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EP1590729A1 - Interface de locomotion pour systeme de realite virtuelle faisant appel a un tapis manosensible - Google Patents

Interface de locomotion pour systeme de realite virtuelle faisant appel a un tapis manosensible

Info

Publication number
EP1590729A1
EP1590729A1 EP03815881A EP03815881A EP1590729A1 EP 1590729 A1 EP1590729 A1 EP 1590729A1 EP 03815881 A EP03815881 A EP 03815881A EP 03815881 A EP03815881 A EP 03815881A EP 1590729 A1 EP1590729 A1 EP 1590729A1
Authority
EP
European Patent Office
Prior art keywords
user
virtual reality
pressure
reality system
virtual
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP03815881A
Other languages
German (de)
English (en)
Inventor
Warren C. Couvillion, Jr.
Roger R. Lopez
Jian Ling
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Southwest Research Institute SwRI
Original Assignee
Southwest Research Institute SwRI
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Southwest Research Institute SwRI filed Critical Southwest Research Institute SwRI
Publication of EP1590729A1 publication Critical patent/EP1590729A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user

Definitions

  • This invention relates to virtual reality systems that can be used to fully immerse a user in virtual space.
  • Virtual reality is a computer-generated environment in which a user is immersed. Actions of the user are translated by a computer into inputs that effect the virtual environment (VE). Virtual reality systems may stimulate naturally occurring senses, such as sight, sound, touch and movement, so that a user can navigate through a virtual environment as if in the real world.
  • a major challenge to virtual reality system designers is to design a virtual reality system that allows natural human locomotion.
  • Other virtual reality systems abandon the concept of natural human locomotion, using simple hardware that allow the user to navigate through the virtual environment with artificial gestures, such as flying in the virtual space in the direction the user's finger is pointing.
  • Known virtual reality systems include treadmill devices that track the user's movement on the treadmill. Such a device is disclosed in U.S. Patent No. 5,562,572 to Carmein. Although these treadmill devices allow movement in the user's upright position, they do not allow movement in the user's prone position. They also cannot sense whether the user is in the standing, crawling o prone position. Further, these treadmill devices are often mechanically complicated, and are thus encumbered by the inherent lag times and momentum problems associated with moving mechanical masses.
  • FIG. 1 A block diagram illustrating an exemplary virtual reality system
  • FIG. 1 A block diagram illustrating an exemplary virtual reality system
  • FIG. 1 A block diagram illustrating an exemplary virtual reality system
  • FIG. 1 A block diagram illustrating an exemplary virtual reality system
  • FIG. 1 A block diagram illustrating an exemplary virtual reality system
  • FIG. 1 A block diagram illustrating an exemplary virtual reality system
  • FIG. 1 A block diagram illustrating an exemplary virtual reality system
  • FIG. 1 A block diagram illustrating an exemplary motion
  • FIG. 1 A block diagram illustrating an exemplary virtual reality system
  • FIG. 1 A block diagram illustrating an exemplary virtual reality system
  • FIG. 1 A block diagram illustrating an exemplary virtual reality system
  • FIG. 1 A block diagram illustrating an exemplary virtual reality system
  • FIG. 1 A block diagram illustrating an exemplary virtual reality system
  • FIG. 1 A block diagram illustrating an exemplary virtual reality system
  • FIG. 1 A block diagram illustrating an exemplary virtual reality system
  • FIG. 1 A block diagram illustrating an exemplary virtual reality system
  • the virtual reality system includes a pressure-sensing mat that outputs signals indicative of a user's position in real space.
  • a virtual reality processor uses the signals output by the pressure-sensing mat to produce an output indicative of the virtual space corresponding to the user's position and movement in real space.
  • a display device uses the output from the virtual reality processor to allow the user to be fully immersed in the virtual space.
  • the pressure sensing mat includes a base layer, a plurality of pressure sensing elements formed over the base layer, and a top layer formed over the plurality of pressure-sensing elements.
  • the plurality of pressure sensing elements output a signal indicative of pressure applied to the top layer.
  • This invention provides a virtual reality system that has a simple design and that allows a user to move naturally in any direction from any posture (e.g., standing, crawling, prone).
  • the virtual reality system according to this invention has many advantages over previous virtual reality systems.
  • the enhanced flexibility of the various exemplary embodiments of the system according to this invention allows a user to move forward, backward, or sideways from a prone, crawling or standing position.
  • the virtual reality system according to this invention has many applications, such as, for example, enhanced military training, realistic video game environments, and a broad range of medical and therapeutic applications.
  • FIG. 1 illustrates one exemplary embodiment of a virtual reality system according to this invention
  • Fig. 2 illustrates one exemplary embodiment of the pressure sensing mat according to this invention
  • Fig. 3 shows one exemplary embodiment of a pressure sensitive resistor usable with the various exemplary embodiments of the virtual reality system according to this invention
  • Fig. 4 illustrates the equivalent circuit of the pressure sensing mat according to this invention
