U.S. patent application number 09/002143 was filed with the patent office on 2001-06-14 for exoskeletal platform for controlling multi-directional avatar kinetics in a virtual environment.
Invention is credited to ROELOFS, GREGORY ROBERT.
Application Number | 20010003712 09/002143 |
Document ID | / |
Family ID | 21699412 |
Filed Date | 2001-06-14 |
United States Patent
Application |
20010003712 |
Kind Code |
A1 |
ROELOFS, GREGORY ROBERT |
June 14, 2001 |
EXOSKELETAL PLATFORM FOR CONTROLLING MULTI-DIRECTIONAL AVATAR
KINETICS IN A VIRTUAL ENVIRONMENT
Abstract
A system, apparatus and method enabling a participant to control
the multi-dimensional kinetics of their avatar in a virtual
environment. The participant accomplishes this control by
selectably transitioning among various movements ("motion states")
from which are derived avatar motions and motion-related positions.
The participant's motion states not only comprise interaction data
and are correlated to avatar motion, but also are associated with
selected, minimal actual motion in the participant's physical
surroundings. The apparatus comprises a mount, a motion base and a
support: the mount interfaces with the participant, enabling the
participant to have a selected range of motion; the motion base is
disposed relative to the mount so as to enable contact with the
participant and, associated with such contact, provides for
detection of the motion states; and the support couples the mount
and the motion base so as to provide the relative disposition
thereof. The system comprises a network system, a computing station
and a kinetic control device coupled to the computing station,
wherein (i) the kinetic control device comprises a mount, a motion
base and a support, as previously described and (ii) the network
system has a selected topology, the computing station being coupled
to the network system in accordance with the topology.
Inventors: |
ROELOFS, GREGORY ROBERT;
(SAN JOSE, CA) |
Correspondence
Address: |
CORPORATE PATENT COUNSEL
U S PHILIPS CORPORATION
580 WHITE PLAINS ROAD
TARRYTOWN
NY
10591
|
Family ID: |
21699412 |
Appl. No.: |
09/002143 |
Filed: |
December 31, 1997 |
Current U.S.
Class: |
463/37 ; 463/36;
463/38 |
Current CPC
Class: |
G06F 3/011 20130101 |
Class at
Publication: |
463/37 ; 463/36;
463/38 |
International
Class: |
A63F 009/24 |
Claims
What is claimed is:
1. An apparatus for participant control of multi-dimensional avatar
kinetics in a virtual environment, wherein the participant's motion
states comprise interaction data and correlate to avatar motion,
the motion states being associated with selected, minimal actual
motion in the participant's physical surroundings, the apparatus
comprising: a mount, interfacing with the participant and enabling
the participant to have a selected range of motion; a motion base,
disposed relative to the mount so as to enable contact with the
participant and, associated with such contact, providing for
detection of the motion states; and a support, the support coupling
the mount and the motion base and providing the relative
disposition of the mount and the motion base.
2. An apparatus as claimed in claim 1, wherein the mount is
implemented so that the selected range of motion enables the
participant to perform movements establishing and transitioning
among motion states, while restraining the participant from
selected undesirable motion in the physical environment.
3. An apparatus as claimed in claim 2, wherein the mount is
implemented to carry a selected amount of the participant's body
weight.
4. An apparatus as claimed in claim 1, wherein the mount comprises
an annulus having an interior opening, the participant being
selectably restrained in motion by the interior opening.
5. An apparatus as claimed in claim 4, wherein the mount further
comprises a saddle, the saddle being wearable by the participant
and being coupled to the annulus.
6. An apparatus as claimed in claim 5, further comprising a
rotation mechanism associated with the annulus, the rotation
mechanism coupling the saddle to the annulus so that the
participant can rotate with respect to the annulus.
7. An apparatus as claimed in claim 6, further comprising at least
one of a rotation sensor and a rotation drive, the rotation sensor
detecting interaction data as to the participant's rotation with
respect to the annulus, and the rotation drive providing rotational
forces respecting the participant's rotation with respect to the
annulus.
8. An apparatus as claimed in claim 7, comprising both of the
rotation sensor and the rotation drive, the rotation sensor and
rotation drive being implemented so as to provide a closed feedback
loop.
9. An apparatus as claimed in claim 1, wherein the motion base
comprises one or more movement transducers.
10. An apparatus as claimed in claim 9, wherein the movement
transducers are arranged in a selected array pattern.
11. An apparatus as claimed in claim 9, wherein the movement
transducers enable detection of parametric phenomena associated
with motion states, as imparted by the participant, at any time and
from time to time.
12. An apparatus as claimed in claim 9, wherein the movement
transducers comprise track-ball-type technology, the
track-ball-type technology comprising track balls, the track balls
providing at least one of (i) a relatively low-profile, (ii) a
selected form factor, (iii) a selected precision, (iii) an
adjustable or controllable dampening factor so as to set/control
the freedom of rolling, (iv) a reasonable unit cost, and (v)
support for haptic feedback.
13. An apparatus as claimed in claim 9, wherein the movement
transducers provide for selected haptic feedback.
14. An apparatus as claimed in claim 1, wherein the motion base
comprises a plurality of movement transducers, the movement
transducers being implemented so as to enable their calibration,
participant-by-participant- , motion-state-by-motion-state.
15. An apparatus as claimed in claim 1, wherein the support couples
the mount and the motion base indirectly through the employ of
selected physical surroundings.
16. An apparatus as claimed in claim 1, wherein the support
provides for relative disposition of the mount and the motion base
responsive to selected physical parameters of the participant so as
to place the participant at an elevation, relative to the motion
base, substantially appropriate to selected motion states.
17. An apparatus as claimed in claim 16, wherein the support
provides for dynamically adjusting the relative disposition of the
mount and the motion base responsive to the virtual environment and
the interaction of the participant therewith.
18. An apparatus as claimed in claim 16, wherein the support
enables said dynamic adjustment, while continually accounting for
selected physical parameters of the participant.
19. An apparatus as claimed in claim 16, wherein the support
provides for rectilinear adjustment, relative to the physical
surroundings, of at least one of the mount and the motion base.
20. An apparatus as claimed in claim 19, wherein the support
provides at least one of (i) rectilinear adjustment in multiple,
relative dimensions and (ii) independent rotational adjustment of
at least one of the mount and the motion base.
