Omni-directional motion system with full range of motion with multiple degrees of freedom for walkable or interactive virtual reality

Abstract

An omnidirectional motion system, which can be used with virtual reality (VR) environment technology, includes at least a base portion, an articulated arm extending upward from a platform of the base portion, and a rotation mechanism rotatably coupling the base portion to the articulated arm. The platform of the base portion is configured to support a user, and the articulated arm can include a harness support configured to attach to a harness worn by the user. The articulated arm includes at least a first link, a second link, and a hinge joint coupled between the first link and the second link. The rotation mechanism can allow the articulated arm to rotate about an outer circumference of the base portion through 360 degrees; the hinge joint can allow the articulated arm to translate horizontally or vertically relative to the base portion.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority to U.S. Provisional Application No. 63 / 083,716, filed September 25, 2020, entitled “OMNIDIRECTIONAL LOCOMOTION SYSTEM WITH FULL RANGE OF MOTION IN MULTIPLE DEGREES OF FREEDOM FOR WALKABLE OR INTERACTIVE VIRTUAL REALITY,” the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0003] This disclosure relates to an omnidirectional motion system and device that can be used to provide an immersive virtual reality experience, and more specifically to an omnidirectional motion system that provides a full and natural range of motion with multiple degrees of freedom. Attached Figure Description

[0004] To describe how the features of this disclosure can be obtained, a more specific description of the principles briefly described above will be presented by reference to specific examples thereof shown in the accompanying drawings. It should be understood that these drawings depict only exemplary embodiments of this disclosure and are therefore not intended to be considered as limiting its scope. The principles herein are described and explained with additional uniqueness and detail through the use of the drawings, in which:

[0005] Figure 1 This is a perspective view of an exemplary omnidirectional motion system according to one or more aspects of this disclosure;

[0006] Figure 2A This is a first perspective view of the upper articulated arm assembly of an exemplary omnidirectional motion system according to one or more aspects of this disclosure;

[0007] Figure 2B This is a second perspective view of the upper articulated arm assembly of an exemplary omnidirectional motion system according to one or more aspects of this disclosure;

[0008] Figure 3A This is a first side view of the upper articulated arm assembly of an exemplary omnidirectional motion system according to one or more aspects of this disclosure;

[0009] Figure 3B This is a second side view of the upper articulated arm assembly of an exemplary omnidirectional motion system according to one or more aspects of this disclosure;

[0010] Figures 3C to 3EA front view of an upper articulated arm assembly of an exemplary omnidirectional motion system in various rotational positions according to one or more aspects of this disclosure is depicted.

[0011] Figure 4 This is a perspective view of an exemplary locking mechanism according to one or more aspects of this disclosure;

[0012] Figure 5A This is a perspective view of an exemplary spring mechanism according to one or more aspects of this disclosure;

[0013] Figure 5B This is a perspective view of an exemplary multi-spring mechanism according to one or more aspects of this disclosure;

[0014] Figure 5C This is a side view of an exemplary multi-spring mechanism according to one or more aspects of this disclosure;

[0015] Figure 6A An exemplary base portion of an omnidirectional motion system according to one or more aspects of this disclosure is depicted;

[0016] Figure 6B An internal view of an exemplary base portion of an omnidirectional motion system according to one or more aspects of this disclosure is depicted;

[0017] Figure 7A An example of a rotating mechanism, according to one or more aspects of this disclosure, is depicted between an articulated arm and a base portion of an omnidirectional motion system.

[0018] Figure 7B Depicting Figure 7B A side view of an exemplary rotating mechanism;

[0019] Figure 8 An exemplary design of an omnidirectional motion system according to one or more aspects of this disclosure is described;

[0020] Figure 9 A first exemplary omnidirectional motion system according to one or more aspects of this disclosure is described;

[0021] Figure 10 A first exemplary view depicts the upper component and locking mechanism of an omnidirectional motion system according to one or more aspects of this disclosure;

[0022] Figure 11 A second exemplary omnidirectional motion system according to one or more aspects of this disclosure is described;

[0023] Figure 12 A second exemplary view depicts the upper component and locking mechanism of an omnidirectional motion system according to one or more aspects of this disclosure;

[0024] Figure 13 A third exemplary omnidirectional motion system according to one or more aspects of this disclosure is described;

[0025] Figure 14 A third exemplary view depicts the upper component and locking mechanism of an omnidirectional motion system according to one or more aspects of this disclosure;

[0026] Figure 15 A fourth exemplary omnidirectional motion system according to one or more aspects of this disclosure is described;

[0027] Figure 16 Examples of articulated base mechanisms and fourth examples of upper arm assemblies of exemplary omnidirectional motion systems according to one or more aspects of this disclosure are depicted.

[0028] Figure 17 A fifth exemplary omnidirectional motion system according to one or more aspects of this disclosure is described;

[0029] Figure 18 A fifth exemplary view depicting the upper component and locking mechanism of an omnidirectional motion system according to one or more aspects of this disclosure; and

[0030] Figure 19 An exemplary vest is depicted for use with an exemplary omnidirectional motion system according to one or more aspects of this disclosure. Detailed Implementation

[0031] Various embodiments of this disclosure are discussed in detail below. While specific implementations are discussed, it should be understood that this is for illustrative purposes only. Those skilled in the art will recognize that other components and configurations can be used without departing from the spirit and scope of this disclosure. Additional features and advantages of this disclosure will be set forth in the following description and will be apparent in part from the description, or may be learned by practicing the principles disclosed herein. It should be understood that, for the sake of simplicity and clarity, reference numerals will be repeated in different drawings where appropriate to indicate corresponding or similar elements. This description should not be considered as limiting the scope of the embodiments described herein.