  • Fig. 5 shows another exemplary embodiment of the pressure sensing mat according to this invention
  • Fig. 6 is a block diagram of an exemplary embodiment of the virtual reality processor according to this invention.
  • Fig. 1 illustrates one exemplary embodiment of a virtual reality system according to this invention.
  • the virtual reality system 1 includes a pressure sensing mat 100, a virtual reality (VR) processor 200, and a display 400.
  • VR virtual reality
  • Fig. 2 illustrates one exemplary embodiment of the pressure sensing mat 100 according to this invention.
  • the pressure sensing mat 100 includes a semirigid base layer 120.
  • any suitable material can be used for the base layer 120, such as, for example, plastic, hardwood, and polycarbonate (lexan).
  • a grid 140 i.e., a two- dimensional array of pressure sensing elements 150-1 to 150-n is formed over the base layer 120.
  • a top layer 160 is formed over the grid 140. Any suitable layer can be used for the top layer 160, such as, for example, rubber, natural rubber, buna's rubber, and fabric reinforced negro rubber, is preferred.
  • the pressure sensing elements 150-1 to 150-n of the grid 140 detect the pressure applied to fixed points on the top layer 160 of the pressure sensing mat 100.
  • Any suitable pressure sensing device can be used for the pressure sensing elements 150-1 to 150-n, such as, for example, electro-mechanical pressure sensors. In general, any known or later discovered pressure sensing device can be used for the pressure sensing elements 150-1 to 150-n.
  • the pressure sensing elements 150-1 to 150-n include force sensitive resistors. As is known in the art, force sensitive resistors include elements that act as simple voltage dividers. Fig.
  • FIG. 3 shows one exemplary embodiment of a pressure sensitive resistor 180 usable with the various exemplary embodiments of the virtual reality system according to this invention.
  • the pressure sensing elements 150-1 to 150-n include corresponding pressure sensitive resistors 180-1 to 180-n.
  • Each pressure sensitive resistor 180 includes an upper film 181, a lower film 182, a first electrode pattern 183 formed over the lower film 182, a second electrode pattern 184 formed over the upper film 181 so as to oppose the electrode pattern 183, and a pressure-sensitive conductor 185 formed over the second electrode pattern 184.
  • the pressure sensitive conductor 185 is compressed between the first and second electrode patterns.
  • the resistance of the pressure sensitive conductor 185 is lowered when compressed. Accordingly, voltage output of the pressure sensitive resistor 180 will vary with applied pressure.
  • U.S. Patent No. 5,948,990 the disclosure of which is incorporated herein by reference.
  • Fig. 4 illustrates the equivalent circuit of the pressure sensing mat 100.
  • the voltage outputs Vout-1 to Vout-n correspond to respective pressure sensing elements 150-1 to 150-n that make up the grid 140.
  • a user applies pressure to points on the pressure sensing mat 100 as the user navigates through the virtual reality environment.
  • the applied pressures alter the resistance of the pressure sensitive resistors 180-1 to 180-n, and thus the voltage output of each of the corresponding pressure sensing elements 150-1 to 150-n varies as the user moves.
  • the grid 140 produces a voltage output that can be analyzed to generate a pattern that shadows the user's movements in the virtual space.
  • Fig. 5 illustrates another exemplary embodiment of the pressure sensing mat 100 according to this invention.
  • the pressure sensing mat 100 includes the same elements as in the first embodiment, i.e., a semi-rigid base layer 120, a grid 140 of pressure sensing elements 150-1 to 150-n, and a top layer 160, and also includes a counter force generating layer 190.
  • Fig. 5 shows the counter force generating layer 190 disposed between the grid 140 and the top layer 160, it should be appreciated that the counter force generating layer 190 can be disposed between any two layers of the pressure sensing mat 100 or at the top or bottom surface of the pressure sensing mat 100.
  • the counter force generating layer 190 can be made up of a grid of counter force generating elements 195-1 to 195-n. Any suitable counter force generating device can be used for the counter force generating elements 195-1 to 195-n, such as, for example, springs, hydraulic devices, pneumatic devices, or electro-mechanical devices.
  • each of the pressure sensing elements 150-1 to 150-n can be used to activate a corresponding one or group of counter force generating elements 195-1 to 195-n.
  • the counter force generating elements 195-1 to 195-n can provide a counter force to the user's body as the user moves over the pressure sensing mat 100.
  • the counter-force generated by the counter force generating elements 195-1 to 195-n can vary based on the type of virtual ground surface generated by the virtual reality system 1.
  • Fig. 6 is a " block diagram of a ⁇ rexemplary embodiment of the virtual reality processor 200.
  • the virtual reality processor includes a controller 210, a memory 220 (including RAM and ROM, for example), a pattern generation device 230, a motion identification device 240, a virtual environment rendering device 250, an input interface 260, and an output interface 270.
  • the controller 210 interfaces with the other components 220-270 using a control/data bus 280.
  • the exemplary virtual reality processor 200 uses a bussed architecture, it should be appreciated that the exemplary virtual reality processor 200 can use any known or later developed architectures, including ASIC, a programmed general purpose computer, discrete logic devices, etc.
  • the input interface 260 can receive analog voltage signals from the pressure sensing elements 150-1 to 150-n.
