GB2576881A - Support structures - Google Patents

Support structures Download PDF

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Publication number
GB2576881A
GB2576881A GB1814325.5A GB201814325A GB2576881A GB 2576881 A GB2576881 A GB 2576881A GB 201814325 A GB201814325 A GB 201814325A GB 2576881 A GB2576881 A GB 2576881A
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United Kingdom
Prior art keywords
rotatable
arm
joint
attached
end region
Prior art date
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Withdrawn
Application number
GB1814325.5A
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GB201814325D0 (en
Inventor
John Trewhella Benjamin
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Opposable Group Ltd
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Opposable Group Ltd
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Publication date
Application filed by Opposable Group Ltd filed Critical Opposable Group Ltd
Priority to GB1814325.5A priority Critical patent/GB2576881A/en
Publication of GB201814325D0 publication Critical patent/GB201814325D0/en
Publication of GB2576881A publication Critical patent/GB2576881A/en
Withdrawn legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/01—Indexing scheme relating to G06F3/01
    • G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The support structure comprises a base 32, an articulated mechanism 33b attached to the base which rotates with respect to the base, and a foot plate 34 attached to the articulated mechanism. Preferably the articulated mechanism has a first rotatable joint 44 attached to the base, which is connected to a first arm 46, a second rotatable joint 48 and a second arm 50 connected to the foot plate. Alternatively, the articulated mechanism has a third joint 52 connected to the second arm and a third arm 54 connected between the third joint and the foot plate. Alternatively, the articulated mechanism has one rotatable joint attached to the base and a longitudinally extendible arm attached between the joint and the footplate. Alternatively, the articulated mechanism has one rotatable joint attached to the base and an arm attached between the joint and the footplate which can perform translational motion with respect to the joint. Preferably the rotatable joints are planar or ball joints. Preferably, sensors detect a user’s foot on the footplate, and sensors in the joints detect the amount of rotation. The structure replicates ascending and descending movement in VR.

