the tread itself, the tread will separate from the spindle providing a small gap, thus lowering the friction between the spindle and the tread.
  • Area 1 Negatively charged outer surface
  • Area 2 Positively charged inner tread surface
  • Area 3 Positively charged outer spindle surface.
  • Goldberg Polyhedral Tread Material Referring to Figures 9A Another embodiment of the bladder is comprised of discrete segments. These segments typically take the shape of either hexagon or pentagon polyhedrons which are edge-connected to form a sphere.
  • Polygon segments used in any of the Goldberg polyhedral spheres will be made from a flexible material.
  • the individual polyhedral elements need to stretch in any arbitrary direction a minimum of 150% of its original dimension in any planar direction. Categories of materials that possibly fulfill this mission are thermoplastic rubbers, or stretchable fabric like elastane (Spandex).
  • the Goldberg construction uses hexagons and pentagons. There are other geometries available as well, such as parallelograms. These alternate constructions are not Goldberg polyhedra.
  • a further enhancement of the Goldberg segments is inclusion of a hole pattern.
  • Inclusion of holes permits the structure to stretch with lower material stress for equal strain.
  • These patterns are made from Hexagon and Pentagon Shapes like a soccer ball. Elastomer shapes stretch to fill the gaps. Spring hinge pins allow for bending on the hinge lines.
  • Multilayer Skin Tread Referring to Figures 11 A and 1 IB, the Multilayer Skin Tread use thin layers of different tread materials, coating and textures to have specific properties on the different layers.
  • the inner layer needs to be extremely low friction such as Teflon (PTFE) coating, as it is sliding on the spindle surfaces.
  • the outer layer preferentially needs to have a higher friction, or needs to have traction so the user's foot surface and the motor drives will be able to move the tread surface in any direction.
  • the inner and outer surfaces of each layer may or may not be bonded together. Working with multiple thin layers will create a stronger tread, and will also aid in the overall assembly of the entire bobbin unit.
  • layers may or may not be bonded together, layers may or may not be of the same materials or material properties, and optionally inside layers do not have to be bonded or sealed (areas 1-4 below).
  • Outside layers may be selected for friction with the feet or footwear of a user.
  • Inside layers may be selected for reduced friction of motion of the tread surface against the supporting structures.
  • Outside layers e.g., layer 5 may, therefore, have a greater coefficient of friction than inside layer 1.
  • FRICTION REDUCTION SYSTEM The surface between the Spindle and the Tread is a very high friction force area. To alleviate these friction forces, we have designed different alternative methods. Although the primary solution to high friction force is employment of a low friction layer such as TeflonTM (or PTFE), other solutions are available.
  • TeflonTM or PTFE
  • Air Bearing Referring to Figure 13, the Air bearing spindle uses a similar concept to an air hockey table.
  • An air hockey table uses small air jets to levitate a puck on the surface.
  • the air bearing spindle has a porous spindle surface or uses air jets to separate the tread material from the spindle surface. This will minimize or eliminate the friction.
  • the arrows in the image below represent the airflow applying a force to the tread/bladder. This driving force causes the tread to expand like a balloon away from the spindle, thus lowering the friction between the two elements.
  • Area 5 Interior surface of the tread is polarized differently than the spindle to create a separation of the tread from the spindle. This is to eliminate (or minimize) the friction between the spindle and the t read.
  • Area 6 The spindle magnet can be permanent or electromagnet. The electromagnet can be powered by an inductive power coil similar to wireless cell phone charging. Control of the electromagnet is done through wireless communication.
  • Dry & Wet Lubrications Dry and wet lubricants are used to reduce the friction between the tread and the spindle. These lubricants are also used to dissipate some of the thermal energy created by the friction.
  • Ball Transfer Bearing Referring to Figures 15 and 16, this is the most straightforward means of friction reduction around the edges as it transmits motion onto the rolling contact of a bearing. Balls, rollers or rollers plus balls around the outside accomplish this task. On the top surface, this may be accomplished by employing a bed of omni-rollers lined up to form a surface. Omni-rollers need to be sized small enough to form a surface with a large number of foot contact points, but large enough to employ bearings of reasonable size.