[0032] This document discloses omnidirectional motion systems and devices that provide users with a full and natural range of motion (ROM) of multiple degrees of freedom (DOF), thereby providing users with a fully immersive and more natural virtual reality (VR) experience. While the following discussion refers to examples of currently disclosed omnidirectional motion systems and devices used in VR experiences, it should be understood that this is for clarity and illustrative purposes and is not intended to be construed as limiting. For example, omnidirectional motion systems and devices are contemplated for use, additionally or alternatively, in environments such as augmented reality (AR) experiences, traditional gaming experiences, and / or non-gaming interactive experiences.

[0033] Overview

[0034] Figure 1 A perspective view of an exemplary omnidirectional motion system 100 (also referred to herein as an "omnidirectional platform") is shown. The omnidirectional motion system 100 includes a base portion 110, an articulated arm portion 150, and a connecting portion 160 (also referred to herein as a "spine portion"), each of which will be explained in more detail below.

[0035] In operation, the user can stand on platform 112, shown herein as a concave platform, but other geometries, including curved and flat shapes, may be used without departing from the scope of this disclosure. As shown, platform 112 and base frame 114 are vertically separated from each other but remain rigidly attached, such that there is no relative rotation between them. In some embodiments, a central hub or bearing may provide a rigid attachment between platform 112 and base frame 114 (see, for example...). Figure 6A and Figure 6B ).

[0036] The articulated arm portion 150 may extend radially through the vertical separation region (i.e., gap) between the platform 112 and the base frame 114. A first distal end of the articulated arm portion 150 may be coupled to a rotatable element of the aforementioned central hub or bearing, allowing the articulated arm 150 to rotate freely relative to a reference plane or ground plane through a full 360° rotation. In some embodiments, the reference ground plane may be provided by the base portion 110, the platform 112, and / or the base frame 114. A second distal end of the articulated arm portion 150 is coupled to the spine portion 160, for example, at a rotary joint 140. As shown, the articulated arm 150 includes three rotary joints (also referred to herein as “rotational joints” and / or “hinge joints”), namely, a first rotary joint 120, a second rotary joint 130, and a third rotary joint 140, each of which will be described in more detail below. However, it should be understood that more or fewer rotary joints may be used without departing from the scope of this disclosure. For example, in some embodiments, a single rotary joint may be used, for instance, located at or near the intersection of the articulated arm 150 and the base portion 110. As another example, in some embodiments, two rotary joints may be used, such as rotary joints 120 and 130, wherein the function of a third rotary joint 140 is alternatively provided by an alternative mechanism, such as a slide rail mechanism on which the vest is mounted to allow vertical movement of the spine assembly 160 and the user.

[0037] The user's body or torso can be connected to the omnidirectional motion system 100 via a vest or straps worn on the chest / shoulder (not shown). In some embodiments, the user can be additionally or alternatively connected to the omnidirectional motion system 100 via a lap belt, hip harness, or other attachment that contacts the user at or around the user's waist and / or hips. In the case of using a hip harness, hip strap, etc., it is envisioned that the hip harness can be used as the sole attachment (e.g., without a vest or torso strap), the primary attachment, and / or a secondary attachment (e.g., in combination with a vest or torso strap). In particular, the vest or other attachment mechanism can be mounted to the spine portion 160, such that the user wearing the vest is connected to both the spine assembly 160 and the articulated arm 150. Based on various combinations of 360° rotation allowed by the base portion 110 and multi-point articulation allowed by the linkage mechanism of three rotary joints 120, 130, 140 and the articulated arm 150, the omnidirectional motion system 100 allows a user to perform actions throughout the entire 360° rotation, including but not limited to running, jumping, crawling, squatting, bending, etc. Unlike conventional methods of providing motion for use in or in conjunction with virtual reality experiences, in at least some embodiments, the currently disclosed full-ROM omnidirectional motion system avoids the use of physical supports, constraints, or other “real-world” obstacles that could significantly reduce a user’s ability to feel fully immersed in the virtual reality world. In particular, in some embodiments, the articulated arm 150 can be considered a driven linkage mechanism, i.e., the links and rotary joints 120, 130, 140 are repositionable such that the user’s movement (connected via the spine assembly 160 and a vest / strap attached to the user’s torso to the articulated arm 150) drives the linkage mechanism and causes the articulated arm 150 to “follow” the user’s movement.

[0038] Advantageously, compared to traditional solutions for translating real-world motion into motion within a virtual reality world, currently disclosed omnidirectional motion systems allow users to naturally change their direction of movement, for example, by rotating their hips and torso to walk or run in the desired direction. Existing solutions largely address the problem of controlling direction of movement by setting the direction of movement to be the same as (or otherwise correspond to) the user's gaze direction within the virtual reality world. That is, existing solutions require the user to "look" to the left in order to walk to the left, while currently disclosed omnidirectional motion systems allow users to walk to the left simply by turning their body to the left, just as they would in the real world. This approach is not only more natural and immersive, but also more robust in terms of the interaction dynamics allowed within the virtual reality environment; that is, the user can walk to the left while looking over their shoulder (i.e., to the right), a particularly valuable capability, for example, in first-person shooters and other open-world games, where actions are typically concentrated in an area other than directly in front of the user.

[0039] Exemplary omnidirectional motion system

[0040] This disclosure now returns to the topic of... Figure 1 Further details relating to the exemplary omnidirectional motion system 100 depicted herein. As used herein, the terms “upper assembly” and / or “arm assembly” are understood to refer to the combination of at least the articulated arm 150 and the spine 160 of the omnidirectional motion system 100. As previously described, in operation, the user stands on a fixed platform 112 included within a base portion 110. The platform 112 is shown herein as a concave circular shape with a flat circular recess at its center. The platform 112 does not move relative to the ground plane, i.e., the environment in which the omnidirectional motion system 100 is located. Instead, the platform 112 and the base frame 114 are rigidly connected to each other, for example via a central hub or bearing, further details of which can be found in [the following section / document / etc.]. Figures 6A to 7B As seen in the text.