21. An apparatus as claimed in claim 1, wherein the support
comprises a selected number of jacks, the respective jacks having
associated therewith at least one of a vertical adjuster and a
horizontal adjuster.
22. An apparatus as claimed in claim 21, wherein the each vertical
adjuster is operable independently and selectably cooperatively
with one or more of the other vertical and horizontal adjusters,
and each horizontal adjuster is operable independently and
selectably cooperatively with one or more of the other vertical and
horizontal adjusters.
23. An apparatus as claimed in claim 21, wherein a jack comprises
one or more selected elastomeric materials.
24. An apparatus as claimed in claim 21, wherein the support
further comprises one or more standards, each said standard being
coupled to the motion base and having associated therewith a
translation mechanism, and each said translation mechanism being
operable independently and selectably cooperatively with one or
more of the other vertical and horizontal adjusters and translation
mechanisms.
25. An apparatus as claimed in claim 1, wherein the support
comprises a selected number of standards, each said standard being
coupled to the motion base and having associated therewith a
translation mechanism.
26. An apparatus as claimed in claim 25, wherein each translation
mechanism is operable independently and selectably cooperatively
with one or more of the other translation mechanisms.
27. An apparatus as claimed in claim 1, wherein the support
comprises a selected number of terrain cells, each such cell
comprising a terrain actuator, each terrain actuator being operable
independently and selectably cooperatively with one or more of the
other terrain actuators, the terrain actuators providing for
adjusting the relative positions of the respective terrain cells in
and about one or more coordinates so as to impart to the motion
base terrain-like features correlative to terrain of the virtual
environment.
28. An apparatus as claimed in claim 1, further comprising at least
one of a motion detect control and a haptic control, the respective
motion detect and haptic controls being coupled to one or more of
the mount, the motion base and the support.
29. An apparatus as claimed in claim 1, further comprising an
authentication control.
30. A system for enabling a virtual environment, wherein a
participant controls the multi-dimensional kinetics of their
avatar, the participant having motion states comprising interaction
data and correlating to avatar motion, the motion states being
associated with selected, minimal actual motion in the
participant's physical surroundings, the system comprising: a
computing station, and a kinetic control device coupled to the
computing station, the kinetic control device comprising a mount,
interfacing with the participant and enabling the participant to
have a selected range of motion; a motion base, disposed relative
to the mount so as to enable contact between the motion base and
the participant and, associated with such contact, providing for
detection of one or more motion states; and a support, the support
coupling the mount and the motion base and providing the relative
disposition of the mount and the motion base.
31. A system as claimed in claim 30, further comprising a network
system, the network system having a selected topology and the
computing station being coupled to the network system in accordance
with the topology.
32. A system as claimed in claim 30, further comprising a selected
number of input/output devices for providing interaction data to
the system, the input/output devices operating in cooperation with
the kinetic control device.
33. A system as claimed in claim 30, wherein the kinetic control
device has associated therewith a confinement space by and to which
the participant is physically constrained.
34. A method for enabling a virtual environment, wherein an avatar
of a participant has multi-dimensional kinetics, the participant
has motion states comprising interaction data and correlating to
avatar motion, the motion states being associated with selected,
minimal actual motion in the participant's physical surroundings,
the method comprising the steps of: physically linking the
participant to a kinetic control device; enabling the participant
to interact with a virtual environment via one or more senses;
constraining the participant's movements and motion to a
confinement space; enabling the participant to transition
substantially among a plurality of motion states; detecting the
motion states; and providing interaction data representative of the
detected motion states to at least one of a computing station and a
network system.
35. A method as claimed in claim 34, further comprising adjusting
at least one of (i) the virtual environment as to the participant's
avatar and (ii) selected physical parameters of the kinetic control
device.
36. A method as claimed in claim 35, wherein the kinetic control
device is adjusted in accordance with at least one of: (i) haptic
feedback; (ii) terrain adjustments of a motion base; (iii)
adjustment of the relative disposition of a mount and a motion base
responsive to selected physical parameters of the participant so as
to place the participant at an elevation, relative to the motion
base, substantially appropriate to a selected motion state, the
mount and the motion base comprising components of the kinetic
control device; and (iv) dynamic adjustment of the relative
disposition of the mount and the motion base responsive to the
virtual environment and the interaction of the participant
therewith, while continually accounting for selected physical
parameters of the participant.
Description
BACKGROUND OF THE INVENTION
[0001] This invention relates to a system, apparatus and method for
enabling a participant to interact in a virtual environment and,
particularly, a system, apparatus and method for enabling a
participant to control multi-dimensional kinetics of an avatar in a
virtual environment.
[0002] Virtual environments comprise computer-generated, generally
three-dimensional representations of a real, physical setting. The
setting can be a city, a mall, an individual store, a building, a
suite of offices, an individual office or some other space. The
representations can be more or less realistic both in terms of
their rendering of the real world and in terms of the human senses
that are supported.
[0003] In any case, a virtual environment generally comprises
virtual objects, the objects typically including entities that
either are animate or inanimate. Inanimate entities may include
features of the environment, e.g. a wall in a virtual office that
is always an inanimate wall in the office. Animate entities may
include so-called avatars and bots. Bots are images that,
generally, operate autonomously from the participants to perform
predetermined tasks or provide features within the environment. A
bot can include, for example, a wall that transforms to deliver
incoming messages. An avatar, by comparison, is an image that
represents, and is controlled by, a participant and that typically
supports one or more of the following: (i) arm, hand and other body
gestures or movements, (ii) facial expressions, (iii) speech and
(iv) motion.
[0004] However configured, a virtual environment generally beckons
its participants to become immersed in the sensory experience it
provides. To do so, the participants interact with the
environment's objects. As an example, social interaction between
participants is conducted by interaction among such participants'
avatars, the interaction occurring, e.g., as the avatars' paths
converge during a stroll in a virtual park. As another example, a
participant can interact with a group of avatars, a
timekeeper/umpire bot and a soccer object in a virtual soccer
match.