  • Area 1 Edge ball bearing
  • Area 2 Magnet embedded inside the edge bearing
  • Area 3 Magnet embedded inside the ball transfer base unit
  • Area 4 recirculating bearings.
  • Area 1 Edge ball bearing, which is similar to a ball transfer unit with smaller ball bearings behind the main ball in contact with bladder (tread).
  • Area 2 Bearing retainer (may not be required)
  • Area 3 Spindle.
  • Roller-ball-socket unit Referring to Figure 19, motion along the OmniPad periphery varies continuously. Motion vectors combine both vertical and horizontal motion. It is the most straightforward way to provide a rotational surface for vertical motion. Horizonal motion along the sides will need to rely on low sliding friction or bearing supported rollers.
  • each ball fits into the socket of the next. Further, we see that each ball is held by two sockets, with each socket having its own bearing. The ball will rotate relatively freely, with some friction against the bearing cups because of the mounting angle. Separate segments permit varying vertical motion vectors to maximize the bearing- supported motion, as opposed to friction-supported motion. This type of repeating unit is driven from the outside of the OmniPad.
  • Magnetically Levitated Spindle Currently, magnetic bearings are commonly used in industrial applications such as turbomolecular pumps, or even mag-lev trains.
  • the magnetically levitated bearing supports leverage on the technology that is used in other products to create a non- contacting bearing system that uses permanent magnet and/or electromagnets to magnetically levitate the bobbin assembly without any physical contact.
  • the magnetically levitated bearing supports eliminate any mechanical wear that the contact bearing create, and it eliminates friction.
  • the OmniPad uses permanent magnets inside of the bobbin assembly, and electromagnets in the bearing block.
  • Ball Transfer BearingBlock Referring to Figures 24, 25, and 26, the ball bearing supports the bobbin assembly with a thrust bearing to allow for low friction to transfer the loads.
  • the below images show how the ball bearing block interfaces with the bobbin assembly in vertical and axial loads. A minimum of 3 bearing blocks are required, while the images below show 4 bearing blocks.
  • Area 1 Ball transfer units configured to support axial and radial loads. Motor drive can be integrated into the ball transfers.
  • Omni Wheel Referring to Figure 27. Omni wheels of the standard (shown) or the Mecanum wheel type are used to support and stabilize the spindle assembly. No fewer than three points of contact are required for full stability, though six are depicted. Support nodes require wheel pairs: one for bottom and one for top. Either or both of these wheels may be powered to control surface movement.
  • the surface velocity vector at the contact point of the roller is what determines roller drive velocity.
  • Omni-wheels have the unique feature of driving only in the plane of the wheel, orthogonal to the drive axis. All other motion is passed through the rollers. Drive velocity at a given point is accomplished by revolving and driving only the motion vector that the roller can address.
  • the system is supported at 45 degrees above and below the center line by 3 to 8 pairs of support wheels. These support wheels can be used in tandem to drive the tread.
  • SPINDLE The spindle provides the rigid surface for the user to operate on while providing a support structure for the edge bearings.
  • the Spindle will be approximately 200mm thick and approximately 1 - 2 meters diameter.
  • the Top Surface is designed to support the user during operation.
  • Solid or Segmented Spindle Referring to Figure 28, the segmented spindle takes a rigid solid spindle and breaks it into pieces that can be assembled inside the bladder. Once assembled, the spindle is then expanded (either manually or automatically) to the proper size and shape. In some embodiments, an otherwise solid spindle is broken into smaller pieces to assist in assembling the spindle into the bladder. Optional a ratcheting device to expand the spindle once assembled inside the bladder.
  • Inflatable Spindle The inflatable spindle (See Figure 29 Area 1) allows for the spindle to be inserted into a small opening in the Bladder during the assembly process. The spindle is then filled with a media (Gas or liquid) to rigidize the spindle such that the loads (bearings and user's weight) are properly supported and managed.