Description

(71) Applicant(s):
Opposable Group Limited
Rose Road, Bristol, BS5 8EX, United Kingdom (72) Inventor(s):
Benjamin John Trewhella (51) INT CL:
G06F3/01 (2006.01) (56) Documents Cited:
GB 2316156 A
WO 2007/015603 A1
JP 2001087415 A
US 20100145233 A1
KR 1020150104391
KR 1020100126622
A63B 23/04 (2006.01)
WO 2017/184785 A1 FR 002993086 A1
RU 002640439 C1 (74) Agent and/or Address for Service:
Astrum ElementOne Limited
Merlin House, Langstone, Newport, NP18 2HJ, United Kingdom (58) Field of Search:
INT CL A63B, A63F, G06F
Other: EPODOC, WPI, Patent Fulltext (54) Title of the Invention: Support structures
Abstract Title: A support structure for supporting a user of a virtual or augmented reality system (57) The support structure comprises a base 32, an articulated mechanism 33b attached to the base which rotates with respect to the base, and a foot plate 34 attached to the articulated mechanism. Preferably the articulated mechanism has a first rotatable joint 44 attached to the base, which is connected to a first arm 46, a second rotatable joint 48 and a second arm 50 connected to the foot plate. Alternatively, the articulated mechanism has a third joint 52 connected to the second arm and a third arm 54 connected between the third joint and the foot plate. Alternatively, the articulated mechanism has one rotatable joint attached to the base and a longitudinally extendible arm attached between the joint and the footplate. Alternatively, the articulated mechanism has one rotatable joint attached to the base and an arm attached between the joint and the footplate which can perform translational motion with respect to the joint. Preferably the rotatable joints are planar or ball joints. Preferably, sensors detect a user’s foot on the footplate, and sensors in the joints detect the amount of rotation. The structure replicates ascending and descending movement in VR.
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Figure 2
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Figure 3
Figure 4
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Figure 6
Figure 7
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Figure 8
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Figure 9
SUPPORT STRUCTURES
The present invention relates to support structures, in particular to support structures for use with a virtual reality or augmented reality system.
BACKGROUND OF THE INVENTION
Users of virtual reality (VR) or augmented reality (AR) systems commonly make use of a stereoscopic video headset which displays images in front of the eyes of the user, in order to provide a three-dimensional view. Such a view may be entirely in the virtual world or may be an augmented view of reality. Systems include HTC Vive, Oculus Rift, and Microsoft Hololens, but can also include motion tracking systems such as Perception Neuron.
A challenge for VR or AR systems, is to provide the user with an appropriate way to move about the virtual or augmented world, whilst staying substantially stationary. Figure 1 of the accompanying drawings illustrates one such technique. A user 1, wearing a headset 2 on their head 4, is supported on their feet 6 on a monodirectional treadmill 8. The treadmill 8 operates to provide a moving surface 9 in conventional treadmill fashion. The user 1 can walk or run in the direction opposing the direction 9 of the treadmill 8. However, such a treadmill does not provide for sideways movement or ascent or descent, especially ascending or descending stairs.
Figure 2 of the accompanying drawings illustrates a development of the system of Figure 1, in which the user 1 is supported by a bidirectional treadmill 10, which is able to move in two perpendicular directions 11 and 12. Such a system allows for walking and running in two directions, but is not particularly realistic, and does not simulate ascent or descent of stairs.
Figure 3 illustrates an alternative system, in which the user 1 is seated on a platform 14. Such a system lacks realism.
The system illustrated in Figure 4 is an attempt to overcome the issues of multidirectional movement and simulation of ascent and descent. The user 1, wearing the headset 2 on their head 4 is supported by a harness 16 mounted on a base 18 by a support 17. A concave surface 20 is provided by the base 18. The concave surface 20 is designed to be as frictionless as possible. To this end, the user may wear a pair of frictionless shoes 22 on their feet in order to provide an effectively friction free interface. The user 1 can then walk or run in any horizontal direction on the concave surface, but this also cannot simulate ascent or descent. However, such systems, whilst fine in theory, are extremely difficult to achieve in practice.
Accordingly, it is desirable to provide a comfortable support system for a user of a VR or AR system, that can provide more realistic motion around the virtual or augmented worlds.
SUMMARY OF THE INVENTION
Aspects of the present invention are set out in the attached claims.
According to an aspect of the present invention, there is provided a support structure comprising
BRIEF DESCRIPTION OF THE DRAWINGS
Figures 1 to 4 are schematic views of previously considered systems for providing simulated movement for virtual reality or augmented reality systems;
Figures 5 to 8 are schematic views of various embodiments of the present invention that provide systems for supporting a user of a virtual reality or augmented reality system; and
Figure 9 illustrates a further embodiment of the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
Figure 5 of the accompanying drawings illustrates an embodiment of the present invention setting out the principle of the present invention. In Figure 5 (and in Figure 6 to 8) a support for a single foot of a user is illustrated for the sake of clarity. It will be readily appreciated that one or two supports may be provided for a user.
A support structure according to the principles of the present invention comprises a base 32, an articulating mechanism 33 and a foot plate 34. The articulating mechanism 33 supports the foot plate 34 above the base 32 and allows the foot plate 34 to be raised and lowered with respect to the base 32. The foot of a user is located above the foot plate, but is not physically strapped or otherwise secured to the footplate. Instead, the footplate tracks the user’s foot in combination with feedback from the visual experience of the user in the virtual world and moves to make contact with the user’s foot to coincide with the point at which the user would expect their foot to contact the ground. It is to be appreciated that this allows for the user to be experiencing movement in uneven and/or sloping terrain, rather than simply walking on a horizontal surface. The articulating mechanism 33 comprises sensors that enable the VR or AR system to detect the relative position of the foot plate 34 with respect to the base 32. Alternatively, or in combination, trackers may be provided on the footwear of the user to provide feedback on the user’s foot position.