[0005] In both such examples, a participant exercises their avatar
by moving its location relative to the other objects in the
environment (hereafter referred to as "avatar kinetics"). To do so,
the participant typically operates one or more conventional input
devices of the participant's computing station. These input devices
typically include a keyboard, pointing devices, virtual reality
gloves, body-sensing suits or other sensing attire.
[0006] These input devices are acceptable for controlling certain
avatar movement (e.g. movement of an avatar's hand to wave).
However, they have shortcomings with respect to avatar kinetics.
Pointing devices and virtual reality gloves, for example, are
hand-operated. By comparison, avatar kinetics correlate to the
biomechanics of the participant's lower body movements (e.g., hips,
legs and feet). To enhance correlation between participant
biomechanics and avatar kinetics, body-sensing suits and other such
attire (e.g., virtual reality socks) may be used. Even so, the
participants, so attired, are compelled to actually travel around
their physical surroundings in order to control the kinetics of
their respective avatars.
[0007] Such travel, a shortcoming in itself, also tends to be
inconsistent with the virtual experience. As an example, the
participant is generally tethered to its computing station either
by a cable or by the maximum distance limiting radio-based
connections. As another example, the participant's physical
surroundings are unlikely to match the virtual environment of the
participant's avatar. Due to the tether and/or the surroundings,
then, the participant may encounter an abrupt encumbrance to
continued motion while the participant's avatar is encountering
unencumbered space.
[0008] One solution is a treadmill. However, a treadmill has it own
shortcomings. One such shortcoming is that treadmills generally
rely on a belt which travels freely in only a single dimension.
Indeed, the travel freedom typically is along only one direction in
that single dimension. Another such shortcoming is that treadmills
tend to have inertia associated with the mass of the drums
supporting the belt. This fly-wheel type inertia requires
substantial power to control which power must come either (i) from
the participant themselves, which is potentially dangerous, or (ii)
from a substantial motor which requires significant control
mechanisms and, therefore, potentially is both expensive and
dangerous.
[0009] In general, the quality of the participant's experience is
largely determined by the level and quality of interaction
supported by the environment. In some cases, however, interaction
supported by the environment can be exploited only with the proper
resources being available to the participant at the participant's
computing station. In the specific case of avatar kinetics,
conventional input devices simply are insufficient resources.
[0010] Accordingly, a need exists for proper resources directed to
controlling multi-dimensional avatar kinetics in a virtual
environment. More particularly, a need exists for enhanced input
devices that correlate such kinetics to a participant's lower body
movements, while liberating the participant from actual motion in
their physical surroundings.
SUMMARY OF THE INVENTION
[0011] An object of this invention is to overcome the limitations
associated with conventional input devices as respects
participants' control of multi-dimensional avatar kinetics in a
virtual environment.
[0012] Another object of this invention is to provide enhanced
input devices which devices correlate multi-dimensional avatar
kinetics to a participant's lower body movements, while liberating
the participant from actual motion in their physical
surroundings.
[0013] According to one aspect of the invention, an apparatus is
provided that enables a participant to control the
multi-dimensional kinetics of their avatar in a virtual
environment. The participant accomplishes this control by
selectably transitioning among various movements ("motion states")
from which are derived avatar motions and motion-related positions.
The participant's motion states not only comprise interaction data
and are correlated to avatar motion, but also are associated with
selected, minimal actual motion in the participant's physical
surroundings.
[0014] The apparatus comprises a mount, a motion base and a
support. The mount interfaces with the participant, enabling the
participant to have a selected range of motion. The motion base is
disposed relative to the mount so as to enable contact with the
participant and, associated with such contact, provides for
detection of the motion states. The support couples the mount and
the motion base so as to provide the relative disposition
thereof.
[0015] In one embodiment, the apparatus' mount is implemented so
that the selected range of motion enables the participant to
perform movements establishing and transitioning among motion
states, while restraining the participant from selected undesirable
motion in the physical environment.
[0016] In another embodiment, the apparatus' support comprises a
selected number of terrain cells. Each such cell includes a terrain
actuator. Each terrain actuator is operable independently and
selectably cooperatively with one or more of the other terrain
actuators, so as to provide for adjusting the relative positions of
the respective terrain cells in and about one or more coordinates.
In doing so, the terrain cells impart to the motion base
terrain-like features correlative to terrain of the virtual
environment.
[0017] In yet another embodiment, the apparatus also comprises at
least one of a motion detect control and a haptic control.
[0018] In a second aspect of the invention, a system is provided
for enabling a virtual environment as previously described with
reference to the apparatus aspect. The system comprises a computing
station and a kinetic control device coupled to the computing
station, the kinetic control device comprising a mount, a motion
base and a support, as previously described. In one embodiment, the
system also comprises a network system, the network system having a
selected topology and the computing station being coupled to the
network system in accordance with the topology. In another
embodiment, the system also comprises a selected number of
input/output devices for providing interaction data to the system,
the input/output devices operating in cooperation with the kinetic
control device.
[0019] In a third aspect of the invention, a method for enabling
the above-described virtual environment is provided. The method
comprises the steps of: (i) physically linking the participant to a
kinetic control device; (ii) enabling the participant to interact
with a virtual environment via one or more senses; (iii)
constraining the participant's movements and motion to a
confinement space; (iv) enabling the participant to transition
substantially among a plurality of motion states; (v) detecting the
motion states; and (vi) providing interaction data representative
of the detected motion states to at least one of a computing
station and a network system. In one embodiment, the method also
includes the step of adjusting at least one of (i) the virtual
environment as to the participant's avatar and (ii) selected
physical parameters of the kinetic control device.
[0020] The various features of novelty which characterize the
invention are pointed out with particularity in the claims annexed
to and forming a part of this specification. For a better
understanding of the invention, its operating advantages and
specific objects attained by its use, reference should be made to
the accompanying drawings and descriptive matter in which its
preferred embodiments are illustrated and described, wherein like
reference numerals identify the same or similar elements.
BRIEF DESCRIPTION OF THE DRAWINGS
[0021] In the drawings:
[0022] FIG. 1 is a block diagram of a virtual environment system,
including a kinetic control device, according to the present
invention;
[0023] FIG. 2 is a block diagram of a kinetic control device,
according to the present invention; and
[0024] FIG. 3 is a block diagram of a kinetic control device,
according to the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0025] The present invention contemplates a system, apparatus and
method that provides for participant control of multi-dimensional
avatar kinetics in a virtual environment and, in particular,
provides for correlation between such avatar kinetics and a
participant's lower body movements, while liberating the
participant from actual motion in their physical surroundings.
