US5872438A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Whole-body kinesthetic display
Assignee: Cybernet Haptic Systems Corp
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Filing: 1997-07-01
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Granted: 1999-02-16
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Expires: 2017-07-01
Abstract
Abstract A virtual-reality system provides a full-body, digitally programmed, kinesthetic display in the form of a foot-haptic system incorporating a pair of footpads, one associated with each foot of a user, and a multi-axis electromechanical interface responsive to user position and orientation. A computer, in communication with the electromechanical interface, permits the user to interact with a virtual terrain, vertical features, or other users. In a preferred physical realization, the system includes three major components: a locomotion simulator, a ground plane 104, and a vertical feature emulator. A head-mounted display provides all visual clues. The system may be operated in a first mode of operation, wherein the user's feet and the footpads remain in constant contact with each other, or an alternative mode of operation, wherein the user makes and breaks contact with the footpads in a cyclical manner.
Inventors
- 👤 Gerald Roston
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-26 06:32
CPC Classifications
G; G06; G06F; G06F3/00; G06F3/01; G06F3/016; B; B25; B25J; B25J9/00; B25J9/16; B25J9/1679; B25J9/1689; G05; G05G; G05G9/00; G05G9/02; G05G9/04; G05G9/047; G05G9/04737; G06F3/011; A; A63; A63B; A63B71/00; A63B71/06; A63B71/0619; A63B2071/0658; A63B2071/0661; A63B2071/0666; G05B; G05B2219/00; G05B2219/30; G05B2219/35; G05B2219/35416; G05B2219/37; G05B2219/37396; G05G2009/04766; G06F2203/00; G06F2203/01; G06F2203/012; G06F2203/015
Claims Analysis
Total Claims: 22
Claim 1
Independent Claim
179 words
A foot-haptic system for providing force feedback in response to a user position and orientation, the system comprising: a pair of footpads, one associated with each foot of a user; a multi-axis electromechanical interface coupled to each footpad, the interface including an actuator for each axis responsive to user position and orientation, enabling the interface to generate electrical signals representative of the position and orientation of each footpad in three-dimensional space; and a computer in operative communication with the electromechanical interface, the computer being programmed to perform the following functions: store data representative of a visual virtual reality, including a virtual terrain associated with a ground plane, analyze the position and orientation of each footpad relative to the virtual terrain to determine any interaction therebetween, generate at least one force field in response to the interaction, if present, and generate a force signal for each axis of the electromechanical interface as a function of the force field, wherein the actuators are responsive to their respective force signals to provide a force to each axis for creating the force feedback.
Claim 2
Dependent Claim
179 words
A foot-haptic system for providing force feedback in response to a user position and orientation, the system comprising: a pair of footpads, one associated with each foot of a user; a multi-axis electromechanical interface coupled to each footpad, the interface including an actuator for each axis responsive to user position and orientation, enabling the interface to generate electrical signals representative of the position and orientation of each footpad in three-dimensional space; and a computer in operative communication with the electromechanical interface, the computer being programmed to perform the following functions: store data representative of a visual virtual reality, including a virtual terrain associated with a ground plane, analyze the position and orientation of each footpad relative to the virtual terrain to determine any interaction therebetween, generate at least one force field in response to the interaction, if present, and generate a force signal for each axis of the electromechanical interface as a function of the force field, wherein the actuators are responsive to their respective force signals to provide a force to each axis for creating the force feedback.
Claim 3
Dependent Claim
17 words
The foot-haptic system of claim 1, wherein the electromechanical interface is operable along at least four axes.
Claim 4
Dependent Claim
37 words
The foot-haptic system of claim 1, wherein the electromechanical interface further includes: a set of rails associated with each footpad, each rail including a linear slider; and a support tube from each slider to its respective footpad.
Claim 5
Dependent Claim
18 words
The foot-haptic system of claim 3, wherein the rails associated with each footpad are orthogonal to one another.