The footplate may be motorizable, whether mechanically and/or hydraulically and/or any other suitable movement means. Once a user’s foot makes contact with the footplate and applies pressure via their foot to the footplate, the footplate will need to either stop movement to simulate the user’s foot hitting the ground or move with the foot to simulate the movement of the user’s foot on a surface. Finally, there may be active feedback and accompanying movement of the footplate to apply force to the foot of the user in accordance with the perceived surface on which the user is moving in their virtual experience, for example, the footplate may provide less or more resistance against the foot of the user depending on whether the system is simulating walking on firm ground, gravel, sand, slope or the like.
It is to be appreciated that the user may attach their foot to the footplate via strapping, or any other suitable engagement means. In this event sensors may be provided on the footplate rather than on the foot of the user to detect the position of the user’s foot during motion and static events.
The articulating mechanism 33 may be provided by various different configurations. The example shown in Figure 5 comprises a first rotatable joint 36 connected with the base 32. The first rotatable joint 36 comprises a first part attached to the base 32, and a second part which is rotatable with respect to that first part. From the second part of the first rotatable joint 36 extends a first arm 38, on which is mounted a second rotatable joint 40, at the opposite end of the first arm 38 to the first rotatable joint 36. The second rotatable joint 40 comprises a first part attached to the first arm, and a second part rotatable with respect to the first part of the second rotatable joint 40. A second arm 42 extends from the second part of the second rotatable joint 40 to the foot plate 34. The foot plate 34 is mounted to the second arm 42 via flexible coupling 43. It is to be appreciated that the rotatable joints may be of any suitable type of form known to the skilled person and suitable for purpose.
The first and/or second rotatable joints 36 and 40 may be provided by planar joints, in which the joint rotates in a single plane, or may be provided by a ball joint in which the joint rotates in multiple planes. The first and second rotatable joints 36 and 40 preferably provide a frictional bearing so that the joints do not sag under the weight of a user of the system. Alternatively, each joint could be a motor/generator device to provide feedback and position sensing, or any other suitable form of joint known to the skilled persons and suitable for function. It is to be appreciated that a single joint type or a variety of joint types could be used in combination to achieve the desired function.
The embodiment of Figure 6 provides an articulating mechanism having two rotational joints. Figure 6 illustrates a support structure having a base 32, a foot plate 34, and an articulating mechanism having three rotatable joints. The mechanism comprises a first rotatable joint 44 attached to the base 32, and from which a first arm 46 extends. At the other end of the arm 46, a second rotatable joint 48 is placed. A second arm 50 extends from the second rotatable joint 48 and supports a third rotatable joint 52 at the other end thereof. A third arm 54 extends from the third rotatable joint 52 and supports the foot plate 34 via a flexible coupling 43. The first, second and third rotatable joints 44, 48 and 52 are similar in design to the joints described with reference to Figure 5.
As with the Figure 5 example, the first and/or second and/or third rotatable joints 44, 48 and 52 may be provided by planar joints, in which the joint rotates in a single plane, or may be provided by a ball joint in which the joint rotates in multiple planes. The first, second and joints 44, 48 and 52 preferably provide a frictional bearing so that the joints do not sag under the weight of a user of the system. Each rotatable joint is preferably provided with a rotation sensor for detecting the relative rotation of the joint.
A further embodiment of the present invention is illustrated schematically in Figure 7. The foot plate 34 is mounted above the base 32 by an articulating mechanism 33c. The articulating mechanism 33c of Figure 7 comprises a single rotatable joint 56 attached to the base 32. A single arm 58 extends from the rotatable joint 56, and the foot plate 34 is attached to the arm 58 via a flexible coupling 43. The arm 58 of the articulating mechanism is extendable and retractable, as shown by arrow 62. This may be achieved using a linear actuator and/or spring and damper arrangement and/or any other suitable mechanism known to the skilled person and suitable to achieve the desired function. The arm 58 allows the foot plate 34 to be raised and lowered by the user’s foot 6. The rotatable joint 56 may again be a planar joint, or a ball joint. The joint 56 and the arm 58 preferably have sensors therein, so as to allow the system to detect the relative position of the foot plate 34 to the base 32.
A further embodiment of the present invention is illustrated schematically in Figure 8. The foot plate 34 is mounted above the base 32 by an articulating mechanism 33d. The articulating mechanism 33d of Figure 8 comprises a single rotatable ball joint 64 attached to the base 32. A single arm 66 extends from the ball joint 64, and the foot plate 34 is attached to the arm 66 via a flexible coupling 43. The arm 66 of the articulating mechanism is extendable and retractable (arrow 70) through the ball joint 64, whilst being rotatable with respect to the base 32. This could be achieved using a motorised arrangement. However, it is to be appreciated that alternative arrangements known to the skilled person and suitable to achieve the desired function, could also be used either an as an alternative to, or in combination with, such a motorised arrangement. The arm 66 allows the foot plate 34 to be raised and lowered by the user’s foot 6. The joint 64 and the arm 66 preferably have sensors therein, so as to allow the system to detect the relative position of the foot plate 34 to the base 32.
Figure 9 illustrates schematically a pair of support structures embodying the present invention. The example shown in Figure 9 is of the two rotatable joint design of Figure 5, but it will be readily appreciated that any of the example of embodiments may be used. Each of the foot supports comprises a first rotatable joint 36 attached to the base 32. First arms 38 extend from respective first joints 36 to respective second rotatable joints 40. Second arms 42 extend from respective second joints 40 and support respective foot plates 34 via flexible couplings 43.
Such a configuration as shown in Figure 9 enables the user to raise and lower each foot independently of one another, simulating walking naturally, and allowing the user to rotate and walk up stairs for example in the virtual world. This enables the more realistic simulation of foot steps in the virtual or augmented world. Planar rotatable joints allow the feet to move in a plane substantially perpendicular to the base 32, and ball joints allow greater freedom of movement of the feet out of such a plane.
Embodiments of the present invention are able to provide a greater realism for the user when walking or running in the virtual or augmented world, since the articulated mechanism connecting the foot plate to the base allows more natural movement of the feet.