[0041] The center hub or bearing can be designed to provide a vertical spacing or gap between the bottom surface of platform 112 and the top surface of base frame 114. The first distal end of the articulated arm portion 150 can be received within the resulting gap and coupled to a rotatable portion of the same center hub or bearing that rigidly attaches platform 112 to base frame 114. The dimensions of the vertical spacing between platform 112 and base frame 114 can be designed to allow the articulated arm 150 to rotate through a full 360° range without interfering with (e.g., colliding with) platform 112 or base frame 114 at any point along the rotation path.

[0042] In some embodiments, the user's body or torso can be connected to the articulated arm 150 via a vest or straps. For example, the vest can be worn on the chest / shoulder and secured with one or more attachment mechanisms, which may include straps, buckles, Velcro, buttons, clasps, etc. In some embodiments, the vest may include a waist belt or hip belt and / or chest strap. The vest can be attached to the spine portion 160, such that the user wearing the vest is connected to both the spine portion 160 and the articulated arm portion 150. Based on various combinations of 360° rotation (e.g., allowed by the base portion 110) and multi-point articulation (e.g., allowed by three rotary joints 120, 130, 140), the articulated arm 150 will also rotate or otherwise move with the user when the user changes his or her direction of movement.

[0043] In other words, when the user rotates or changes angular position relative to the fixed base platform 112, the spine 160 and the articulated arm 150 rotate synchronously with the user, maintaining the spine and arm "behind" the user's back in the same relative position as when the user first stepped onto the omnidirectional motion system and initially put on the vest. (See following...) Figures 6A to 7B The details of the center hub / bearing, which is connected to the articulated arm 150 and allows for full 360° rotation, are discussed.

[0044] Similarly, when the user jumps, crouches, or changes vertical position relative to the fixed base platform 112, the spine assembly 160 moves synchronously with the user to match the vertical changes; that is, again, the spine and arm remain “behind” the user because the three hinge joints 120, 130, 140 rotate to allow the articulated arm 150 to achieve the appropriate posture. (See reference below.) Figure 2A Figure 5 discusses the details of hinge joints 120, 130, 140, and various other components and mechanisms that enable movement of one or more of the articulated arms 150.

[0045] Although not shown, in some embodiments, it is conceivable that the spine assembly 160 may be attached to the articulated arm 150 via movable rollers that slide along one or more guide rails. In such a configuration, the engagement or attachment between the spine assembly 160 and (one or more) movable rollers allows the spine assembly 160 (and therefore, the user wearing a vest or other straps attached to the spine assembly) to move vertically together. Similar to what has been described above, in some examples, a spine assembly with a movable roller assembly may be configured such that the spine assembly does not exert any (one or more) undesirable forces against the user's natural movement or vertical movement. In some embodiments, the spine assembly may be designed to apply an adjustable counterforce, for example, the adjustable counterforce may be adjusted or modulated to suit user preferences and / or skill levels.

[0046] In some embodiments, the three hinge joints 120, 130, and 140 may each be associated with a separate spring / damping force, for example, a spring / damping force provided by one or more corresponding mechanisms at or on the hinge joint. Additionally, the three hinge joints 120, 130, and 140 may each be associated with a unique range of motion or angular rotation, which may be defined relative to the default position of the hinge joint. In other words, each hinge joint may have a constrained single degree of freedom (DOF). In some embodiments, Figure 1 The configuration corresponds to the default positions of the three hinge joints 120, 130, and 140.

[0047] For example, the first hinge joint 120 may have a substantially vertical default position, such that the hinge arm 150 is perpendicular to the ground plane and the base portion 110 (in other words, the default position of the first hinge joint 120 corresponds to an angle of approximately 0° between the upper and lower links of the hinge arm 150 connected to the first hinge joint 120). Similarly, the second hinge joint 130 may have a substantially horizontal default position, such that the links connected to the hinge arm 150 form an angle of approximately 90° at the second hinge joint 130 in its default position. The third hinge joint 140 may also have a substantially horizontal default position, such that the connection angle between the spine assembly 160 and the upper link of the hinge arm 150 is approximately 0°. In some embodiments, the spring / damping forces provided at or around each of the three hinge joints 120, 130, 140 may be calibrated to balance the gravity and torque acting on the hinge arm 150, such that the three hinge joints 120, 130, 140 remain in their default positions, such as... Figure 1 As shown.

[0048] When the user changes his or her posture relative to the ground plane and the fixed platform 112 of the omnidirectional motion system 100 (e.g., tilting forward or backward, as is typically possible when accelerating or decelerating while running), one or more of the three hinge joints 120, 130, and 140 also rotate. The rotational movement of the hinge joints 120, 130, and 140 causes corresponding adjustments in the geometry and relative positioning between the connecting links of the articulated arm 150, such that the adjustment of the arm position matches or otherwise adapts to a combination of translational (horizontal and vertical) displacements and / or angular displacements of the spine assembly 160 coupled to the vest worn by the user. In other words, the three hinge joints 120, 130, and 140 of the articulated arm 150 allow the user to physically move forward and backward, up and down, and rotate left or right, all within the diameter of the fixed base platform 112. As previously described, in some embodiments, the articulated arm 150 can be considered as a driven linkage mechanism, i.e., the rotational joints between the links are repositionable so that the user's movement drives the linkage mechanism of the articulated arm 150 to "follow" the user's movement (e.g., based on the user's movement, connected to the articulated arm 150 via the spine assembly 160 and the vest / strap worn by the user).

[0049] Therefore, it is conceivable that the articulated arm 150 can be hinged or otherwise change position and / or configuration via corresponding rotational changes at one or more of the rotary hinge joints 120, 130, and 140. Additionally, in some embodiments, the articulated arm 150 and / or one or more of the hinge joints 120, 130, and 140 can be hinged when using the omnidirectional motion system 100 without applying any (one or more) undesired forces against the user's natural movement or rotation. However, it is also conceivable that the articulated arm 150 and / or one or more of the hinge joints 120, 130, and 140 can be configured to provide a desired amount of resistance or counterforce. For example, in some embodiments, one or more springs, pistons, shock absorbers, and / or other damping mechanisms can be used to balance the gravity acting on the mass of the articulated arm 150. As will be described in more detail below, these springs and damping mechanisms can be located at or integrated with one or more of the hinge joints 120, 130, and 140. In this configuration, one or more springs and / or damping forces can be configured to substantially counteract or eliminate the gravity acting on the articulated arm 150, for example, so that the user does not perceive the weight of the articulated arm 150 and is able to move more naturally when connected to the articulated arm.