Claim 6
Dependent Claim
25 words
The foot-haptic system of claim 3, wherein three rails are associated with each footpad to provide a yaw axis in addition with movements in three-space.
Claim 7
Dependent Claim
21 words
The foot-haptic system of claim 1, further including means for ensuring that the user's feet remain in contact with the footpads.
Claim 8
Dependent Claim
38 words
The foot-haptic system of claim 6, wherein the means for ensuring that the user's feet remain in contact with the footpads includes a electromagnetic supported in each footpad adapted to attract a magnetic boot worn by the user.
Claim 9
Dependent Claim
52 words
The foot-haptic system of claim 1, wherein the user's feet do not need to remain in contact with the footpads at all times, and wherein the computer is further programmed to solve an inverse kinematic solution to predict the location of each footpad based upon the position and orientation of the user.
Claim 10
Dependent Claim
11 words
The foot-haptic system of claim 1, further including a ground-plane simulator.
Claim 11
Dependent Claim
32 words
The foot-haptic system of claim 1, further including a vertical feature emulator in operative communication with the computer, enabling the user to sense and interact with virtual objects above the virtual terrain.
Claim 12
Independent Claim
104 words
A method of providing force feedback in response to a user position and orientation, the method comprising the steps of: providing a pair of moveable footpads upon which the user stands; computer simulating a virtual environment including a virtual three-dimensional terrain; sensing the movement of the user through the footpads; analyzing the position and orientation of each footpad relative to the virtual terrain to determine any interaction therebetween; generating at least one force field in response to the interaction, if present; and generating a force signal as a function of the force field so as to provide a haptic force feedback to each footpad.
Claim 13
Independent Claim
104 words
A method of providing force feedback in response to a user position and orientation, the method comprising the steps of: providing a pair of moveable footpads upon which the user stands; computer simulating a virtual environment including a virtual three-dimensional terrain; sensing the movement of the user through the footpads; analyzing the position and orientation of each footpad relative to the virtual terrain to determine any interaction therebetween; generating at least one force field in response to the interaction, if present; and generating a force signal as a function of the force field so as to provide a haptic force feedback to each footpad.
Claim 14
Dependent Claim
25 words
The foot-haptic system of claim 11, wherein the step of providing a pair of moveable footpads includes providing footpads operable along at least four axes.
Claim 15
Dependent Claim
65 words
The foot-haptic system of claim 11, further including the steps of: providing an electromechanical interface having a set of rails associated with each footpad, each rail including a linear slider and a support tube from each slider to its respective footpad; and translating the sliders so move the footpads in three dimensions in conjunction with the steps of generating the force signals and the feedback.
Claim 16
Dependent Claim
15 words
The foot-haptic system of claim 13, wherein the rails are positioned orthogonal to one another.
Claim 17
Dependent Claim
15 words
The foot-haptic system of claim 11, further including the step of providing a yaw axis.
Claim 18
Dependent Claim
19 words
The foot-haptic system of claim 11, further including the step of positively coupling the user's feet to each footpad.
Claim 19
Dependent Claim
23 words
The foot-haptic system of claim 16, wherein the step of positively coupling the user's feet to each footpad includes the use of electromagnetism.
Claim 20
Dependent Claim
53 words
The foot-haptic system of claim 11, wherein the user's feet do not need to remain in contact with the footpads at all times, and wherein the method further includes the steps of: solving an inverse kinematic solution to predict the location of each footpad based upon the position and orientation of the user.
Claim 21
Dependent Claim
15 words
The foot-haptic system of claim 11, further including the step of simulating a ground plane.
Claim 22
Dependent Claim
29 words
The foot-haptic system of claim 11, further including the step of emulating a vertical feature enabling the user to sense and interact with virtual objects above the virtual terrain.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2002-02-15 | 2002-08-17 | 2003-02-16 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2006-02-15 | 2006-08-17 | 2007-02-16 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2010-02-15 | 2010-08-17 | 2011-02-16 | $7700.00 | Window Closed / Lapsed |