WO2015052051A1

WO2015052051A1 - A motion remote control device

Info

Publication number: WO2015052051A1
Application number: PCT/EP2014/071030
Authority: WO
Inventors: Daniele ARCANGELI
Original assignee: Arcangeli Daniele
Priority date: 2013-10-10
Filing date: 2014-10-01
Publication date: 2015-04-16
Also published as: ITRM20130553A1

Abstract

Device of remote control of the movement (1) of a physical or virtual subject from a user, the device having un fixed body (4) in use susceptible of being rest on a plane and at least one mobile body (5) with respect to said fixed body, laying over said fixed body (4) and configured for allowing the resting of at least one foot of said user; said device comprises sensing means (51-54) configured for detecting composed translation and/or rotation movements and/or pressure actions of and on said mobile body (5) with respect to said fixed body; said sensing means (51-54) being susceptible of being electrically connected and transceiver therefore movement data of said foot from and towards a data processing unit (100) of an external computer system (101). The invention further concerns a computer program for the functioning of the device of remote control of the movement object of the present invention and un method of transmission of said movement.

Description

"A motion remote control device"

Description Technical field

The present invention refers to the field of input and output peripherals for the control of the movement, peripherals that are traditionally associated to informative instruments, and in detail concerns a device of remote control of the movement, with particular reference to the mobility of the human being.

Background art

From the beginning of the eighties are known multimedia entertainment devices which have been used as a complement for the definition of that branch of technology that is called "virtual reality". Since almost twenty years, then, the term "virtual reality" has assumed a clear meaning in the popular imagination thanks to the very numerous literary and cinematographic productions.

Notwithstanding the entire interest devoted to the virtual reality, yet considering the potentialities offered by modern technology, today the phenomenon has never commercially got off the ground.

On the other hand, the videogaming, that is the most worldwide diffused entertainment tool, and that represents a form of entertainment of active type ( wherein there is an interaction of the user with the entertainment form itself, and that is opposite - for instance - to the classic television, that may be represents the most adamantine form of passive entertainment) has many times tried to spread towards the devices and original ideas of the virtual reality without never obtaining substantial results, and this notwithstanding the fact that the videogaming represents a form of entertainment very usable by a user-type definitely heterogeneous in terms of age, cognitive and motion skill, social level and instruction. The result, on the other hand not completely negative, has been to attract new consumers to the videogaming market. Anyway, it has been only a temporary phenomenon, and this since the attempts which have been performed have not took root on what is the video gaming' s strong, and numerous, core of people.

Assumed as a matter of fact that the interest towards the virtual reality is still very high and that thanks to the today's technological development - that led to the creation of videogames capable to represent scenes or scenarios which are photorealistic and are represented on image sequences now completely fluid - that experience is realizable, some question spontaneously rise up:

- Why the virtual reality has never "hit the big time" commercially in the years?;

- Why the videogaming market, that represents the ideal soil for the development, has not succeeded in fully capture the interest of its own users to the virtual reality?

This, notwithstanding that the virtual reality seems ideal to bring innovation in a sector which is from years now anchored to old systems?.

A further consideration shall be made at the user's level in the world of videogaming: the videogamers in general can be enclosed into two macro-categories, represented by the so- called hardcore gamers, "typical" gamers that follow with an extreme interest the world of gaming by investing a considerable amount of time and money in this sector - which is by them considered a real passion and not a mere diversion, and by the so-called casual gamers, "occasional" gamers who do not invest significant percentages of their money and time budget to the videogaming, taking the videogaming as a simpler distracting activity and without devotion to the acquisition of a particular accustoming with input complex devices as gamepads or joysticks. So, the videogaming market has led to grasp as many gamers from both the categories as possible, but even considering the technological progress and the even more accessibility to computer means with high computing power, the growth of the videogaming market - even if it is present - no more shows an exponential growth trend. Some statistics have shown that nowadays is the segment of the casual gamers that acts as driving portion in the market, and this is a sign that the hardcore gamers are substantially laid ob videogaming platforms no more capable to stimulate their interest as it used to be. This in part is due to the fact that immersivity - which will be defined in the following paragraph - has remained substantially constant along the time, and is no more grown with an economical convenience. A demonstration thereof is that the domestic personal computer market, when once were overwhelming the input devices of a vast plurality of producers with peculiar form and conceptions, today we find ourselves with very few enterprises that produce videogaming peripherals, substantially standardized in their functioning, with the mouse-keyboard combination being the most common. Further considerations are originated by the definition of "virtual reality", that at a theoretic level shall be intended as the experience offered by an individual to interact in the most complete and realistic way with a "world" simulated through the computer. Said operation is performed with a completely immersive system, wherein all the human senses can or anyway could be used. From this point of view, the immersivity defines the perception of the existing virtual world.

Examples of the original meaning of the virtual reality shall be searched in some science fiction books concerning the "cyberspace", or in the movies field where have been presented many movies where there were neural interfaces, capable of translating signals coming from the brain directly to our "digital own", in such a way to make the human brain become a sort of remote controller of the digital body.

Even if the practical realization of devices similar to those presented by the movies sector shall be yet far from being practically or actually technologically usable, it is likewise true that with respect to its origins, the virtual reality has nowadays touched such a progression to be able to offer - even if with very high costs - an experience which is very similar to the one of the original concept.