Claims (7)

CLAIMS:
1. A support structure for supporting a user of a virtual or augmented reality system, the support system comprising:
a base;
an articulated mechanism attached to the base, and being rotatable with respect to the base; and a foot plate attached to the articulated mechanism so as to be supported above the base by the articulated mechanism.
2. A support structure as claimed in claim 1, wherein the articulated mechanism comprises:
a first rotatable joint having a first part attached to the base and a second part rotatable with respect to the first part;
a first arm having a first end region and a second end region, the first end region thereof being attached to the second part of the first rotatable joint, such that the first arm extends from the first rotatable joint, and is rotatable with respect to the base;
a second rotatable joint having a first part attached to the second end region of the first arm, and a second part rotatable with respect to the first part of the second rotatable joint;
a second arm having a first end region and a second end region, the first end region thereof being attached to the second part of the second rotatable joint, such that the second arm extends from the second rotatable joint, and is rotatable with respect to the first arm, wherein the foot plate is attached to the second end region of the second arm.
3. A support structure as claimed in claim 1, wherein the articulated mechanism comprises:
a first rotatable joint having a first part attached to the base and a second part rotatable with respect to the first part;
a first arm having a first end region and a second end region, the first end region thereof being attached to the second part of the first rotatable joint, such that the first arm extends from the first rotatable joint, and is rotatable with respect to the base;
a second rotatable joint having a first part attached to the second end region of the first arm, and a second part rotatable with respect to the first part of the second rotatable joint;
a second arm having a first end region and a second end region, the first end region thereof being attached to the second part of the second rotatable joint, such that the second arm extends from the second rotatable joint, and is rotatable with respect to the first arm, a third rotatable joint having a first part attached to the second end region of the second arm, and a second part rotatable with respect to the first part of the third rotatable joint;
a third arm having a first end region and a second end region, the first end region thereof being attached to the second part of the third rotatable joint, such that the third arm extends from the third rotatable joint, and is rotatable with respect to the second arm, wherein the foot plate is attached to the second end region of the third arm.
4. A support structure as claimed in claim 1, wherein the articulated mechanism comprises:
a rotatable joint having a first part attached to the base and a second part rotatable with respect to the first part;
an elongate arm having a first end region and a second end region, the first end region thereof being attached to the second part of the rotatable joint, such that the arm extends from the rotatable joint, and is rotatable with respect to the base, wherein the arm is longitudinally extensible, and wherein the foot plate is attached to the second end region of the arm.
5. A support structure as claimed in claim 1, wherein the articulated mechanism comprises:
a rotatable joint having a first part attached to the base and a second part rotatable with respect to the first part;
an elongate arm having a first end region and a second end region, the first end region thereof being attached to the second part of the rotatable joint, such that the arm extends from the rotatable joint, and is rotatable with respect to the base, wherein the arm is translatable with respect to the rotatable joint, and wherein the foot plate is attached to the second end region of the arm.
6. A support structure as claimed in any one of the preceding claims, wherein at least one rotatable joint is a planar joint.
5
7. A support structure as claimed in any one of the preceding claims, wherein at least one rotatable joint is a ball joint.
Intellectual
Property
Office
Application No: GB1814325.5
Examiner: Mr Robert Alexander
GB1814325.5A 2018-09-04 2018-09-04 Support structures Withdrawn GB2576881A (en)