[0026] As shown in FIG. 1, a virtual environment system 8, as
contemplated by this invention, comprises a network system 10 to
and/or through which are coupled, via communication channels 12, a
plurality of computing stations 20. Each of the computing stations
20 has associated therewith a participant 14 who interacts with the
virtual environment via the respective station 20.
[0027] The interaction includes movement and motion. For the
purposes of this discussion, movement refers to the positional
change of one or more of an participant/avatar's body parts
relative to other such body parts, while motion refers to the
positional change of the avatar relative to environment and motion
state refers to the participant's movements from which is derived
avatar motions or motion-related positions. Examples of avatar
motions or motion-related positions include: standing (one foot or
two); walking; leaning; weight-shifting; running; sprinting;
sliding; being on tip-toe(s) or tip-toeing; hopping (one foot or
two); skipping; jumping (one foot or two); kneeling (one or two
knees); crouching; lying on one's back, side, stomach or otherwise;
sitting (including on one's hands); standing on one's hand(s) or
head; cart-wheeling; rolling; and falling.
[0028] It is to be recognized that avatar motions and
motion-related positions preferably are derived from correlative
motion states for any participant point of view, including first
person (participant sees the virtual environment through, e.g.,
their avatar's eyes) and third person (participant sees their
avatar and other objects in the virtual environment. It is also to
be recognized that the participant's movements are so correlated
independent of whether or not there is employed any real
furnishings, game-pieces, implements or accessories (e.g.,
analogous of real world things, such as skates, skis, cycle-like
structures and otherwise).
[0029] The network system 10 comprises a selected topology. An
example topology includes a star network having a centralized
computing system to which all the computing stations 20 are
connected, wherein (i) the centralized computing system runs server
software that administers the virtual environment (e.g., receiving
from and transmitting to participants 14 data concerning motion of
avatars), (ii) the stations 20 run client software that controls
the local virtual experience, including obtaining and transmitting
data to the server respecting its participant's interaction with
and in the environment ("interaction data"), and (iii) the server
software controls the distribution of data, including interaction
data received from each station 20, among all stations 20. Another
example topology employs direct connections among computing
stations 20, wherein (i) typical connections rely on protocols such
as transmission control protocol (TCP) and/or user datagram
protocol (UDP), (ii) server/client software is essentially
distributed among each of the stations 20 and (iii) each station's
software sends its participant's interaction data to each of the
other stations 20. Yet another example topology employs direct
connections wherein, rather than communicating interaction data
among all participants, a participant communicates its data to a
selected group address (i.e., multicasting) such that each station
20 of a particular group address can choose whether to
accept/reject the data. It is to be recognized that other
topologies can be employed without departing from the principles of
the invention, including, for example topologies that combine one
or more features of the above topologies.
[0030] A computing station 20 according to the present invention,
comprises a computing device 22 coupled, via connections 21, to
each of one or more display devices 24, one or more input/output
(I/O) devices 26 and a kinetic control device 40. Although the
computing device 20 is coupled to only one kinetic control devices
40, it is understood that plural such devices 40 can be employed
without departing from the principles of the invention. As an
example, the devices 40 can be selectably arrayed in the space
surrounding a participant, the devices 40 being associated with
various body parts.
[0031] The connections 21 typically comprise wire/cabling, but, in
the case of the. kinetic control device 40 and one or more of the
I/O devices 26, the connections preferably are implemented using a
wireless technology (e.g., infrared technology).
[0032] Other than by observing the virtual environment 16 through
the display device 24, the participant 14 interacts with the
environment 16 through interaction connections 36 linking the
participant to the I/O devices 26 and the kinetic control device
40. In such interaction, the participant 14 is constrained by/to
the confinement space 38, it being contemplated that, in providing
correlation between avatar kinetics and a participant's lower body
movements, the participant 14 is substantially liberated from being
in actual motion relative to their physical surroundings. That is,
the participant's motion is constrained by/to the confinement
space, but such constraint is substantially inapplicable to the
participant's movements and its avatar's motion.
[0033] The confinement space 38 can be variously implemented
without departing from the principles of the invention. As an
example, the confinement space 38 can be absent of any real
furnishings, game-pieces, implements or accessories. As another
example, however, the confinement space 38 can be fully configured,
e.g., as a multi-media immersion chamber complete with any
combination of installed media I/O devices 26. As yet another
example, the confinement space 38 can be implemented to accommodate
and/or be adaptable to more than one participant 14.
[0034] Each display device 24 has a screen 28, the screen imaging
the environment 16, including the participant's avatar 18 and a bot
19 (e.g., a lightning bolt seeking to shock the avatar 18). While a
preferred display device 24 comprises a head-mounted display (HMD)
it is to be understood that other devices can be used without
departing from the principles of the invention (e.g., an array of
monitors).
[0035] The I/O devices 26 preferably include one or more data
acquisition devices that provide data representative of the
participant's interaction with the virtual environment. In that
regard, the I/O devices 26 preferably are responsive to the
movements of the participant's body parts or sense-based
socialization. It is to be recognized that the devices can include
one or more of a keyboard, a microphone, audio speakers, olfactory
generators/detectors, pointing devices (e.g., a mouse, trackball,
touch pad, and/or a joystick), facial gesture detecting devices,
virtual reality gloves, haptic suits and/or other haptic attire, as
well as other data acquisition devices, alone or in combination,
without departing from the principles of the invention. Moreover,
the I/O devices 26 can also include, without departing from the
principles of the invention, printers, plotters, external storage
drives (e.g., removable disk and tape drives), CD-ROMs, DVDs,
document scanners, communication devices, and other devices that
provide no data representative of the participant's interaction
with the virtual environment.
[0036] The computing device 22 typically includes a general purpose
computer 29 having a processor 30, a memory system 32 (e.g.,
volatile memory and/or nonvolatile mass memory) and supporting
software 34. The software 34 preferably includes an operating
system ("OS"), a virtual environment package (e.g., either client,
client/host or other software associated with the topology of the
environment), and some number of application programs. The OS
preferably supports a graphical user interface (GUI) and typically
comprises a collection of component programs. The OS component
programs generally include (i) device drivers associated with the
respective I/O devices 26, (ii) display device drivers associated
with the display devices 24, and (iii) one or more device drivers
associated with the kinetic control device 40.