In fact, are known, first of all, peripheral devices or input and output peripherals electrically connected for example to personal computers for using programs associated to virtual reality scenarios. Of those output peripherals belong for example the visors like helmets or simple goggles, wherein the screens close to the eyes cancel the real world from the field of view of the user. The visor can further contain motion detection means, like to be configured for allowing actions in the virtual ambient and for example corresponding to the rotation of the head of the user. Furthermore there are also audio interface devices, like for example the in-ear headphones, that transfer sounds to the user and that can be eventually be integrated with the helmet. In contrast, some examples of input peripherals are the gloves, that replace user active interface devices like mice or keyboards, joysticks or trackballs, and other manual input systems, both with linking wire (so-called corded), or configured for transmitting data via radio (cordless). They can be used for the detection of the motions of hands and/or arms, to the end of attributing for example commands or for typing over virtual keyboards.

Furthermore there are cyber suits, contouring a significant portion of the body, that can have different users among which there are the simulation of the touch (at the moment of flexion of the suit against itself since being realized with an elastic tissue, or by means the realization of a tridimensional scanning of the body of the user for its transfer in the virtual ambient).

Through these devices it is possible to emulate convincingly only the senses of the sight and hearing, this even if the sight rests the human predominant sense for the virtual reality. Examples of the input or output peripherals today existing are represented by Wiimote by Nintendo, Sony Playstation Move or also Kinect by Microsoft or Oculus Rift. It is hereby underlined that the aforementioned names can be object of a registered trademarks of the respective producers; the use of said name in this paragraph is cited purely as an example of peripheral in use. No claims of the name of the trademark eventually associated thereto will be recalled in the present document.

Notwithstanding the high immersivity sensation that is obtained by the virtual reality systems, the use of the devices mentioned before is not exempted by some drawbacks.

First of all, it is uncomfortable, in the sense that all the aforementioned devices are worn neither fastly nor easily to be unvested. Therefore the delay of time in their use deriving for example by wearing a cyber suit, does not combine good with the generic meaning of virtual reality intended also in terms of temporal immersivity immediacy. Further, the known systems are very bulky, and this is valid most of all for the cyber suit, or for other motion simulation instruments similar for example to tapis roulant also of a multidirectional type which are also very heavy.

The known instruments, further, are not suitable for a prolonged use, since in order to point to the more extreme realism we should walk on the tapis roulant as we walk in the real world, and this is not possible. Walking on a tapis roulant by using simultaneously a visor that grows apart from the reality, is dangerous and can provoke also significant equilibrium impairments. Incidentally, the use of tapis roulant, even if it can concur to an addition to the level of immersivity, implies that due to the adverse reactions associated to the user, the amount of time necessary to the installation could also be more than the time of effective use of the virtual reality system. Furthermore, the existing tapis roulant are not adaptable to the physical characteristics of the users, thereby necessitating various versions or custom adaptations for being usable by a young individual instead of an older one, or by a tall person with respect to a short one and so on.

Furthermore, known system and devices, as already mentioned, are expensive. In addition, for using complete virtual reality systems, people shall face also to energy consumption of not a secondary importance, and to expenses for the purchase that in the most convenient hypothesis can lower to some thousands of Euros but substantially not less. Document WO 02/14970 shows a device for the control of movement, which is not transportable since being bulky. That device, having a complex mechanical structure, is actually subject to be expensive in purchase. In addition, the device therein illustrated, due to its characteristics of mechanical construction, limits the freedom of motion execution of the user's foot and does not present effective force feedback means that allow to effectively simulate a return to zero. The scope of the present invention is therefore to describe a movement remote control device that concurs to mitigate the aforementioned drawback effects. In particular, the scope of the present invention is to describe a movement remote control device that is portable, and does not require big economic investments. According to the present invention as a portable device shall be intended a device having size and weight such to be transported by a common user without the help of means of handling; said portable device, therefore, differentiates from all those motion remote control devices that - even if very effective - result not movable once positioned on the place. Summary of the invention

According to the present invention is realized a device for the remote control of the movement of a physical or virtual object by a user, the device being characterized in that it comprises a fixed body in use susceptible of being rested on a plane and at least a body that is movable with respect to said fixed body, laying over said fixed body and being configured to allow the resting of at least one foot of said user; said device is further characterized in that it comprises sensor means configured for detecting translational and/or rotational compound movements and/or pressure action of and on said mobile body with respect to said fixed body; said sensing means being susceptible to be electrically connected and thus of transceiving data of said foot to and from a data processing unit of an external data processing system; and wherein said mobile body is planar and comprises an idle position and at least one position distinguished from said idle position; said device further comprising means of zero repositioning that provide to recall said mobile body in said idle position at the moment of cease of an action of rototraslation force exerted from said foot/s of the user. Advantageously, said device is configured for being used as a peripheral of input/output for external data processing systems of virtual reality.

In an embodiment preferred and alternative, said device comprises a couple of mobile bodies flanked on a same plane for the resting of both the feet of the user.

Advantageously, there are further feedback means associated to said mobile body and offering an action of resistance to said movements at least of translation along a first and a second axis orthogonal one with respect to the other .