  • the input interface 260 can include an analog to digital converter that converts the analog voltage signals to digital signals.
  • the input interface 260 can input the digital signals to the memory 220 for storage.
  • the controller 210 can provide the digital signals stored in the memory 220 to the pattern generation device 230.
  • the pattern generation device 230 samples the digital signals stored in the memory 220 at regular intervals and generates a pattern based on the digital signals at the regular intervals.
  • the patterns generated by the pattern generation device 230 represent various positions of the user on the pressure sensing mat 100.
  • the controller 210 transfers the patterns generated by the pattern generation device 230 to the motion identification device 240.
  • the motion identification device 240 can include a pattern recognition device (not shown) that identifies a given pattern with a corresponding position of the user.
  • the pattern recognition device can identify a pattern by comparing the pattern with a database of patterns stored in the memory 220.
  • the pattern recognition device can also recognize the pattern based on the size, shape and/or pressure distribution of the pattern. For example, if the pattern is larger than a predetermined threshold size, the pattern recognition device will recognize the pattern as a "prone user position" pattern.
  • the processor determines that the user is upright (e.g., walking, running or standing (if the two patterns do not move)). If more than two smaller moving patterns are detected, the user is determined to be crawling.
  • the patterns stored in the memory 220 can provide examples for a neural network to learn how to identify different patterns.
  • the virtual environment i.e., the displaying image
  • a series of user positions identified by the pattern recognition device can be stored in the memory 220 during fixed intervals as the user navigates through the virtual environment.
  • the centroid of each of the patterns in the series of patterns is tracked as the user moves on the pressure sensing mat 100.
  • the motion identification device 240 can sample the series of user positions at the end of the fixed intervals and identify the motion of the user during the fixed intervals based on the series of user positions.
  • the motion includes, for example, direction (forward, backward, left, right, etc.) and speed.
  • the patterns also can be analyzed to determine the posture (standing, crawling, prone) of the user.
  • the direction that the user is facing is determined by a sensor that can be directly attached to the user.
  • the sensor can be a magnetic tracker attached to the user's waist that determines the direction the waist is facing.
  • the virtual reality system according to this invention provides significant advantages over known virtual reality systems in that only a single sensor needs to be directly attached to the user. Thus, the user is relatively free from cumbersome sensor wiring and devices.
  • the controller 210 can transpose the motion of the user into the virtual environment generated by the virtual environment rendering device 250.
  • Data for the virtual environment, including virtual objects, can be stored in the memory
  • the virtual environment rendering device 250 can update the virtual environment at given intervals based on the data stored in the memory 220.
  • the virtual environment rendering device 250 can update the virtual space each time the user's motion is identified.
  • the user can effect, and can be effected by, the virtual environment. For example, as the user
  • the user's perspective in the virtual space can change, virtual objects can enter the user's path, and the user can move virtual objects.
  • the virtual environment rendering device 250 can also generate a virtual ground surface, depending on the user's location in the virtual space.
  • the type of virtual " ground surface generated-by the virtual environment rendering device 250 can determine the amount of counter force generated by the counter force generating layer 190 of the pressure sensing mat 100. For example, if the virtual ground surface is soft grass, the counter force generating layer 190 can be controlled to exert a springlike counter force to the user's foot.
  • the controller 210 can control the output interface 270 to output virtual reality environment data to the display 400.
  • the display 400 is shown in Fig. 1 as a head-mounted display, any known or later discovered display can be used.
  • the display provides the user with the ability to see, hear, smell and/or touch in the virtual world so that the user is fully immersed in the virtual space.
  • the pressure sensing mat 100 can be as large as required to allow the user to move as if the user was in the virtual space.
  • the pressure sensing mat 100 can be made to cover the floor of a large field or room.
  • the pressure sensing mat 100 can be made smaller, in which case the user would be required to move in a bounded area or move "in place”.
  • the virtual reality system 1 can be implemented as software executing on a programmed general purpose computer, a special purpose computer, a microprocessor or the like.
  • the invention has been described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the preferred, exemplary embodiments or constructions. To the contrary, the invention is intended to cover various modifications and equivalent arrangements.
  • the various elements of the exemplary embodiments are shown in various combinations and configurations, which are exemplary, other combinations and configurations, including more, less or only a single element, are also within the spirit and scope of the invention.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • User Interface Of Digital Computer (AREA)
  • Position Input By Displaying (AREA)
  • Processing Or Creating Images (AREA)