[0037] It is to be understood that the invention admits a broad
range of OS architectures and, in that regard, no particular
commercial OS, or architectural characteristics, are preferred for
implementing this invention. Moreover, it is to be recognized that
any implemented OS can be architectured other than as described
above, without departing from the principles of the invention. As
an example, the architecture can omit, combine or re-arrange
various of the device drivers, with or without adding new
components.
[0038] The kinetic control device 40 preferably includes a mount
42, a motion base 44 and a support 46, the support 46 coupling the
mount 42 and the motion base 44. As is discussed further below, the
kinetic control device 40 preferably also comprises a motion detect
control 48 and a haptic control 50. Each of the controls 48 and 50
are coupled to a bus 52. The bus 52 is further coupled to one or
more of the mount 42, the motion base 44 and the support 46, these
couplings being responsive to the implementation.
[0039] The mount 42 interfaces with the participant 14, preferably
around the waist. The mount 42 preferably is implemented to carry
some or all of the participant's body weight. In addition, the
mount 42 preferably is implemented so as to provide a selected
range of motion to the participant. Such range of motion is to
enable the participant 14 to perform movements (and confined
motion) so as to establish and transition among avatar motion
states within the virtual environment 16, while restraining the
participant 14 from undesirable motion (e.g. off the motion base
44).
[0040] The motion base 44 comprises a bed on which motion states
are detected through contact with the participant and
forces/torques/pressure- s associated therewith. For example, the
contact of a motion state is between the participant's extremities
(e.g., one or both feet or hands) and some portion(s) of the base
44. Moreover, the contact preferably is calibrated,
participant-by-participant, motion state-by-motion state, in order
to enhance detection performance of the motion (e.g. speed and
accuracy). Although, as shown, the participant's contact with the
motion base 44 is direct, it is to be recognized that the contact
can be indirect, i.e., through the employ of real furnishings,
game-pieces, implements and/or accessories (e.g., analogous of real
world things). Accordingly, the motion base 44 preferably is
implemented as a general-purpose device, admitting either/both
direct and indirect contact and supporting one or more selected
dimensions for detection of motion states correlating to one or
more dimensions of avatar motion.
[0041] The support 46 provides for relative disposition of the
mount 42 and the motion base 44. In one embodiment, the relative
disposition responds to selected physical parameters of the
participant 14 (e.g., the length of their legs and their weight) so
as to place the participant at an elevation, relative to the motion
base 44, substantially appropriate to selected motion states. As an
example, the elevation can be appropriate to standing and/or
walking.
[0042] The relative disposition can be static, but preferably it is
dynamic. As to the latter, the support 46 preferably provides for
adjusting the relative disposition of the mount 42 and the motion
base 44. In particular, the adjustment enables an enhanced range of
motion states and is responsive to the nature of the virtual
environment and the interaction of the participant therewith, i.e.,
the avatar's activities in the terrain of the environment. As an
example, the adjustment can be appropriate to striding (e.g.,
cross-country skiing on a flat terrain) at one moment and to
crouching (e.g., telemark skiing down a slope) at another
moment.
[0043] In the dynamic case, the support 46 preferably enables
adjustment, while also continually accounting for physical
parameters of the participant 14 (e.g., the length of their legs
and their weight). The support 46, thereby, maintains placement of
the participant at an elevation, relative to the motion base 44,
substantially appropriate to the changing motion states.
[0044] In order to effect the relative disposition, it is preferred
that the support 46 provide for independent rectilinear adjustment,
relative to the physical surroundings, of each of the mount 42 and
the motion base 44. However, it is to be understood that the
support 46 can be otherwise implemented without departing from the
principles of the invention. As an example, the support 46 can be
implemented to provide that one of the mount 42 or base 44 is
positionally fixed, while the other of the base 44 or mount 42 is
rectilinearly adjustable via the support 46. FIG. 2 shows an
embodiment of a kinetic control device 40 wherein the motion base
44 is stationary (i.e., placed on a supporting surface, e.g., a
floor), and the substantial center 120 of the mount 42 is
rectilinearly adjustable along an axis 124 substantially normal to
a plane 126 of the base 44. By comparison, FIG. 3 shows an
embodiment of a kinetic control device 40 wherein both the mount 42
and the base 44 are rectilinearly adjustable, which adjustments are
in multiple, relative dimensions.
[0045] In additional to rectilinear adjustment, the support 46
preferably provides for independent rotational adjustment of each
of the mount 42 and the motion base 44. However, it is to be
understood that the support 46 can be otherwise implemented without
departing from the principles of the invention. As an example, the
support 46 can be implemented to provide that one of the mount 42
or base 44 is rotationally fixed, while the other of the base 44 or
mount 42 is rotationally adjustable. The support 46 can also be
implemented to provide that neither the mount 42 nor the base 44 is
rotationally adjustable. FIGS. 2 and 3 provide examples of
rotational adjustability that preferably are provided by the
support 46.
[0046] The support 46 preferably provides a direct mechanical
coupling between the mount 42 and motion base 44. As shown in FIG.
2, the support 46 is a frame 110 which suspends the mount 42 above
the base 44 and to which the base 44 is connected (e.g., for
enhanced stability).
[0047] However, the support 46 can be implemented other than by
providing a direct mechanical coupling between the mount 42 and the
base 44, without departing from the principles of the invention. As
shown in FIG. 3, for example, the support 46 suspends the mount 42
above the base 44 in the absence of any direct mechanical coupling.
In these cases, the coupling preferably is indirect in that the
base 44 is maintained in place by the physical surroundings 129
(e.g., the walls, floor and ceiling to/on which the components of
the device 40 are attached/placed).
[0048] Turning to FIG. 2, an embodiment of a kinetic control device
40 is shown in accordance with the invention. The device's mount 42
comprises (i) an annulus 100 having an interior opening 101, (ii) a
saddle 102, wearable by the participant 14, (iii) a rotation
mechanism 104 disposed on or in the annulus 100 and (iv) one or
more extensions 106 by which the saddle 102 is attached to the
rotation mechanism 104.