[0050] As an illustrative example, with the spring and / or damping forces properly calibrated or adjusted for a given user (e.g., based on the user's height and / or weight), the user can stand still without feeling the weight of the articulated arm 150 pressing down on his or her shoulder; similarly, the user can jump without having to exert energy to move the mass of the articulated arm 150. In some embodiments, one or more spring and / or damping forces provided by or on the articulated arm 150 can be user-adjustable to provide more resistance or counterforce than is required to counteract the gravity acting on the articulated arm 150. In some embodiments, one or more of the aforementioned spring and / or damping forces can be provided by a torsion spring or clock spring, which provides a spring force that varies with the rotation or angular position of the spring. The shock absorber can also be used alone or in combination with springs or other damping mechanisms. The shock absorber can be linearly actuated, for example, by a piston or inner rod that can extend and retract from the body component of the shock absorber. In some embodiments, as will be discussed in more detail below, the shock absorber may be provided in combination with a cam such that the cam rotates together with the hinge joint or other part of the articulated arm 150 and interacts with the shock absorber as an interface between the rotational motion of the articulated arm / hinge joint and the linear motion of the shock absorber.

[0051] It should be understood that various other spring and / or damping mechanisms may be used without departing from the scope of this disclosure. For example, other spring and / or damping mechanisms may include, but are not limited to, linear and / or compression springs (which may be variable springs in some embodiments), gas dampers, etc. In some embodiments, damping or spring-like forces may be provided by mechanisms other than mechanical springs. For example, one or more servo mechanisms or motors may be utilized and controlled to provide resistance that matches or is otherwise equivalent to the resistance provided by one or more springs. Damping forces and spring-like forces may be additionally or alternatively provided by magnetic mechanisms (e.g., where the strength of a magnetic field increases or decreases to cause a corresponding increase or decrease in resistance applied at a particular hinge joint or at other locations along the hinge arm 150), by rotary dampers, etc. Regardless of the specific type or design of the mechanism used to provide the spring and / or damping forces disclosed herein, it is also contemplated that such mechanisms may be configured to be manually or automatically adjustable by the user. For example, user adjustments can be made to the spring and damping forces to customize or better adapt the articulated arm 150 of the omnidirectional motion system 100 to the user's size and / or weight, thereby providing a more consistent experience that is substantially independent of the user's body shape.

[0052] Specifically, as the user becomes accustomed to the use of and movement on the omnidirectional motion system 100, the user-adjustable spring and / or damping forces can serve as a safety or training mechanism. For example, a larger counterforce corresponding to a "beginner" setting can be provided, while a minimum or zero counterforce corresponding to an "expert" setting can be provided. It is also conceivable that various other counterforces falling between these two extremes can be provided or selected. Additionally, the user-adjustable (one or more) counterforces can be selected from a plurality of predefined settings or levels and / or can be selected as specific points or values ​​along continuous intervals. In some embodiments, one or more of the spring forces, damping forces, and / or counterforces described herein can be automatically controlled to achieve a safety mechanism, for example, by applying braking or locking forces at one or more of the hinge joints 120, 130, and 140. The automatic control and application of braking or locking forces at hinge joints 120, 130, and 140 can be implemented as a software or algorithm-based sensing, monitoring, and control method; as a purely mechanical method; and / or as a hybrid method combining software and mechanical control methods and components, as will be described in more detail below.

[0053] Additionally, one or more of the hinge joints 120, 130, and 140 may include one or more sensors to detect the angle or angular position at that given hinge joint, for example, such that combined angle sensor readings from the three hinge joints 120, 130, and 140 allow for substantially real-time determination of the current state or position of the articulated arm 150 and the spine assembly 160. For example, in... Figure 2A and Figure 2B In a detailed perspective view of the upper arm assembly of the omnidirectional motion system 100, angle sensors 128, 138, and 148 are shown as being associated with hinge joints 120, 130, and 140, respectively. In some embodiments, one or more of the sensors may also directly or indirectly detect or otherwise determine the force applied by the user, for example by calculating the applied force based on the rate of change of the deflection angle of the articulated arm 150 and other known physical and mechanical quantities of the articulated arm 150 in its current configuration.

[0054] In some embodiments, it is also conceivable that sensors 128, 138, 148 can receive wired power and / or transmit sensor data via wired connections, which may be provided integrally by the omnidirectional motion system 100 and the articulated arm 150. For example, one or more power lines or connections may be integrated into the links of the articulated arm 150 and / or one or more data-carrying lines or connections may be integrated into the links of the articulated arm 150. In some embodiments, a single wire or connection may be used for both power delivery and data transmission. Whether a single wire or multiple wires extend through the articulated arm 150, in some embodiments, the wires may be provided in a continuously extending manner, for example, passing through or being contained within the hollow internal volume of each link of the articulated arm 150, and additionally passing through or surrounding hinge joints 120, 130, 140. In some embodiments, flexible connectors may be provided to couple power and / or data-carrying lines through hinge joints 120, 130, 140.