Advantageously, said feedback means are configured for receiving electronic data of virtual reality scenario coming from external data processing unit. Advantageously, said sensing means are configured for transmitting a plurality of time- variant data of motion of said at least one mobile body with respect to said fixed body and wherein said plurality of time-variant data comprises a first value of linear translation of said at least one mobile body along a first horizontal axis and a second value of linear translation of said at least one mobile body along a second horizontal axis being orthogonal with respect to said first axis and a third value of rotation of said mobile body with respect to said fixed body measured on a third axis orthogonal both to said first axis and to said second axis. In detail, said plurality of time-variant data further comprises a fourth and fifth value representing a linear translation speed of said mobile body along respectively said first axis and said second axis and a sixth and seventh value representing linear translation speed of said body along respectively said first axis and said second axis. In detail, said plurality of time-variant data further comprises linear acceleration values of said mobile body with respect to said fixed body measured along said first and second axis.

Advantageously, said mobile body translates with respect to said fixed body along a couple of reciprocally orthogonal axes in use horizontal and rotates around an axis which is orthogonal to said couple of axes, said axis passing for the center of said mobile body.

Advantageously, said device comprises at least one a feeding electric accumulator and energy saving means electrically connected to said electric accumulator and mechanically connected to said mobile body; said energy saving means being for providing an at least partial recharge of said electric accumulator according to the movements of said mobile body.

According to the present invention is realized a computer program, susceptible to be executed by at least a data processing unit of an electronic computer and configured for allowing the reception of movement signals of a mobile body of resting of an user's foot with respect to a fixed body of an electronic device for the remote of the movement according to any of the attached claims, said electronic device for the remote of the movement being electrically connected with said data processing unit; said computer program being further configured for transforming movement signals in a motion of a virtual subject inside a virtual reality scenario reproduced through said data processing unit on user interface means.

Advantageously, said program is configured for performing a calibration routine of a idle position of said mobile body with respect to said fixed body of said device wherein it is verified and eventually set that when said mobile body finds itself in said resting position, a plurality of movement signal transmitted from said device to said data processing unit corresponds to data representing a bias of position null with respect to said idle position. According to the present invention is further realized a method of transmission of movements of an user in a virtual reality system, said method comprising a step of positioning of at least one foot of said user on said at least one mobile body of a device of remote detection of the movement which is connected with sensing means susceptible of transmitting data of rototralsative movement of said mobile body over said fixed body of said device of remote detection of the movement and a subsequent step of application of at least one of the following forces of linear translation, rotation with respect to a vertical axis or pressure, exerted by said foot on sais mobile body and a subsequent transmission, executed over repeated time instants, of said movement data of said mobile body and wherein all said forces contrast forces of return in an idle position exerted by elastic repositioning means that provide to replace said mobile body in an idle position by means of a rototraslative-type return action.

Advantageously, said method comprises a preventive step of setting of said device in turn comprising the positioning of said mobile body in correspondence of an idle position, a subsequent transmission of position data of said mobile body from said device towards a data processing unit and a subsequent verification through said data processing unit of a correspondence of said plurality of transmitted data with a plurality of sample data actually corresponding to a null movement of said mobile body with respect to said idle position.

Advantageously, said method comprises a phase of transmission of a force feedback to said foot of said user through said mobile body; said phase of transmission of said feedback being realized by means of movement resistance means of said device, mechanically acting on said at least one mobile body and receiving motion feedback signals from an external computer system.

According to the present invention is finally realized a movement remote control system for virtual reality application, comprising a device of remote control of the movement according to any of the claims hereinafter attached, and a data processing unit electrically connected to said device of remote control of the movement; said system being characterized in that said data processing unit receives position data of said at least one mobile body with respect to the fixed body on a triplet of axes being reciprocally orthogonal of said device and transmits feedback data susceptible of causing a variation in the return force of said mobile body with respect to said fixed body according to a scene of virtual reality performed by a computer program susceptible of receiving said position data and to consequently move a subject inside said virtual reality scene.

Description of the annexed figures

Further peculiar feature of the embodiments of the present invention will be described hereinafter by referring to the annexed figures wherein:

- figure 1 shows a view from above of a first embodiment of the devices which is object of the present invention;

- figure 2 shows a view from above of a second embodiment of the devices which is object of the present invention;

- figure 3 shows a perspective view of the first embodiment of the device which is object of the present invention;

- figure 4 shows an electrical/mechanical block scheme of the device which is object of the present invention; - figure 5 shows a detail of a portion of the device of figure 1, and in detail concerns a portion of junction between a mobile body and a fixed body on said device;

- figure 6 shows a perspective detail of the system of junction between the mobile body and the fixed body on said device;

- figure 7 shows a detail of linear translation motion along an horizontal axis of a mobile body with respect to a fixed body of the devices which is object of the present invention; - figure 8 shows a second movement of linear translation of said mobile body with respect to the fixed body with a component on a first axis and a component on a second axis;

- figure 9 shows a movement of rotation of said mobile body; - figures 10-16 illustrate each one a specific configuration of the second embodiment of the devices which is object of the present invention;

- figure 17 shows a schematic representation of a plurality of positions of a mobile body of the devices which is object of the present invention.

Detailed description of the invention.