Abstract

Cette invention concerne un système de réalité virtuelle qui transpose la position d'un utilisateur dans un espace réel en une position dans un espace virtuel. Le système de réalité virtuelle comprend une interface de locomotion produisant des signaux qui renseignent sur la position de l'utilisateur dans un espace réel. Cette interface de locomotion comprend un tapis manosensible composé d'une couche de base, d'une pluralité d'éléments manosensibles et d'une couche disposée sur la couche de base qui génère une contre-force, et d'une couche supérieure formée sur la pluralité d'éléments manosensibles. Cette pluralité d'éléments manosensibles émet un signal représentatif de la pression appliquée sur la couche supérieure. A partir des signaux produits par l'interface de locomotion, un processeur de réalité virtuelle produit une sortie représentative, dans l'espace virtuel, de la position de l'utilisateur qui correspond à sa position et à ses mouvements dans l'espace réel. A partir de cette sortie du processeur de réalité virtuelle, un afficheur produit une image de l'espace virtuel.
EP03815881A 2003-02-06 2003-02-06 Interface de locomotion pour systeme de realite virtuelle faisant appel a un tapis manosensible Withdrawn EP1590729A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/US2003/003444 WO2004072836A1 (fr) 2003-02-06 2003-02-06 Interface de locomotion pour systeme de realite virtuelle faisant appel a un tapis manosensible

Publications (1)

Publication Number Publication Date
EP1590729A1 true EP1590729A1 (fr) 2005-11-02

Family

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Family Applications (1)

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EP03815881A Withdrawn EP1590729A1 (fr) 2003-02-06 2003-02-06 Interface de locomotion pour systeme de realite virtuelle faisant appel a un tapis manosensible

Country Status (5)

Country Link
EP (1) EP1590729A1 (fr)
JP (1) JP4109257B2 (fr)
CN (1) CN100373302C (fr)
AU (1) AU2003210860A1 (fr)
WO (1) WO2004072836A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2944615B1 (fr) * 2009-04-21 2013-11-22 Eric Belmon Tapis adapte aux deplacements dans une realite virtuelle
KR101334513B1 (ko) * 2012-03-16 2013-11-28 호서대학교 산학협력단 게임제공 장치
TR201614631A1 (tr) 2016-10-18 2018-04-24 Tugra Sahiner Bi̇r sanal gerçekli̇k hareket platformu
CN106445175B (zh) * 2016-12-06 2024-02-02 重庆梦神科技有限公司 虚拟现实体验舱
CN109621376B (zh) * 2019-01-31 2024-03-29 山东师范大学 一种排球自垫球自动计数考核装置及方法
CN115191788B (zh) * 2022-07-14 2023-06-23 慕思健康睡眠股份有限公司 一种基于智能床垫的体感互动方法及相关产品

Family Cites Families (5)

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Publication number Priority date Publication date Assignee Title
US5629594A (en) * 1992-12-02 1997-05-13 Cybernet Systems Corporation Force feedback system
US5424650A (en) * 1993-09-24 1995-06-13 Rosemont Inc. Capacitive pressure sensor having circuitry for eliminating stray capacitance
US6114645A (en) * 1995-04-27 2000-09-05 Burgess; Lester E. Pressure activated switching device
WO1997042620A1 (fr) * 1996-05-06 1997-11-13 University Of Washington Dispositif de commande de mouvements virtuels
US7381152B2 (en) * 2001-07-23 2008-06-03 Southwest Research Institute Virtual reality system locomotion interface utilizing a pressure-sensing mat

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
None *
See also references of WO2004072836A1 *

Also Published As

Publication number Publication date
JP4109257B2 (ja) 2008-07-02
CN1742250A (zh) 2006-03-01
AU2003210860A1 (en) 2004-09-06
CN100373302C (zh) 2008-03-05
JP2006514365A (ja) 2006-04-27
WO2004072836A1 (fr) 2004-08-26

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