[0055] Although not shown, it is conceivable that the articulated arm 150 may be configured to provide power and / or bidirectional data connectivity to one or more components connected along the arm (e.g., one or more sensors 128, 138, 148 at the three hinge joints 120, 130, 140) and one or more components connected at the distal end or tip of the arm (e.g., at the spine assembly 160). For example, components connected at or via the spine assembly 160 for power and / or data transmission purposes may include, but are not limited to, a vest or strap worn by a user (e.g., which may have various sensors, haptic feedback mechanisms, controller / accessory docking, and charging ports, etc.) or another electronic device (such as a VR headset or computer) electrically or communicatively coupled to a port located on the spine assembly 160 or the articulated arm 150. As will be discussed later... Figures 6A to 7B To explain further, the fixed base frame 114 of the omnidirectional motion system 100 may include a slip ring that connects the electrical and / or data transmission system of the articulated arm 150 to a corresponding electrical and data transmission system on the fixed base portion 114 (e.g., thereby allowing free 360-degree rotation of the articulated arm 150, which would otherwise be impossible if a wired connection were used between the articulated arm 150 and the fixed base frame 114). For the articulated arm 150, in some embodiments, one or more of aluminum, carbon fiber, glass fiber, and / or (one or more) glass-filled plastics may be used to form the arm. In some examples, internal and / or external wired electrical or data connections may be provided for the articulated arm 150 during its construction.

[0056] In some embodiments, the upper assembly of the articulated arm 150 and the spine 160 may include one or more charging ports and / or stations that can distribute power to electronic devices using custom or standardized connectors (e.g., custom connectors for VR headsets, VR computing devices, VR controllers, etc.; standardized plugs for mains power according to various national or international standards; USB connectors, etc.). It is also conceivable that the upper assembly (or some other location on the omnidirectional motion system 100) can provide combined storage and charging functionality. For example, the upper assembly may include compartments, containers, or other defined volumes in which a user can store a VR headset and / or VR handheld controllers when not in use. The stored electronic devices can be charged wirelessly or via a wired connection. Notches or other receiving mechanisms may be provided in the charging compartment to indicate the proper alignment of the user's VR device for storage and charging, particularly in cases where wireless charging is provided. The charging compartment may be integrated into the omnidirectional motion system 100 in one or more of the spine assembly 160, the articulated arm 150, and / or the base portion 110; alternatively, the charging compartment or charging module may be provided as an external or modular component that may be added to the omnidirectional motion system 100 by the user later.

[0057] articulated arm

[0058] Figure 2A and Figure 2B Perspective views of exemplary omnidirectional motion systems 200a and 200b are presented, which in some embodiments can be compared with previously described... Figure 1 The exemplary omnidirectional motion system 100 discussed is the same. Figure 3A and 3B A side profile view of the same exemplary omnidirectional motion system is depicted, and it should be noted that the following description is for reference only. Figures 2A to 3B The three hinge joints 120, 130 and 140 are shown as being disposed on the articulated arm 150, but it should be understood that more or fewer hinge joints may be used without departing from the scope of this disclosure.

[0059] The first hinge joint 120 connects the fixed link 152 (whose other end is connected to the central rotating hub of the base portion 110 of the omnidirectional motion system 100) to the intermediate link 154. Both the fixed link 152 and the intermediate link 154 are links of the hinged arm 150. In some embodiments, the first hinge joint 120 has a default position such that an angle of approximately 0 degrees is maintained between the fixed link 152 and the intermediate link 154, for example, as... Figure 2A and Figure 2BAs shown. The first hinge joint 120 includes a first spring mechanism 122, shown herein as a clock spring; however, it should be noted that other spring mechanisms and / or other types of springs may be used without departing from the scope of this disclosure. Reference is made to exemplary spring mechanism 500 (in... Figure 5A (as depicted in the image) and the exemplary multi-spring mechanism 502 (in the image) Figure 5B and 5C Additional details and further discussion of the spring mechanism are provided below. However, it should be noted that in some embodiments, the first spring mechanism 122 may be similar to or the same as one or more of the exemplary spring mechanisms 500 and 502. The first hinge joint 120 also includes an angle sensor 128 that senses the angular position or amount of rotation at the first hinge joint 120. A locking mechanism 124 is also provided at the first hinge joint 120, which can be manually engaged (e.g., via rotation of a connected knob) to lock or unlock rotation of the first hinge joint 120 and / or can be electronically engaged (e.g., via a solenoid) to provide automatic locking / unlocking functionality and / or safety and fall protection functionality. These various functions and further details of the locking mechanism 124 can be found in [the following text is missing from the original extract]. Figure 4 As you can see, this will be discussed below.

[0060] The second hinge joint 130 connects the intermediate link 154 to the upper link 156 of the hinge arm 150. Thus, the intermediate link 154 is connected at both ends to the first hinge joint 120 and the second hinge joint 130. The upper link 156 is a link in the overall linkage mechanism of the hinge arm 150. In some embodiments, the second hinge joint 130 has a default position such that an angle of approximately 90 degrees is maintained between the intermediate link 154 and the upper link 156, for example, as shown in the figure. Figure 2A and Figure 2B As shown. The second hinge joint 130 includes a second spring mechanism 132, shown herein as a clock spring; however, it should be noted that other spring mechanisms and / or other types of springs may be used without departing from the scope of this disclosure. In some embodiments, the first spring mechanism 122 and the second spring mechanism 132 may be identical or similar to each other in their overall construction or mechanical design; however, it should be noted that even in cases of such mechanical similarity, the first spring mechanism 122 and the second spring mechanism 132 may be mounted or configured to provide different spring forces on the hinge arm 150. However, it is conceivable that the following... Figure 5A The exemplary spring mechanism 500 and / or depicted in the figure Figure 5B and 5CThe discussion provided by the detailed views of the exemplary multi-spring mechanism 502 depicted in the diagram can be applied at least in part to the first spring mechanism 122 and the second spring mechanism 132. The second hinge joint 130 also includes an angle sensor 138 that senses the angular position or amount of rotation at the second hinge joint 130. The angle sensor 138 may be similar to or the same as the angle sensor 128 disposed at the first hinge joint 120. Although not described in detail... Figure 2A and Figure 2B As shown, however, in some embodiments, the second hinge joint 130 may include a locking mechanism that is the same as or similar to one or more of locking mechanisms 122, 142 and / or 400.