With reference to the annexed figures, with the reference number 1 is indicated in its complex a device of remote control of the movement preferably conceived for being used as a peripheral associated with virtual reality systems wherein the user, through its movements, can act with an own virtual "copy" or avatar.

Said device 1 is substantially an electronic portable device susceptible to be electrically connected with a data processing unit 100, this last being of any known form or type and, for example and in a non-limiting extent, be included inside a personal computer 101 or also being included inside a videogame system for example for home entertainment. For this reason the data processing unit 100 can be a general purpose-type processor {general purpose processor), or either be for example an ASIC, FPGA, a logic programmable controller PLC or other.

The data processing unit 100 will conveniently be in turn electrically connected with a memory 102 or non-transient type memory support wherein data processing programs can be stored and which is susceptible of making communicate and more in detail transceiver at least functioning data between said data processing unit and the system of remote control of the movement which is object of the present invention.

In detail the linking between the device of remote control of the movement object of the present invention and the data processing unit can take place through a preferably multipole linking cable being provided with a standard socket, or - equivalently - through a data radio transceiving subsystem.

Optionally the device of remote control of the movement according to the present invention can be provided with an own data processing unit 3, which is represented in figure with a dashed line explicitly for indicating its optional installation. Conveniently said data processing unit 3 is configured for allowing the transformation of the movements of an user acquired with the system in a numeric or analogue electric signal, and for transmitting the same on transmission means (linking cable or radio subsystem).

The device object of the present invention is primarily an input peripheral that configures itself as a platform of a material which is sufficiently rigid to not to deform significantly, or worse getting damaged, under the weight of an user that will step up it during the use.

In a first embodiment, the system object of the present invention allows the support of a single limb that lays on the device in correspondence of the foot. In a second embodiment the system object of the present invention allows the support of both the limbs (in correspondence of the feet) on two mobile bodies 5 that as illustrated in figure 2 are flanked one with respect to the other thereby resulting positioned on a same plane and therefore, in use, on a same height with respect to the ground. The system object of the present invention comprises therefore a fixed body 4, that in use rests on the ground, and at least one a body 5 movable with respect to said fixed body; the mobile body 5 comprises a thin plate which is placed over the fixed body 4 and that has an upper surface substantially planar and having sizes sufficient to house a foot. Preferably the mobile body 5 is realized with a form having circular map, even if this shall not be intended as limitative since further shapes, like hexagonal or squared, can be equivalently substitutable to the preceding one.

In detail the form of the mobile body 5 can recall also the form of the foot, and eventually be produced according to customer's form and size specifications which correspond to the foot of the user himself. Optionally, the surface of resting of the foot on the mobile body 5 can be slightly embossed to the end of contributing the reduction of the risk of sliding, or be realized in an anti-slip material and eventually being integrated by foot retaining buckles or belts.

The fixed body 4 is realized in such a way to have the least possible height from the ground, in such a way to allow for example the use of the device by a seated user. The ideal condition, for example, would be having a fixed body 4 substantially 2 centimeters high, like a robust carpet.

The length and depth of the device shall be such as to allow to flank two devices for a single limb at a measured distance between their two respective centers that is substantially equivalent to the width of the hip of the user, in such a way to not to compromise the stability in the standing erect position with respect to what one could have in the traditional condition of feet standing on the ground.

Furthermore, the mobile body 5 presents a thickness that is the least possible. In addition the length of the fixed body 4 is such as to allow to house a movement of the mobile body 5 with respect to the fixed body 4.

When present, the data processing unit is contained inside the fixed body 4.

The mobile body 5, or mobile bodies in the case of the second embodiment shown in figure

2, are connected to the fixed body 4 through a mechanical rototraslative union system 6 which is illustrated schematically in figure 5, this one comprises for example at least a couple of sliding planes 6b sliding on a plurality of balls or cylinders 6c, susceptible of realizing a sliding bearing; naturally these balls or cylinders 6c can be technically and equivalently substituted by ball or roller bearing or also bearing of reduction of reciprocal sliding of a magnetic type whose purpose is to reduce the unwanted friction between the fixed body and the mobile body.

As it is illustrated with further detail in figure 6, the rototraslative mechanical union system 6 comprises preferably a plurality of balls 6c radially disposed on concentric circumferences below a plane of the mobile body; in detail, those balls are enclosed into a enclosure of the fixed body apt to impede the free exit of the same.

Associated to the rototraslative mechanical union system 6 there is an electric motion detection subsystem 51-54 of the mobile body 5. It comprises a plurality of sensor, connected either to the data processing unit 3 (if present) or to the external data processing unit 100, which are devote to the translation of the real movement of the mobile body 5 with respect to the fixed body 4 in one or more electric signals which are sent to the data processing unit for simulating the motion of a mobile body with respect to the preceding one.

As it is illustrated in figure 3 and in figure 4, in particular, the electronic motion detection subsystem of the mobile body 5 allows the identification of:

- Rotational movements of the mobile body 5 with respect to the fixed body 4, movements that are impressed from a torsion torque exerted by the foot of the user with respect to the Z vertical axis passing through the center (in the plan view) of the mobile body 5;

- translation movements of the mobile body 5 with respect to the fixed body 4, movement that are impressed by a pulling force having horizontal component exerted by the foot of the user with respect to the X axis and the Y axis that are in contrast horizontal and therefore orthogonal to the Z axis; the X, Y and Z axes have therefore a common point.