[0049] With the saddle 102 so attached to the rotation mechanism
104 and with the participant 14 seated in the saddle 102, the
participant 14 is enabled to rotate substantially freely. The
rotation is about an axis 124 which passes through the substantial
center 120 of the interior opening 101 of the annulus 100. In one
embodiment, the axis 124 is substantially normal to a plane 126
generally associated with at least one portion of the base 44. As
shown in FIG. 2, the plane 126 is associated with substantially the
entire base 44. In a typical application of this embodiment, the
plane 126 is provided by a substantially planar surface 128 (e.g.,
a floor) in a home, in an office or in other physical surroundings
129 of the participant 14.
[0050] The rotation mechanism 104 preferably has associated
therewith one or more rotation sensors 108. The sensors 108 detect,
and provide interaction data respecting, the rotation of the
participant 14 (e.g., via the saddle 102) within and relative to
the annulus 100. It is to be recognized, however, that the sensors
108 can be omitted without departing from the principles of the
invention. Where provided, the sensors preferably are implemented
so as to operate in conjunction with other I/O devices 26,
particularly devices 26 which are directed to sense body movements.
In FIG. 2, for example, the rotation sensors 108 would be
implemented to operate in conjunction with the haptic suit 130.
[0051] The annulus 100, as depicted in FIG. 2, preferably is of
unitary construction. An advantage thereof is durability and
safety. However, it is to be recognized that the annulus 100 can be
otherwise constructed without departing from the principles of the
invention. As an example, the annulus 100 can be of two piece
construction so as to provide, e.g., for more convenient ingress
and egress.
[0052] The saddle 102 preferably is substantially permanently
attached to the rotation mechanism 104 via the extensions 106.
However, it is to be recognized that the saddle may be removably
attached to either/both the extensions 106 and the annulus 100,
without departing from the principles of the invention. Again, such
alternative is to provide enhanced convenience.
[0053] It is also to be recognized that the mount 42 can be
implemented in the absence of the rotation mechanism 104, without
departing from the principles of the invention. In such case, the
saddle 102 preferably is omitted such that the participant 14 can
adjust their position within the annulus 100. In any case, the
mount 42 preferably provides for restraining the participant's real
lateral motion (e.g., along one or more of axes 134, 136).
[0054] In FIG. 2, the device's support 46 comprises a frame 110
constructed of a plurality of jacks 112. The jacks 112 have
associated therewith respective vertical adjusters 114 and footings
111. The footings 111 provide a foundation for the frame 110. The
vertical adjusters 114 enable adjustment of the length of each
jack. By operation of the respective vertical adjusters 114, the
substantial center 120 associated with the annulus 100 and,
therefore, the mount 42 is rectilinearly adjustable (e.g., along
the axis 124) relative to the device's base 44. As previously
described, such rectilinear adjustability enables the support 46 to
effect the relative disposition between the mount 42 and the motion
base 44.
[0055] The vertical adjusters 114 also enable the support 46 to
provide for rotational adjustment of the mount 42. In that regard,
by selective adjustment of one or more of the vertical adjusters
114, the annulus 100 can be rotated about either one or both of the
axes 134, 136. In the Figure, these axes are substantially
orthogonal to each other, as well as to axis 124.
[0056] In this embodiment, the base 44 is stationary. It comprises
a bed 116 that provides an array of movement transducers 118. As is
described further below, the movement transducers 118 preferably
comprise technology enabling detection of the participant's
associated motion states based on, e.g., the forces, torques,
pressures imparted by the participant 14, at any time and from time
to time, on/to one or more of such transducers 118.
[0057] The bed 116 is placed on the surface 128 (e.g., a floor) and
is connected to one or more of the jacks 112 via couplings 122,
e.g., at respective footings 111. The couplings 122 are, e.g., to
provide enhanced stability to the frame 110 and to maintain,
relative to the frame 110, the placement of the base 44.
[0058] The kinetic control device 40 also comprises a two-way
connection 21. The connection conveys control signals (e.g., from
the computing device 22 to the motion detect control 48 and/or the
haptic control 50) and/or interaction data (e.g., from the
transducers 118 of the bed 116). As previously stated, the
connection 21 typically comprises wire/cabling, as shown. However,
the connections preferably are implemented using wireless
technology.
[0059] The kinetic control device 40 of FIG. 2 is implemented so
that the participant 14 can simultaneously employ other I/O devices
26. As shown in the Figure, the participant 14 employs a head
mounted display 132 as a display device 24, while being attired in
the haptic suit 130. Each of the display 132 and the suit 130 have
connections 21 provided through wireless technology.
[0060] Turning to FIG. 3, another embodiment of a kinetic control
device 40 is shown in accordance with the invention. The device's
mount 42 is as described above with respect to FIG. 2. Moreover, as
in FIG. 2, the device's support 46 comprises a frame 110. The frame
110 preferably is coupled to the participant's physical
surroundings 129. As depicted, the frame 110 is coupled to
either/both walls 200 and ceiling/beam 202 via footings 111. (In
the discussions that follow, except where indicated explicitly or
by context, the frame 110 is described as to solely the coupling to
the walls 200. It is to be recognized that the descriptions apply
as well to the frame 110 as coupled to the ceiling/beam 202 subject
to updates to dimensional matters.)
[0061] The frame 110 is constructed of a plurality of jacks 112,
the jacks 112 having associated therewith respective vertical
adjusters 114. The vertical adjusters 114, in the case of wall
coupling, provide for altering the vertical disposition of the
respective jacks 112 relative to the walls 200. In the ceiling/beam
coupling, the vertical adjusters 114 preferably change the lengths
of the jacks 112 to accomplish this function. By operating the
adjusters 114, the substantial center 120 associated with the
annulus 100 and, therefore, the mount 42 are rectilinearly
adjustable (e.g., along the axis 124) relative to the device's base
44. As previously described, such rectilinear adjustability enables
the support 46 to effect the relative disposition between the mount
42 and the motion base 44.