[0061] The third hinge joint 140 connects the upper link 156 (of the hinge arm 150) to the spine assembly 160. Thus, the upper link 156 is connected at both ends to the second hinge joint 130 and the third hinge joint 140. In some embodiments, the third hinge joint 140 has a default position such that an angle of approximately 0 degrees is maintained between the upper link 156 and the mounting connector disposed on the vertical portion of the spine assembly 160, as in... Figure 2A and Figure 2B As can be seen in (note, Figure 3A and Figure 3B A side view of the mounting connector 162 disposed between the spine assembly 160 and the third hinge joint 140 is depicted. In other words, the third hinge joint 140 may have a default position such that the upper link 156 is perpendicular to the vertical portion of the spine assembly 160. The third hinge joint 140 includes a third spring mechanism 142, shown herein as a torsion spring; however, it should be noted that other spring mechanisms and / or other types of springs may be used without departing from the scope of this disclosure. For example, in some embodiments, the third spring mechanism 142 may be configured as a clock spring and / or may be configured with a connection to the first spring mechanism 122, the second spring mechanism 132, etc. Figure 5A The exemplary spring mechanism 500 and / or depicted in the figure Figure 5B and 5C The mechanical structure of the exemplary multi-spring mechanism 502 depicted is similar to or the same as that of the mechanical structure.

[0062] The spring force provided by the third spring mechanism 142 may differ from the spring forces (one or more) provided by the first spring mechanism 122 and / or the second spring mechanism 132, respectively. For example, in order to maintain the spring forces discussed above and in Figure 1 , Figure 2A and Figure 2BIn the default position depicted, the third spring mechanism 142 provides a spring force sufficient to balance the weight of the spine assembly 160; the second spring mechanism 132 provides a spring force sufficient to balance the combined weight of the spine assembly 160 and at least a portion of the upper link 156; and the first spring mechanism 122 provides a spring force sufficient to balance the combined weight of the spine assembly 160 and at least a portion of the upper link 156 or intermediate link 154, etc. However, it is conceivable that the following regarding... Figure 5A The detailed view of the exemplary spring mechanism 500a depicted in the figure provides for discussion (and / or about) Figure 5B and Figure 5C The exemplary multi-spring mechanism 502 (discussed herein) can be at least partially and equivalently applied to the first spring mechanism 122, the second spring mechanism 132, and the third spring mechanism 142, respectively. The third hinge joint 140 also includes an angle sensor 148 that senses the angular position or amount of rotation at the third hinge joint 140. A locking mechanism 144 is also provided at the third hinge joint 140, which can be manually engaged (e.g., via rotation of a connected knob) to lock or unlock rotation of the third hinge joint 140 and / or can be electronically engaged (e.g., via a solenoid) to provide automatic locking / unlocking functionality and / or safety and fall protection functionality. In some embodiments, the locking mechanism 144 may be combined with the locking mechanism 124 provided at the first hinge joint 120 and / or Figure 4 The exemplary locking mechanism 400 depicted is similar to or the same as that described in the text.

[0063] The damper mechanism 170 may also be coupled to a cam 172 that rotates with the second hinge joint 130. In some embodiments, the cam 172 may be rigidly attached to an outer portion of the second hinge joint 120 such that the cam and the hinge joint rotate together. As shown, the damper mechanism 170 includes an extendable rod 174 having a distal end shaped to contact and interact with the cam 172. Depending on the relative position of the cam 172 and the distal end of the extendable rod 174, the extendable rod 174 extends or retracts along the longitudinal length of the damper mechanism 170. The damper mechanism 170 may be configured to resist (i.e., dampen) compressive forces acting in a direction that causes the extendable rod 174 to retract deeper into the body of the damper 170. For example, in Figure 3A In the illustration, the damper mechanism 170 can be configured, for example, to resist or dampen a compressive force acting on the left by providing a damping force acting on the right.

[0064] The curvature of cam 172 can be adjusted to change these compressive forces, thereby altering the corresponding damping force response provided by damper mechanism 170. Specifically, the interaction between cam 172 and the distal end of extendable rod 174 defines a damping characteristic curve within the rotational range of second hinge joint 130 (emphasizing that cam 172 is rigidly attached to second hinge joint 130 such that both rotate together). For example, the damping characteristic curve can correlate various angular positions of second hinge joint 130 with the corresponding expected magnitude of damping force at each angular position.

[0065] As shown in the figure, the damper mechanism 170 and the second spring mechanism 132 are located on opposite surfaces of the second hinge joint 130. As previously described, the damping characteristic curve corresponding to the interaction between the damper mechanism 170 and the cam 172 can be selected or otherwise configured to provide a damping force to counteract (i.e., dampen) the spring force applied by the second spring mechanism 132.

[0066] The second spring mechanism 132 is depicted as a clock spring wound in a counterclockwise direction, for example, as Figure 3B As can be seen in the image. Based on this counterclockwise orientation, the second spring mechanism 132 rises to the top parallel to the ground plane when the upper link 156 of the hinge arm 150 rises (e.g., in the image). Figure 3B In the view, when the upper link 156 rotates counterclockwise, it is compressed, and when the upper link 156 descends parallel to the ground plane (e.g., in...) Figure 3B In the view, the upper link 156 is extended when it rotates clockwise.

[0067] In contrast, the rod 174 of the damper mechanism 170 extends upwards parallel to the ground plane as the upper link 156 of the articulated arm rises, and compresses downwards parallel to the ground plane as it descends. Because the damping mechanism resists compression, the damper mechanism 170 can be seen to provide a damping force that acts in parallel with or otherwise with the spring force exerted by the clock spring 132. In some embodiments, the damper mechanism 170 (and / or the cam associated with the damping mechanism) can be configured to provide a damping force that acts in opposition to the spring force exerted by the spring 132, for example, thereby smoothing the net force felt by the user of the omnidirectional motion system at or around the hinge joint 130. By balancing the damping force and the spring force, both acting at the second hinge joint 130, the upper link 156 of the articulated arm can be held in its previously described approximately horizontal or parallel-to-the-ground default position. Therefore, the user of the omnidirectional motion system 100 can feel the resistance from the second hinge joint 130, which is a combination of the spring force applied by the spring mechanism 132 and the reverse damping force applied by the damper mechanism 170.