- Variations of pressure exerted by the user on the mobile body 5; To this, it is added a subsystem 7 of motion resistance, that is configured for offering a progressive resistance to the directional pulling force along at least the X axis and Y axis and optionally but preferably also along the Z axis; the directional pulling force is therefore a rotational and pressure force which is exerted by the foot of the user on the mobile body 5 to the end of enhancing the control of the movement and, at the same time, replace automatically the mobile body 5 in an initial idle position when the forces exerted by the foot of the user are not present.

The subsystem 7 of resistance to the movement, that realizes a force feedback means, allow therefore to recall the mobile body 5 in a neutral position or resting position by performing at least biaxial return (along X and Y axes) on a horizontal translation plane and more preferably on a triaxial plane (also along the Z axis, thereby including also the vertical translation plane) and torsional. In fact ,the mobile body 5 can also rotate with respect to the Z axis, and the subsystem of resistance to the movement is capable to recuperate the return to zero over a rotation , bringing the angle of torsion of the mobile body 5 with respect to the fixed body newly to zero at the moment of the release of the force exerted by the user. Therefore, the subsystem of resistance of the movement allows for a return to zero from rototraslative movements.

In detail, being part of the subsystem of resistance to the movement can be elastic means or linear actuators or combinations thereof.

In detail, the initial neutral position of the mobile body 5 is that position for which movement data are not transmitted from the group of the sensors associated to the electronic motion detection subsystem .

In detail, in fact, the electronic motion detection subsystem 51-54 comprises a plurality of sensor among:

- sensors of linear translation 51, 52 of the mobile body 5 with respect to the fixed body 4, which are configured for allowing the identification of translational movements along the X and Y axes, that are horizontal and orthogonal one with respect to the other; - vertical axial rotation sensors 53 of the mobile body 5 with respect to the fixed body 4, and in detail around a third axis Z orthogonal to the X axis and the Y axis;

- pressure sensors 54, positioned below the surface of the mobile body 5.

Said sensors 51-54 are electrically connected to the data processing unit 3, if present, or are anyway configured for transmitting positioning variation data of the mobile body 5 with respect to the fixed body 4 to the external data processing unit 100.

The subsystem 7 of resistance to the movement possesses means of feedback action which are adjustable in their intensity, so as to automatically adapt to the force of the user. The regulation of the intensity of the feedback can be performed either manually by the user or being set by software. In that case the data processing unit 3 ore the external processing unit 100 will provide for sending to the subsystem 7 a setting electric signal, so as to automatically define the intensity. The user in this case adapts the intensity of the feedback action of the subsystem through user interface means of a known type, they also being connected to the data processing unit. Therefore the device which is object of the present invention becomes an output peripheral, since the feedback transmitted by the user depends from electric signals received from the data processing unit 100. As a consequence, the device which is object of the present invention becomes in its totality an input and output peripheral suitable to control for example the motion of a virtual reality subject (avatar) inside an environment or virtual reality scene, and in particular movement of motion like the forward, backward, lateral right and left motions, a rotation towards right or left, and variations of height deriving from a bending or erection.

Advantageously, therefore, the system object of the present invention can be used by different people, with age, fitness and physical force characteristics also extremely different, thereby having a feedback reaction that can be adapted in such a way to correspond to that that would happen in the real life if the user for example would walk uphill or rotates on its own foot on the ground and not on a mobile body divided therefrom. In detail, consequently, through the data processing unit, the user will receive feedbacks that are different according to the scene or setting that the software proposes. When the system object of the present invention is linked with the data processing unit 100 and is performed a virtual reality program, the data processing unit 100 in concert with the data processing unit 3 eventually installed onboard on the system, provide for calculating a time-variant data set that represents values of resistance to the translation, torsion or pressure according to the environment itself, of the zenithal and azimuthal position of the user itself in the virtual reality scene and in function of the direction and quantity of the slope of the ground with respect to the theoretical vertical of the user. Said set of data is therefore transformed from the data processing unit 3 in an electric signal, transmitted to the remote data processing unit 100 of the system object of the present invention, and with which the motion resistance subsystem also adapts the feedback reaction to be provided to the user in accordance of the data received from said remote data processing unit 100, data that corresponds to time- variant feedback action based on the position of the avatar into the scene or setting of virtual reality.

In user, the device object of the present invention, at the moment of its first use, first necessitates of a setting, in which first of all it is verified the functioning of the device itself and the reaction to the linear pulling forces, to the pressure forces and rotational forces imposed by the user, and eventually the same are set through the force resistance subsystem. The setting phase imposes that the system 1 object of the present invention shall be connected to the data processing unit 100, this last shall be ready to run a computer program of management of the system 1.

In the setting operation, further than the preliminary verification of the correct functioning, it is also verified if the neutral zone, corresponding to the absence of motion signals, is actually perceived also by the data processing unit 100. In contrast, a regulation via software of the neutral zone is performed. In other words, during the setting phase, we proceed to a comparative verification between the data position transmitted from the device 1 and a plurality of position data that should correspond to the positioning of said mobile body 5 exactly in the idle position also said neutral position. This operation shall be performed on all the three components of the subsystem of resistance to the movement 7 that through idle position returning means (for example and in a non- limiting extent, spring systems), are devoted to the return in the neutral position of the mobile body 5 following all those movements of translation, of rotation or pulling towards down (pressure) that are exerted through the foot of the user. Therefore, the setting data are saved in the memory in such a way to be able to verify in a second time if a loss of precision of the device with respect to the known condition has took place or not, in such a case will be performed or eventually also proposed a new setting procedure. This proposal is advantageously managed by the computer program of management of the system 1.