[0062] The vertical adjusters 114 also enable the support 46 to
provide for certain rotational adjustment of the mount 42. In that
regard, by selective adjustment of one or more of the vertical
adjusters 114, the annulus 100 can be rotated about at least one of
the axes 134, 136. In FIG. 3's wall mount, for example, two jacks
112 are shown disposed substantially along axis 134. Accordingly,
by providing divergent vertical dispositions of the jacks 112 using
the respective vertical adjusters 114, the annulus 100 is rotated
about axis 136. It is to be recognized, however, that the jacks 112
can be disposed substantially along axis 136 such that rotation is
about axis 134. It is also to be recognized that both such jacks
112 and vertical adjusters 114 can be provided such that rotations
are supported about both such axes 134, 136.
[0063] The support 46 of FIG. 3 also comprises horizontal adjusters
115 associated with respective jacks 112. The horizontal adjusters
115, in the case of wall coupling, preferably change the lengths of
the jacks 112 to alter the horizontal disposition of the respective
jacks 112 relative to the walls 200. In the ceiling/beam coupling,
the horizontal adjusters 115 preferably slide the connection point
of the jacks 115 along the ceiling/beam in order to accomplish this
function.
[0064] By operation of one or more horizontal adjusters 115, the
position of the annulus 100 is rectilinearly adjustable. Depending
on the number and positions of the jacks 112, the horizontal
adjusters 115 provide for rectilinear adjustment along either/both
of the axes 134, 136. As previously described, such rectilinear
adjustability enables the support 46 to effect the relative
disposition between the mount 42 and the motion base 44 in
multiple, relative dimensions, e.g., dimensions additional to those
provided by the vertical adjusters 114.
[0065] The jacks 112 of FIG. 3 can be implemented in various ways
without departing from the principles of the invention. One
embodiment has the jacks 112 comprising substantially rigid bars,
the bars being formed of metal (e.g., aluminum), ceramics, plastics
or composites (e.g., carbon fiber). In this embodiment, the jacks
112 preferably are coupled to the annulus 100 and/or the footing
111 using joints that support the aforementioned rotations. Another
embodiment has the jacks 112 comprising elastomeric material(s).
Such materials provide an amount of flex so as to provide a
selected range of motion to the participant (e.g., in establishing
the size of the confinement space 38). In this embodiment, the
participant 14 has enhanced ability to perform movements and motion
to establish and transition among avatar motion states within the
virtual environment 16. At the same time, the participant 14 is
restrained from undesirable motion (e.g. off the bed 116 of the
motion base 44. In each embodiment, the jacks 112 preferably are
relatively light in weight and have ratings responding to one or
more weight ranges of the participants.
[0066] In FIG. 3, the support 46 also comprises one or more
standards 204. The standards 204 are disposed on the surface 128
and enable the base 44 to be rectilinearly adjustable. In so
enabling, the standards 204 preferably are fixed in position
relative to the surface 128.
[0067] The standards 204 preferably comprise one or more respective
translation mechanisms 205. The translation mechanisms 205 provide,
through horizontal and vertical adjustments, for changing the
position of the base's bed 116 in any one or more of the x, y, z
coordinates 206, 208, 210. Moreover, the mechanisms 205 preferably
are independently adjustable so as to enable rotations of the bed
116 about one or more of such coordinates, particularly the x and y
coordinates 206, 208. In addition, the mechanisms 205 preferably
enable dynamic rectilinear adjustment, e.g., during and to enable
the participant's interaction with the virtual environment 16.
[0068] Provision of independent rectilinear and rotational
adjustability to the mount 42 and motion base 44 tends to obtain
immersion advantages. These advances are subject to further
enhancement resulting from the use of flexible jacks 112. As an
example, not only is the participant 14 enabled to jump, but also,
in landing the virtual earth can be activated via the base 44 to
give away or, in the case of a virtual trampoline, to provide a
bounce. As another example, the participant 14 can be tilted in one
direction via the mount 42 and in another (e.g., opposite)
direction via the base 44.
[0069] In FIG. 3, the support 46 also comprises one or more terrain
cells 212. The terrain cells 212 have associated therewith one or
more of the movement transducers 118. Moreover, each terrain cell
212 comprises one or more terrain actuators 214. The terrain
actuators 214 provide for adjusting, preferably independently and
together in selectable groupings, the respective cell 212 as to and
about one or more of the coordinates, particularly the z coordinate
210. As such, the bed 116 is enabled to attain variable
terrain-like features, including steps, inclines, holes, and other
irregularities.
[0070] It is to be understood that no particular technology
(mechanical, pneumatic, hydraulic, or other) is required to
implement the translation mechanisms 205 and the terrain actuators
214 in order to remain within the principles of the invention.
Rather, in any particular implementation according to the
invention, the employed technology preferably is selected
responsive to engineering issues and challenges that are peculiar
to that implementation.
[0071] It is also to be understood that, although the terrain cells
212 of FIG. 3 are depicted as rectangular, it is to be understood
that the cells 212 can be implemented using other shapes
(polygonal, arcuate or otherwise), without departing from the
principles of the invention. Also without departing from the
principles of the invention, the cells 212 can be (i) variable in
shape, operation and other parameters, including having separately
actuated parts and having non-actuated parts and/or (ii) mutually
separated by non-actuated border structures.
[0072] As previously stated above, the movement transducers 118 of
the motion base 44 preferably comprise technology enabling
detection of the participant's associated motion states. Such
detection can be variously implemented, including by detection of
forces, torques, pressures, temperatures and other parametric
phenomena imparted by the participant 14, at any time and from time
to time, on/to one or more of such transducers 118.
[0073] The movement transducers 118 preferably comprise
track-ball-type technology. Track-ball-type technology is
commercially available, in various forms. As such, it is to be
understood that no particular such technology is required in order
to remain within the principles of the invention. Rather, in any
particular implementation of movement transducers 118 according to
the invention, the employed track-ball-type technology preferably
is selected responsive to engineering issues and challenges that
are peculiar to that implementation. In any case, however, it is
preferred that the employed track-ball-type technology be
sufficiently robust to absorb the wear-and-tear associated with the
intended use, while also providing accurate performance over a
suitably long lifetime. It is also preferred that the employed
track-ball-type technology comprise (i) balls having a relatively
low-profile, e.g., the balls extend above the surface of the bed 1
16 to a minimal distance, so as to present to the participant a
substantially planar surface of the bed 116, (ii) balls having a
selected form factor, e.g., so as to enable a selectably tight
areal density in the bed 116 while providing suitably high
precision (e.g., 1/2"-3/4"), (iii) balls having an adjustable or
controllable dampening factor so as to set/control the freedom of
rolling, (iv) balls having a reasonable unit cost, and (v) as
discussed further below, balls which support tactile and/or force
feedback, e.g., tactile feedback conveying characteristics to the
participant that are perceived through the human senses and the
force feedback providing real-world feedback, including
enabling/disabling slippery and rough surfaces.