[0068] Similarly, the first hinge joint 120 can provide resistance via a spring force applied by its spring mechanism 122, and the third hinge joint 140 can provide resistance via a spring force applied by its spring mechanism 142. In some embodiments, one or more of the resistance provided at hinge joints 120, 130, 140 can be variable and / or user-adjustable. For example, a novice user might prefer to more aggressively bias one or more links of the articulated arm 150 back to their default positions (such as...). Figure 1 More experienced users may prefer weaker resistance (as seen in the default position) and allow for greater freedom of movement within a wider range of motion. Similarly, heavier users may prefer or require stronger resistance than relatively lighter users.

[0069] For example, the resistance at the second hinge joint 130 can be adjusted via a user-actuable knob or gear system provided on the damper mechanism 170. The perceived resistance at the second hinge joint 130 can also be increased by increasing the damping force applied by the damper 170; similarly, the perceived resistance at the second hinge joint 130 can be decreased by decreasing the damping force applied by the damper 170. In some embodiments, for example, where the damper 170 is configured to operate in the opposite direction to the spring 132, i.e., increasing the damping force applied by the damper 170 will decrease the perceived resistance at the second hinge joint 130; while decreasing the damping force applied by the damper 170 will increase the perceived resistance at the second hinge joint 130.

[0070] Although the damper mechanism 170 is shown as an externally mounted component, in some embodiments, it is conceivable that the damper mechanism 170 may be internally or integrally disposed within the upper link 156 of the hinge arm 150. In this configuration, the cam 172 may additionally be located within the internal volume of the upper link 156, positioned such that the interaction between the cam and the extendable rod 174 of the damping mechanism is substantially the same as described above. In some embodiments, the internally provided damper mechanism 170 may be configured with an external adjustment mechanism that allows a user to increase or decrease the damping force. For example, an adjustment knob or wheel may protrude through a hole in the upper link 156 of the hinge arm, making the adjustment knob externally accessible to the user on the upper link 156 while also being connected to the internal damper mechanism 170.

[0071] Next, we turn to the spine component 160 of the currently disclosed omnidirectional motion system, such as... Figures 1 to 3BAs shown, the spine assembly 160 is attached to the upper link 156 of the articulated arm 150 via a third hinge joint 140, which allows the spine to pivot upwards or downwards. This movement allows the user greater freedom of movement when using an omnidirectional motion system (e.g., connected to the spine assembly 160 via a vest or shoulder strap), because without the third hinge joint 140, the user would be locked into a single spine posture when using an omnidirectional motion system, for example, would need to always be fully upright. The hinge joint 140 between the spine assembly 160 and the upper link 156 of the articulated arm 150 allows the user to perform various flexion movements, such as bending forward to tilt toward the ground or tilting backward to look upwards.

[0072] As shown, the spine assembly 160 has a curved shape that can provide a more ergonomic and comfortable user experience. In some embodiments, the curvature of the spine assembly 160 may approximate or match the standard curvature of the human spine, such as the curvature existing between the top of the upper cervical spine and the lumbar vertebrae. By providing this curvature in the spine assembly 160 (or in one or more rails of the spine component), the user of the currently disclosed omnidirectional motion system can perform more natural flexion movements from the waist or hips and can more generally feel less restricted or obstructed when attached to the articulated arm 150 / spine assembly 160. In some embodiments, the spine assembly 160 may take on a variety of other shapes and / or curvatures without departing from the scope of this disclosure. For example, the spine assembly 160 may have more or less pronounced curves, asymmetrical curves, 'S'-shaped curves, and may be some or all of its length straight, etc. Additionally, it is conceivable that the spine assembly 160 may be adjustable or flexible to match the unique curvature of a given user's spine. For example, the spine assembly 160 may be articulated or otherwise include multiple joints, hinges or other adjustable parts, which allow the overall shape and / or curvature of the spine assembly to be adjusted to better suit the user's specific needs or body type / shape.

[0073] In some embodiments, the spine assembly 160 may be configured to rotate with at least two degrees of freedom. The first degree of freedom may be associated with the rotation of the third hinge joint 140 (e.g., in...). Figure 3A and Figure 3B In the side perspective view seen in the image, the spine assembly is allowed to rotate 160 degrees clockwise or counterclockwise. A second degree of freedom perpendicular to the first degree of freedom can be provided. For example, as... Figures 3C to 3E As shown in the front perspective view, the ridge assembly 160 can be rotated away from its upright vertical position (where the upright vertical position is in...). Figure 3D (As shown in the figure). In other words, the first degree of freedom allows the spine assembly 160 to tilt forward and backward, while the second degree of freedom allows the spine assembly to swing left and right.

[0074] As previously described, the first degree of freedom (tilting up and down) can be provided by rotation of the third hinge joint 140. In some embodiments, the second degree of freedom (swinging left and right) can also be provided by the third hinge joint 140, in which case the third hinge joint 140 may be provided as a double-DOF or double-axis rotary joint. For example, as in Figures 3C to 3E As can be seen, the center of rotation is positioned to coincide with the third hinge joint 140. In some embodiments, the second degree of freedom may be provided by a rotary mechanism separate from the third hinge joint 140. For example, one or more ball bearing couplings or other rotary couplings may be used to provide this individually. Figures 3C to 3E The spine assembly 160(one or more) depicted in the figure rotates. A ball bearing / rotational connector may be disposed between the hinge arm 150 and the third hinge joint 140, between the third hinge joint 140 and the spine assembly 160, or between the hinge arm 150 and the third hinge joint 140 and between the third hinge joint 140 and the spine assembly 160.