  • a media Gas or liquid
  • DRIVE SYSTEM Driving the Omni-Directional Treadmill can be accomplished via internal or external motors.
  • the drive system is essential to overcome the high frictional forces that the tread experiences.
  • These motors are typically controlled by circuits responsive to sensors that detect motion of a user standing on the treadmill.
  • the circuits configured to keep the user centered on the treadmill as the user moves on various directions by walking or running, etc.
  • Omni Wheel Figures 32 and 33 illustrate six external omni wheels driving a surface. Omni-rollers on the bottom are connected to servo motors. Each omni roller drives only the motion vector tangent to the contact point. Motion transverse to the contact point passes through because of the roller construction. Omni-rollers on top typically serve to constrain the OmniPad fully in 3D-space. Further, upper rollers can be used to increase the contact force of the drive rollers. In theory, only three drive rollers are needed to address all top surface motion vectors.
  • Drive Wheel Referring to Figure 35 A simple drive system can drive the tread from a series of motors mounted under the bobbin assembly. See isometric view in Figure 36. These motors are mounted on a rotary table to allow for motion in any direction. The images below show a motor system with 4 motors that are synchronized to move the tread while minimizing the adverse effects on the top user surface.
  • Ball Transfer Drive System Referring to Figures 37 and 38, the Ball Transfer Drive System uses 2 motors to drive a ball supported by bearings underneath. This allows the motors to drive the ball in any direction. This motor drive system can be placed into the Ball Transfer Bearing Blocks, or as a stand-alone motor system in the center of the bobbin assembly.
  • CONTROL SYSTEM Referring to Figure 39, the control system design controls the speed and direction of the tread surface. It ensures that the user has a safe and entertaining experience while using the omnidirectional moving surface.
  • the control system utilizes user motion feedback, through cameras, force feedback through the safety harness and feedback from the drive motor system. These different feedback systems provide validation and confirmation of the user and operation of the OmniPad system.
  • Motion Feedback Referring to Figure 39, using Cameras pointed at the user or other sensors, the OmniPad control system can determine the position, direction and speed of the user. As the user changes any or all of the above locomotion characteristics, the motion feedback system responds to and can predictively adjust the OmniPad tread surface accordingly.
  • the Motion feedback system can also identify where the users body parts are located providing additional feedback into the virtual environment. By recognizing the users' body position and velocity, the motion feedback system calculates where the user’s next step will be placed and the center of mass. This functionality will assist in the overall effectiveness of the immersive experience.
  • Motor Feedback By monitoring the motors' direction (forward or reverse), velocity (via motor encoder or steps) and angle of attack (rotational direction relative to ground) we can control the actual position and motion of the tread. By monitoring the motor current and encoder position the system can monitor any system faults on the tread (i.e., the tread not moving, when we expect it to be moving).
  • Tilting Robotic Platform Referring to Figure 40, by using a combination of linear actuators and sensors (load cells, position indicators) the locomotion surface can be actuated in order to change the tilt or pitch of the tread surface.
  • the OmniPad can simulate to the user moving up, down or across slopes in the virtual environment.
  • Varying Surface Emulation Referring to Figure 41, when the user is immersed in the virtual world, with visual, audio and locomotion, the OmniPad Control System can make small adjustments to the angle and elevation of the tread surface to simulate a wide variety of surfaces, such as gravel, sand or mud.
  • the OmniPad control system along with the immersive VR environment manipulates the users' sensory perception to give the feel of walking or running on different surface types and densities.
  • the combination of the linear position indicators, and the load cells allows the control system to calculate the position of each of the user's feet. Thus, defining the accurate and subtle changes required to simulate the varying surface types.
  • the 3 trines are clockwise 0-120 degrees, 120-240 degrees and 240-360 degrees.