More in detail, the computer program will be configured so as to allow the saving of the setting data of a plurality of users in the memory, so as to let the system 1 advantageously be usable from a plurality of users without huge needs of re-adaptation or new setting at each change, thereby speeding the access to the virtual reality with an own set of reference parameters.

In particular, according to the complexity of the devices which is object of the present invention, it will be possible to control a minimum of two axes of movement, indicated in the figures with X and Y, horizontal axes, and a rotation with respect to a third axis Z, orthogonal to the X axis and Y axis, in use coinciding with the vertical axis of the gravity. In particular, while the movements of translation of the mobile body with respect to fixed body imply the activation of sensors which are disposed on the X and Y axis, the rotation with respect to a foot implies an action of a sensor acting on the Z axis and being sensitive to the torsion for detecting the same.

The pressure sensors, in contrast, are sensitive to the movement of the mobile body 5 with respect to the Z axis; advantageously said sensors of pressure allow to identify not only the position of the mobile body 5 with respect to zero on the Z axis, neutral position, but also its acceleration and speed. Advantageously, therefore, the device 1 object of the present invention permits to identify also all that plurality of movements which are highly time- variant as laying on the ground, kneeling, lowering, jumps, etc. If for example the user pushes the foot on the mobile body 5, this is pulled towards down, the pressure sensors detect the entity of said movement along the Z axis, its speed and its acceleration and send a triplet of time-variant data (sz(t), vz(t), az(t)) to the data processing unit 100, that through the program associated thereto will provide for processing said data to cause a movement of the person in the virtual reality scene corresponding to the received movement.

In the same way, if an user rotates the mobile body, the rotation sensors along the Z axis provide for identifying said rotation and send a plurality of time-variant data (9(t), v(t), a(t)) to the data processing unit 100.

Also the sensors which are devoted to the detection of the translation movements will send therefore a plurality of time-variant data to the data processing unit 100. Said data comprise two triplets (s_x(t), v_x(t), a_x(t)) and (s_y(t), v_y(t), a_y(t)), respectively of position s(t), speed v(t) and acceleration a(t) along the components x and y of the plane x-y.

Clearly, when the device 1 object of the present invention is characterized by two mobile bodies 5, as it is the case of figure 2, to the data processing unit will be sent a plurality of electric signals corresponding to a plurality of time-variant data corresponding to a total of six axes and two rotations on parallel and independent axes, and more briefly, assumed the reference A for the left platform (mobile body 5) and B for the right platform (mobile body 5) , at each instant of time will be transmitted:

(s_x(t), v_x(t), a_x(t))_A, (s_y(t), v_y(t), a_y(t))_A, (s_z(t), v_z(t), a_z(t))_A e (9_z(t), v(t), a(t))_A

(s_x(t), v_x(t), a_x(t))_B, (s_y(t), v_y(t), a_y(t))_B, (s_z(t), v_z(t), a_z(t))_B e (9_z(t), v(t), a(t))_B

data which correspond to the movement imposed by the rototraslative and pressure forces exerted by the foot or feet of the user.

It shall be noted that in the course of the preceding paragraph we have made reference to "instants of time" since the today's computer systems do not operate in the analogue domain but, in contrast, in the numeric -also known as digital - one, a domain wherein the data of the sensors are transmitted following a sampling (with a frequency that can be fixed or variable) and subsequent quantization. Said operations can be conveniently performed by the data processing unit 3 present onboard of the device which is object of the present invention. The subsystem of resistance to the movement 7 is configured for allowing the movement of the mobile bodies 5 also of a composite type. As a consequence, the device object of the present invention is therefore suitable to detect movements along a single axis for example Y, as illustrated in figure 7, for example permitting the movement of an avatar in a forward direction or anyway progressive and composite movements wherein there is a first component along a first axis Y and a component along the second axis X, as it is in contrast represented in figure 8 wherein the avatar will move in a transverse direction. In addition, figure 9 shows as the device which is object of the present invention can identify the movement of rotation of the mobile body 5 for an angle Θ with respect to an idle position around the Z axis.

In addition, the device object of the present invention, through the program performed by the data processing unit 100 can allow for identifying movements which are susceptible of making move the virtual reality subject forward with a deviation towards left, as it is illustrate in figure 10, wherein in the second embodiment o of the device which is object of the present invention the left mobile body is slightly displaced not only forward but also on the left with respect to its neutral position.

In contrast, as it is illustrated in figure 11, when the first mobile body is pushed forward and a second is hence pushed backwards, the avatar can jump backward.

Further, as it is illustrated in figure 12, where the left mobile body 5 is translated along the X axis while the right mobile body 5 is translated along the Y axis backwards, the program run by the data processing unit can interpret this motion as a sliding of the avatar in the left forward direction.