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2316156A (en) * 1996-08-08 1998-02-18 Tani Shiraito A walk simulation apparatus
JP2001087415A (en) * 1999-09-24 2001-04-03 Hiroo Iwata Virtual walking device
WO2007015603A1 (en) * 2005-08-04 2007-02-08 Kyoung-Gil Baek Twist and hopping exercise machine
US20100145233A1 (en) * 2007-03-22 2010-06-10 Rehabtek Llc System and method for training human subjects to improve off-axis neuromuscular control of the lower limbs
KR20100126622A (en) * 2009-05-24 2010-12-02 백상주 Apparatus for walking exercise
FR2993086A1 (en) * 2012-07-06 2014-01-10 Bertrand Jean Francois Dalimier Telepresence device for human being in e.g. theme park, has video cameras that collect multidirectional images in environment by sending signals to reception unit for retransmission bound for subject surrounded by screen placed in cabin
KR20150104391A (en) * 2014-03-05 2015-09-15 한국과학기술연구원 Gait rehabilitation device based on rotational three degree freedom and translation three degree freedom
WO2017184785A1 (en) * 2016-04-19 2017-10-26 Scott Summit Virtual reality haptic system and apparatus
RU2640439C1 (en) * 2017-03-24 2018-01-09 Василий Юльевич Жиркевич Method of imitation of displacement in virtual reality

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2316156A (en) * 1996-08-08 1998-02-18 Tani Shiraito A walk simulation apparatus
JP2001087415A (en) * 1999-09-24 2001-04-03 Hiroo Iwata Virtual walking device
WO2007015603A1 (en) * 2005-08-04 2007-02-08 Kyoung-Gil Baek Twist and hopping exercise machine
US20100145233A1 (en) * 2007-03-22 2010-06-10 Rehabtek Llc System and method for training human subjects to improve off-axis neuromuscular control of the lower limbs
KR20100126622A (en) * 2009-05-24 2010-12-02 백상주 Apparatus for walking exercise
FR2993086A1 (en) * 2012-07-06 2014-01-10 Bertrand Jean Francois Dalimier Telepresence device for human being in e.g. theme park, has video cameras that collect multidirectional images in environment by sending signals to reception unit for retransmission bound for subject surrounded by screen placed in cabin
KR20150104391A (en) * 2014-03-05 2015-09-15 한국과학기술연구원 Gait rehabilitation device based on rotational three degree freedom and translation three degree freedom
WO2017184785A1 (en) * 2016-04-19 2017-10-26 Scott Summit Virtual reality haptic system and apparatus
RU2640439C1 (en) * 2017-03-24 2018-01-09 Василий Юльевич Жиркевич Method of imitation of displacement in virtual reality

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