  • Trine 1 starts with Primary drive wheel A and runs up to Primary drive wheel B
  • Trine 2 starts with Primary drive wheel B and runs up to Primary drive wheel C
  • Trine 3 starts with Primary drive wheel C and runs up to Primary drive wheel A.
  • the 3 primary drive wheels (A, B, C) could in theory drive the continuous surface on their own. Redundant drive wheels are added to spread out the drive forces.
  • Inverse Drive wheels (-A, -B, -C) use the same motor input as their respective Primary drive wheels (A, -A), (B, -B), (C, - C) but in the reverse direction.
  • the input to drive the system is based on cartesian coordinate system (illustrated in the center of the image as 0, 90, 180, 270).
  • the X and Y input is converted to a polar coordinate system in order to drive each primary drive wheel using the following equations:
  • Motor A speed COS of the polar angle in degrees
  • Motor B speed COS of 120 - the polar angle in degrees
  • Motor C speed negative COS of 60 - the Polar angle in degrees
  • Figure 43 shows 18 “single plane” omniwheels. 6 wheels allows for 3 wheels to be 120 degrees apart and each of the 3 wheels to have a polar opposite. This defines the drive system to be a multiple of 6 wheels, 6, 12, 18, 24 etc... For this particular diameter 18 wheels minimizes the unsupported space between the wheels.
  • Figure 44 shows a dual plane omniwheel for reference, in both a perspective view and a front view. Note the lack of consistent rolling contact if two wheels are rolled against each other due to the gaps between rollers in each plane.
  • the dual plane omniwheel has a set of rollers along the circumference of the wheel in two planes. There are essentially 2 sets of rollers in parallel planes around the circumference of the wheel. The issue is the two sets of wheels are clocked out of phase from each other to create a continuous rolling surface when rolling on a flat surface. Since only one omniwheel is driving another, through the walking surface material, we cannot have this great of a discontinuity from one roller to the next.
  • the single plane omniwheels nest the 2nd set of rollers inside the first set of rollers within the same plane. This makes for a very small discontinuity from roller to roller.
  • Spherical elastomer balloon that is 90% spherical or better for the purpose of stretching over a continuously recycling support structure, then "capping" to create a continuous surface.
  • Figure 45 shows a 14” diameter balloon while still on the core mold (spherical) and after removal from the core mold, also showing the passage hole.
  • the balloon preferably is not off of spherical by more than about 10% by any 2 measured diameters. If the smallest measured diameter is 10”, the largest measured diameter needs to be no greater than 11”. This can also be thought of as +/- 5%.
  • the material of the balloon needs to be very tough and extremely elastic.
  • a suitable example is a platinum cure silicone Shore A 03 durometer with a stretch to failure ratio of 7.
  • Other materials have similar properties, for example, Latex, TPU, TPE, etc. could be used with the proper production equipment.
  • the balloon will be understood to be the same structure as the bladder, or walking surface, when incorporated into an omnipad.
  • Figure 46 illustrates the molding of a balloon by low pressure injection molding within a multi-part tool held together with clamps.
  • Figure 47 shows two parts of the mold, while Figure 48 shows the balloon within the mold, partially unmolded.
  • the multi part mold tool when assembled, defines a gap in the desired shape of a spherical balloon.
  • the result is an outer wall surface and an inner wall surface between which a 2 part mix platinum cure silicone is injected using a low pressure (for example, 45psi), to fill the void and create the balloon.
  • a low pressure for example, 45psi
  • the outer cavity of the mold tool is then disassembled (split apart) so it can be separated from the balloon and spherical core.
  • the balloon is then stretched off of the spherical core to yield a single piece spherical balloon.
  • low pressure injection molding is but one example.
  • Figures 49 illustrates a manual process of stretching a balloon over a bobbin
  • Figure 50 shows the bobbin complete with the balloon. It should be noted that the balloon can be purposefully marked or colorized during fabrication, or after fabrication and before stretching, or after stretching.
  • Figures 51 and 52 show an exemplary process of sealing the hole that allowed the balloon to be stretched over the bobbin.