As it is illustrated in figure 13, when the left mobile body 5 is translated to the end of the point with respect to the idle position along the axis Y and the right one is in contrast slightly translated right with respect to the X axis and backwards along the Y axis with respect to its idle position, this could be interpreted as a crouched walk towards right. As it is illustrated in figure 14, when the left mobile body 5 is translated backwards along the Y axis with respect to its idle position and the right mobile body is in contrast translated right with respect to its idle position along the X axis, this can be interpreted as a backwards walk with a rapid rotation on the right.

As it is illustrated in figure 15 and in figure 16, reciprocal approaches or estrangement of the two mobile bodies 5 along a direction purely individuated along the respective X axes, circular motion towards for example respectively left and right can be associated thereto (circular rotations of the avatar). This can be useful for example when in the program of virtual reality the avatar for example grabs a rifle and shall rotate on the place for following a target, or also more simply shall observe an object that moves horizontally with respect to its visual sight.

Even if the configurations depicted in figures 10-16 and the motions of the avatar took as an example are to be considered as exemplificative and therefore non-limiting, these figures show that according to the entity of the movement of the mobile body 5 with respect to the idle position, and in function of its speed and acceleration of motion, an avatar immersed in the virtual reality or a physical true device associated to the data processing unit 100 can be actuated in a different way by performing operations that also can include the movement on multiple Cartesian axes.

In fact, as it is illustrated in figure 17 the device object of the present invention is configured for identifying different levels of translation of the mobile body with respect to a fixed body, that as therein represented are compared with respect to border of the fixed body; in detail in figure 17 are detailed: a first level of translation vl, which corresponds to a run and that is representative of a maximum distance of the mobile body from the idle position; a second level of trasnlsation v2, and a third level of translation v3 that correspond respectively to a march and a walk and are representing an intermediate translation of the mobile body from its original idle position, and a fourth level of translation v4 wherein it is shown instead a position of the mobile body 5 in idle position to which no motion is associated. Therefore it is clear that the device object of the present invention can advantageously control subjects of virtual reality both on videogames both on devices or vehicles which are real; in this last case it will allow for example the control of an arm of a crane, the functioning of a complex machine completely remoted, a bomb-removing robot or even, if included in a vehicle, the device object of the present invention can allow the motion of the same for subjects with problems on the upper limbs.

The compactness (that therefore provides for portability) and adaptability of the device which is object of the present invention allow for a simple and practical usability also from non-expert users, with a lower cost and with less problems of usage commencement with respect it could happen if for example the user would wear a cyber suit or use a multidirectional tapis roulant or its derivates.

Being also usable while seated as well as standing, also in the form with two flanked platforms, the device object of the present invention can be used solely through the use of the lower limbs, by leaving free the upper ones for an use either outside the ambient of the virtual reality associated thereto, or for the use with further devices like for example gloves. Therefore, the device object of the present invention allows for realizing a modularization not only of the immersivitiy inside the virtual reality, but also in terms of associated costs. Advantageously, further, it can be used also for long sessions of usage, since it requires minimum efforts, and can be used by seated users.

The energy consumption of the device which is object of the present invention is particularly reduces, since it absorbs current simply for the power supply of the data processing unit 3 and, when necessary, for feeding the subsystem of resistance to the movement 7; anyway, when possible, it can receive the electric power directly from the linking cord to the external computer device.

In this sense, and in particular to the end of an higher energy saving, the device object of the present invention can optionally be provided with rechargeable batteries with energy recuperation means electrically connected with the rechargeable batteries and mechanically connected with the mobile body; said means are suitable to generate a current and electric voltage in accordance to the movement of the mobile body itself, the current being directed to at least partially recharging said batteries.

Finally, the device object of the present invention, being of a substantially simple form, can be customized at an aesthetic level for each user, thereby advantageously being adaptable to real environments which are very different one with respect to the other, reducing the overall impact due to its presence. With respect to a cyber suit, the customizability of the device which is object of the present invention is far higher and even simpler, requiring less details with respect to those which are unavoidably necessary when customizations are made post- production on interface devices sensitive and delicate as a cyber suit is.

The set of devices which are object of the present invention and of the data processing unit 100, that together realize a system of remote control of the movement are suitable to attract also the segment of the hardcore gamers ₄ that will have therefore access to an immersivity and scenarios of virtual reality of high level, in particular if this is compared to the cost of the device which is object of the present invention; advantageously, therefore, the device object of the present invention can become a means of relaunch for the growth of the gaming video market.

It is finally clear that to the device object of the present invention can be applied additions, modification or variants which are obvious for a technician expert in the art without departing from the scope of protection provided by the annexed claims.

Claims

Device of remote control of the movement (1) of a physical or virtual subject from a user, the device being characterized in that it comprises a fixed body (4) in use susceptible of being rested on a plane and at least one mobile body (5) with respect to said fixed body, laying over said fixed body (4) e configured for allowing the resting of at least one foot of said user; said device is further characterized in that it comprises sensing means (51-54) configured for detecting complex movement of translation and/or rotation and/or pressure actions of and on said mobile body (5) with respect to said fixed body; said sensing means (51-54) being susceptible of being electrically connected and transceive therefore movement data of said foot from and towards a data processing unit (100) of an external computer system (101); and wherein said mobile body (5is of a planar type and comprises an idle position and at least a position distinguished from said idle position; said device further comprising zero repositioning means (7) that provide for bringing back said mobile body (5) in said idle position at the moment of the ceasing of an action of rototraslative force exerted by said foot/feet of said user.