[0074] It is also to be understood that the movement transducers
118 can be implemented using other than track-ball-type
technologies, without departing from the principles of the
invention. As an example, the transducers 118 can comprise an array
of one or more types. For example, the transducers 118 can be
sensitive to horizontal, vertical and angular accelerations,
pressure, temperatures and other parametric phenomena.
[0075] As stated above with reference to FIG. 1, in one embodiment
of the invention, the kinetic control device 40 comprises at least
one of a motion detect control 48 and a haptic control 50. The
controls 48, 50 preferably are coupled to one or more of the mount
42, the motion base 44 and the support 46, these couplings being
responsive to the implementation. The coupling preferably is via
bus 52.
[0076] In operation, the motion detect control 48 receives control
signals (e.g. from the computing device 22) and/or interaction data
(e.g., from the transducers 118 of the bed 116). Responsive to the
control signals, the motion detect control 48 controls the
operation of supported rectilinear, rotational and other positional
adjustments associated with one or both of the mount 42 and the
motion base 44. The motion detect control 48 also controls the
positional and relative operation of the terrain cells 212 of the
base 42. These adjustments and operations, as described above, can
be provided through employ of various structures.
[0077] In receiving interaction data, the motion detect control 48
translates and packages such data for transmission. The
transmission generally is to the computing device 22 and, in
particular, to the software 34 (e.g., the device driver of the
kinetic control device 40). Accordingly, the amount of processing
conducted by the control 48 depends on various engineering issues
and challenges applicable to the implementation, including the
amount of processing sought to be completed by the computing device
22.
[0078] In operation, the haptic control 50 receives control signals
(e.g. from the computing device 22) and, responsive thereto,
provides tactile and force feedback (the forces being active by
creating the environment and/or being counteractive by reacting to
the motion states). Haptic feedback is provided to the participant
through haptic transducers incorporated in the kinetic control
device 40.
[0079] The haptic transducers can be implemented separately or can
be provided by one or more types of the movement transducers 118.
As an example, haptic feedback can be provided by controlling the
movement transducer's balls: (i) adjusting the grittyness of the
surface of the balls themselves, (ii) adjusting the freedom of
rolling of the balls by adjusting internal counter-accelerations
applied to the balls, and/or (iii) applying a lateral or revolving
force (e.g., pulling a carpet out from under the participant)
across the bed's surface by coordinated acceleration of the balls.
As to track-ball-type technologies supporting the internal
application of accelerations European Patent Application No.
91203134.1, filed Nov. 29, 1991 and published Jun. 6, 1992
(Publication No. 0-489-469-A1) is hereby incorporated by
reference.
[0080] As another example, the movement transducers 118 implement
forces that either push the participant away from, or pulls the
participant toward, the surface of bed 116 of the base 44. It is
preferred that such transducers 118 be accomplished using
magnetics.
[0081] Haptic feedback preferably is also provided by dynamically
controlling the operation of (i) rectilinear, rotational and other
positional adjustments of one or both of the mount 42 and the
motion base 44 and (ii) the terrain cells 212 of the base 42. To
provide this feedback, the haptic control 50 preferably operates in
conjunction with the motion detect control 48. As an example, the
rotation mechanism 104 preferably comprises one or more rotation
drives 109 (FIG. 2). Responsive to control signals from the haptic
control 50, the motion detect control 48 activates the drives 109
so as to provide rotational forces to the rotation mechanism 104.
To close a feedback loop, the sensors 108 of the rotation mechanism
104 detect interaction data respecting the actual rotation, and
provide such data to the haptic control 50 and /or the motion
detect control 48, thereby enabling the rotational forces to be
adjusted so as to lock in a selected rotation.
[0082] It is contemplated that, for optimal performance, the
kinetic control device 40 is calibrated. That is, motion states
generally are associated with certain types and qualities of
contact between the participant (e.g., one or both feet or hands)
and some portion(s) of the base 44: each motion state generally is
associated with certain combinations and patterns of contact,
forces, pressures, torques, gradients and the like, applied to the
bed 116 and, in particular, to certain of the movement transducers
118 thereof. Calibration enables linking such motion states,
participant-by-participant, motion-state-by-motion-state, in order,
e.g., to enhance detection performance of the motion (e.g. speed
and accuracy).
[0083] Calibration know-how and technology is commercially
available, in various forms, including genetic algorithms and
training programs. As such, it is to be understood that no
particular such know-how and/or technology is required to remain
within the principles of the invention. Rather, in any particular
implementation according to the invention, the employed calibration
know-how and technology preferably are selected responsive to
engineering issues and challenges that are peculiar to that
implementation.
[0084] The kinetic control device 40 can be implemented to
accommodate and/or be adaptable to more than one participant 14.
That is, the device 40 preferably enables calibration and use by
more than one participant 14, either alone or together. In order to
enable use by more than one participant 14 at any one time, it is
preferred that the kinetic control device 40 include authentication
control 49 to distinguish the movements of one participant from
another, including to coordinate their movements when together. In
one embodiment, the authentication control 49 employs signaling
devices to identify and distinguish among participants. In another
embodiment, the control 49 employs biometric technologies (e.g.,
height, weight, temperature, or skin/vein/patterns, and the like,
individually or in any combination) to identify and distinguish
among participants, the technologies operating either continuously
or at discrete times (e.g., when the participant initiates use of
the kinetic control device 40). In implementation, the
authentication control 49 can be comprised by the motion detect
control 48 or otherwise, without departing from the principles of
the invention.
[0085] While the invention has been described in connection with
preferred embodiments, it will be understood that modifications
thereof within the principles outlined above will be evident to
those skilled in the art and thus the invention is not limited to
the preferred embodiments but is intended to encompass such
modifications.
* * * * *