  • the hole is stretched closed so there is almost zero stretch, then the edge of the hole is clamped to an inside structural plate, as seen in Figure 51, and then a puddle of silicone is poured into the hole on the plate, then cured. After curing the clamps are removed and the excess material is peeled off of the inner structural plate. This gives a sealed balloon wrapped over the omniwheel structure.
  • Figure 53 shows a top view schematic representation of an exemplary OmniPad.
  • the arrows in Figure 53 represent the location and direction of exemplary tracking cameras.
  • Each camera can “see” the moving subject on the motion surface and output positional data to be used to move the circular motion surface in whatever direction is required to move the motion subject to the center of the motion surface.
  • As few as one motion tracking camera will work. More cameras increase accuracy and sensitivity.
  • Motion control output stick, keyboard, mouse, VR/AR
  • gaming computer PC, VR headset, etc.
  • AR/VR environment motion to the walking subject's motions. i.e. simply walking on the surface drives the game motion.
  • the motion tracking input(s) that cause the motion surface to move the motion subject back to the center of the motion surface can also be output to VR headsets, gaming systems, PCs, etc. to “move” the subject within the AR/VR/Gaming environment in a synchronized manner.
  • Figure 54 shows a perspective view of an OmniPad including a curved video display.
  • the Idling wheels to keep the walking surface from spinning about the vertical (Z) axis relative to the drive assembly can be as few as 1 , but 4 or more are preferred.
  • the number of redundant drive wheels can be anything, but multiples of 6 make the most sense. Adding intermediate wheels is also doable.
  • Any diameter of drive wheel will work as they roll outside the walking surface. The goal however is to keep it as small as possible. 100mm diameter wheels are readily available, but 125mm diameter wheels would also work. As the platform size increases, the wheel diameters would scale as well.
  • An exemplary maximum ratio of wheel size to platform size (diameter to diameter) is about 6:1, while a minimum would be 1: 1 as that would just be a spherical walking surface. As one gets closer to spherical, the easier everything is, however a 20ft diameter sphere would be required to get a usable walking surface and the goal is to keep it as small as possible.
  • Figures 55-60 show additional illustrations of an omnidirectional treadmill according to various embodiments of the present invention.
  • Figure 55 shows a cross-sectional view of a bobbin showing two support omniwheels surrounded by a flexible bladder. The support omniwheels are maintained in place by a support structure.
  • Each support omniwheel defines a rotation axis that in the illustration is perpendicular to the plane of the drawing. The rotation axis of each support omniwheel is also tangential to a circle defined by the arrangement of support omniwheels.
  • each drive omniwheel is disposed at one of the support omniwheels such that the bladder is compressed between each drive omniwheel and its respective support omniwheel.
  • stabilization omniwheels disposed outside of the bobbin and also in contact therewith are optional stabilization omniwheels, as shown.
  • Figure 56 illustrates a top view of a bobbin of an omnidirectional treadmill without the bladder. This drawing shows a different perspective of the bobbin shown in Figure 43. Both show that the support omniwheels are arranged around a circle.
  • Figures 57 and 58 are top views of drive omniwheels and stabilization omniwheels arranged around a bobbin, according to various embodiments.
  • Figure 57 includes the bladder while Figure 58 omits the bladder to show the support omniwheels within.
  • Figure 59 shows a perspective view of the arrangement of Figure 58, while Figure 60 shows a side view of the same.
  • the stabilization wheels each define a plane that is off-axis with respect to the center of the bobbin.
  • the stabilization omniwheels are paired such that each stabilization omniwheel sits opposite its mate across the center of the bobbin, with their respective planes being parallel.
  • Each stabilization omniwheel is arranged to be in contact with the bladder opposite a support omniwheel.
  • the side view particularly shows that omniwheels can be disposed in a plane below a center horizontal plane defined by the bobbin in order to support the bobbin. Similarly, omniwheels can be disposed in another plane above the horizontal plane of the bobbin in order to hold down the bobbin.