Device according to claim 1, configured for being used as an input/output peripheral for external computer systems (101) of virtual reality.

Device according to any of the preceding claims, comprising a couple of mobile bodies (5), flanked on a same plane for the resting of both the feet of said user.

Device according to any of the preceding claims, further comprising feedback means associated to said mobile body (5) and offering an action of resistance to said at least translation movements along a first and a second axis (X, Y) being orthogonal one with respect to the other. 5. Device according to claim 4, wherein said feedback means are configured for receiving electronic data of virtual reality scenarios coming from said external data processing unit (100). 6. Device according to any of the preceding claims, wherein said sensing means are configured for transmitting a plurality of movement time-variant data of said at least one mobile body (5) with respect to said fixed body and wherein said plurality of time- variant data comprises a first value of linear translation of said at least one mobile body (5) along a first horizontal axis (X) and a second value of linear translation of said at least one mobile body (5) along a second horizontal axis (Y) being orthogonal with respect to said first axis (X) and a third value of rotation (fi) of said mobile body with respect to said fixed body (4) measured on said third axis (Z) orthogonal both to said first axis and to second axis. 7. Device according to claim 6, wherein said plurality of time-variant data comprises further a fourth and fifth value of linear translation velocity of said mobile body (5) along respectively said first axis (X) and said second axis (Y) and a sixth and seventh value representing a linear translation velocity of said mobile body (5) along respectively said first axis (X) and said second axis (Y).

8. Device according to claim 7, wherein said plurality of time- variant data further comprises linear acceleration values of said mobile body (5) with respect to said fixed body (4) measured along said first and second axis (X, Y).

9. Device according to any of the preceding claims, wherein said mobile body (5) translates with respect to said fixed body (4) along a couple of axes (X, Y) being orthogonal one with respect to the other and in use being horizontal and rotates around an axis (Z) orthogonal to said couple of axes (X,Y), said axis (Z) passing for the center of said mobile body (5). 10. Device according to any of the preceding claims, comprising at least one a feeding electric accumulator and energy saving means electrically connected to said electric accumulator an mechanically connected to said mobile body; said energy saving means being configured for providing to at least a partial recharge of said electric accumulator according to the movements of said mobile body.

11. Computer program, susceptible to be executed by at least a data processing unit of an electronic computer and configured for allowing the receipt of movement signals of a mobile body (5) of resting of a foot of the user with respect to a fixed body of an electronic device for the remote of the movement (1) according to any of the claims 1- 10, said electronic device for the remote of the movement being electrically connected with said data processing unit (100); said computer program being further configured for transforming said movement signals in a movement of a virtual subject inside a virtual reality scenario reproduced through said data processing unit on user interface means.

12. Computer program according to claim 11, configured for executing a calibration routine of an idle position of said mobile body (5) with respect to said fixed body (4) of said device (1), wherein it is verified and eventually set that when said mobile body (5) finds itself in said idle position, a plurality of movement signal transmitted from said device (1) to said data processing unit (100) corresponds to data representing a detachment of position null with respect to said idle position.

13. Method of transmission of movements of a user in a virtual reality system, said method comprising a step of positioning of at least one foot of said user on at least one mobile body (5) of a device for remote detection of movement which is connected to sensing means (51-54) susceptible of transmitting rototraslative movement data of said mobile body (5) over said fixed body (4) of said device of remote detection of movement and a subsequent step of application of at least one between the following forces of linear translation, rotation with respect to a vertical axis or pressure, exerted by said foot on said mobile body and a subsequent transmission performed on repeated instants of time of said data of movement of said mobile body (5) and wherein said forces contrast forces of return in an idle position exerted by elastic repositioning means (7) that provide to replace said mobile body (5) in an idle position through a return action of a rototraslative type.

14. Method according to claim 13, comprising a preventive setting step of said device (1) in turn comprising the positioning of said mobile body (5) in correspondence of an idle position, a subsequent transmission of position data of said mobile body (5) from said device (1) towards a data processing unit (100) and a subsequent verification through said data processing unit of a correspondence of said plurality of transmitted data with a plurality of sample data actually corresponding to a null movement of said mobile body (5) with respect to said idle position.

15. Method according to any of the claims 13-14, characterized in that it comprises a step of transmission of a force feedback to said foot of said user through said mobile body (5); said phase of transmission of said feedback being performed by means of motion resistance means (7) of said device (1) mechanically acting on said at least one mobile body (5) receiving feedback signals of motion from an external computer system.

16. A remote movement control system for virtual reality application, comprising a device (1) of remote control of the movement according to any of the claims 1-9 and a data processing unit (100) electrically connected to said device (1) remote control of the movement; said system being characterized in that said data processing unit (100) receives position data of said at least one mobile body (5) with respect to fixed body (4) on a triplet of axes (Χ,Υ,Ζ) being orthogonal one with respect to the other of said device (1) and transmits data of feedback susceptible of causing a variation of a return force of said mobile body with respect to said fixed body (4) according to a scene of virtual reality performed by a computer program susceptible of receiving said position data and to move consequently a subject into said scene of virtual reality.