  • the omniwheels above the plane of the bobbin are drive omniwheels while the omniwheels below the plane of the bobbin are stabilization omniwheels, or vice versa, or there drive and stabilization omniwheels are disposed in both planes.
  • one of the stabilization omniwheels is configured to prevent rotation of the bobbin around a vertical axis of the bobbin in a clockwise direction and another of the stabilization omniwheel is configured to prevent rotation of the bobbin around the vertical axis in a counterclockwise direction.
  • Figures 61 and 62 show a single plane omniwheel both in perspective and edge-on.
  • the single plane omniwheel includes interlocking rollers or have rollers spaced apart by a distance less than a length of each roller. This presents a roller on one omniwheel from locking between rollers on an opposing omniwheel. While this is illustrated for a single plane omniwheel, it also applies to dual plane omniwheels.

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  • Health & Medical Sciences (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

Un tapis roulant omnidirectionnel entraîné par un moteur permet aux utilisateurs de marcher, de trottiner ou de courir dans n'importe quelle direction. Lorsque le tapis roulant est couplé à des environnements immersifs générés par ordinateur, les utilisateurs peuvent manœuvrer à pied par l'intermédiaire d'environnements de RV à 360 degrés d'étendue et de portée infinies. Le tapis roulant comprend une bobine constituée d'une surface de marche disposée autour d'un agencement circulaire de roues omnidirectionnelles de support. Des roues omnidirectionnelles d'entraînement sur l'extérieur de la bobine sont conçues pour translater la surface de marche.
PCT/US2023/010141 2022-01-04 2023-01-04 Plate-forme omnipad alimentée WO2023133158A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
AU2023205736A AU2023205736A1 (en) 2022-01-04 2023-01-04 Powered omnipad platform
CA3241980A CA3241980A1 (fr) 2022-01-04 2023-01-04 Plate-forme omnipad alimentee
PCT/US2023/032672 WO2024059159A1 (fr) 2022-09-13 2023-09-13 Surface de tapis roulant omnidirectionnelle
PCT/US2024/010590 WO2024148335A2 (fr) 2023-01-04 2024-01-05 Surface de tapis roulant omnidirectionnelle comprenant des carreaux

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
US202263296476P 2022-01-04 2022-01-04
US63/296,476 2022-01-04
US202263394601P 2022-08-02 2022-08-02
US63/394,601 2022-08-02
US202263399352P 2022-08-19 2022-08-19
US63/399,352 2022-08-19
US202263406070P 2022-09-13 2022-09-13
US63/406,070 2022-09-13

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6743154B2 (en) * 2001-06-01 2004-06-01 Neil B. Epstein Omnidirectional moving surface
US20140336010A1 (en) * 2010-07-29 2014-11-13 George Burger Single Belt Omni Directional Treadmill
KR20160129271A (ko) * 2015-04-30 2016-11-09 한국기계연구원 측면 옴니휠을 이용한 2차원 트레드밀
WO2018046077A1 (fr) * 2016-09-06 2018-03-15 Sony Mobile Communications Inc Appareil de locomotion omnidirectionnel
US20210346755A1 (en) * 2018-10-02 2021-11-11 Neil EPSTEIN Omnidirectional moving surface including motor drive

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6743154B2 (en) * 2001-06-01 2004-06-01 Neil B. Epstein Omnidirectional moving surface
US20140336010A1 (en) * 2010-07-29 2014-11-13 George Burger Single Belt Omni Directional Treadmill
KR20160129271A (ko) * 2015-04-30 2016-11-09 한국기계연구원 측면 옴니휠을 이용한 2차원 트레드밀
WO2018046077A1 (fr) * 2016-09-06 2018-03-15 Sony Mobile Communications Inc Appareil de locomotion omnidirectionnel
US20210346755A1 (en) * 2018-10-02 2021-11-11 Neil EPSTEIN Omnidirectional moving surface including motor drive

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