[0075] like Figures 3C to 3E As shown, in some embodiments, the second degree of freedom provided to the spine assembly 160 may be configured to have a limited range, such as ±5 degrees; however, it should be understood that other ranges of rotation may be utilized without departing from the scope of this disclosure. In other words, a second degree of freedom may be provided such that a user wearing a vest of the omnidirectional motion system 100 can tilt his or her shoulders to the left or right within a near-natural range of motion, without having a range of rotation large enough to allow, for example, the user's shoulders to reach their orientation perpendicular to the ground.

[0076] The upper and lower portions of the spine assembly 160 may include vest connectors, each providing an attachment point for a user's vest (or shoulder straps, etc.) to connect to the spine assembly 160 and thus to the articulated arm 150 of the omnidirectional motion system. The vest may be rigidly attached to the spine assembly 160 via the vest connector, or the vest connector may provide a degree of movement to better accommodate vests of different sizes and / or users. For example, the vest connector may be made of flexible or semi-flexible rubber, thermoplastic, or other elastic materials. In some embodiments, one or more attachments between the vest mounting connector and the spine assembly 160 may be configured as hinges, for example, allowing the vest mounting connector to rotate upwards and / or downwards relative to the spine assembly 160, rather than being fixed in a specific position (e.g., such as...). Figure 3A and Figure 3B(See the vertical position shown). When the hinged attachment is used with one or more vest mounting connectors, the hinge may be integrated with the vest mounting connector or may be provided separately. Regardless of how the hinge is provided, the presence of a hinge between the vest mounting connector and the spine assembly 160 can (e.g., by better approximating the curvature of the spine) allow the vest to better conform to the user's body. In some embodiments, the hinged attachment may include a free-floating or freely adjustable hinge, i.e., such that the vest mounting connector automatically rotates to the appropriate position for the user wearing the vest, rather than requiring the user to manually set the hinge rotation / position of the vest mounting connector before putting on the vest.

[0077] Regardless of the rigidity of the connection, the vest connector allows the vest (and the user wearing the vest) to be vertically attached between the upper and lower ends of the spine assembly 160. The vest can be removably attached (and detached) to the vest connector of the spine assembly 160, for example, to allow for washing the vest and / or mounting vests of different physical sizes / sizings to better fit each user of the omnidirectional motion system 100.

[0078] The vest may be adjustable before and / or during the use of the omnidirectional motion system 100. For example, it may be adjusted before use to provide increased user comfort, for example, by better conforming to the user's body shape, height, etc. In some embodiments, such user-fit adjustment of the vest may be achieved by vertically moving or otherwise repositioning the vest relative to the spine assembly 160. In other words, while the spine assembly 160 remains stationary, the position of the vest may be adjusted vertically, for example, via a sliding mechanism and / or by repositioning one or more of the vest mounting connectors at different locations along the spine assembly 160. In some embodiments, the relative positioning of the vest and the spine assembly 160 may remain stationary, and alternatively, the position of the spine assembly 160 attached to the third hinge joint 140 may be adjusted, thereby allowing the vest and spine assembly 160 to move as a single unit.

[0079] As described above, in some embodiments, the vest for attaching a user's body or torso to the spine assembly 160 may be provided in a variety of different sizes to accommodate different physical dimensions of the user. In some embodiments, the vest may be integrated with or otherwise more permanently attached to the spine assembly 160 rather than being removable via a vest connector; for example, in this case, the entire vest and spine assembly assembly may be attached and detached as needed at the third hinge joint 140.

[0080] The vest may be unpowered and primarily intended to secure the user to the articulated arm 150 of the omnidirectional motion system. However, it is also conceivable that the vest may receive power from a battery, an external power source, and / or from a power source routed from a slip ring within the base portion 610 through the articulated arm 150 to the vest. This power arrangement may be provided via a standard plug or socket on the spine assembly 160, allowing the vest to be inserted by the user, or a power connector may be integrated into the vest connector of the spine assembly 160 for a more seamless power supply to the vest. The vest may additionally include one or more pockets, storage compartments, and / or containers, designed to store one or more VR handheld controllers when the omnidirectional motion system 100 is not in use by the user. In some examples, in addition to one or more VR handheld controllers, the vest may also hold or store a VR headset.

[0081] In some embodiments, the vest may include one or more biometric sensors to detect the user's physical state. These biometrics may include, but are not limited to, heart rate, respiratory rate, perspiration rate, blood pressure, body temperature, etc. In some embodiments, the omnidirectional motion system may transmit the sensed biometric measurements to a connected VR headset and / or a connected VR computing device, allowing the user's biometric measurements to be used as input to dynamically customize his or her VR environment. In some embodiments, the vest, when connected to a power source, may be used to provide tactile or other physical feedback to the user of the omnidirectional motion system, wherein the tactile or physical feedback corresponds to events within the user's VR environment. For example, the vest may include a temperature control system to provide the user with different temperature sensations corresponding to their VR environment, and may include one or more actuators or motors to provide impact / pressure sensations, etc., when the user experiences physical impact / trauma / damage in the VR environment. In some embodiments, physical feedback may be based on one or more motion inputs received from the user or otherwise sensed by the omnidirectional motion system; for example, the user may experience a swaying or impact sensation after performing a jumping motion on the omnidirectional motion system.

[0082] In some embodiments, the third hinge joint 140 is allowed to move through a defined range of motion, unrestricted or subject to some resistance applied by the third spring mechanism 142 (it should also be noted that the defined range of motion of the hinge joint may be predetermined by the physical design of the third hinge joint 140 and / or may be user-adjustable). However, in some embodiments, the third hinge joint 140 may include a locking mechanism 144, which will be discussed in more detail later. Generally, the locking mechanism 144 may be engaged to prevent any movement of the third hinge joint 140. This may be desirable, for example, when a user feels uncomfortable or unfamiliar with the articulated movement that the articulated arm 150 and the spine assembly 160 may otherwise provide, such as when a novice user is still familiarizing themselves with the use of an omnidirectional motion system.

[0083] The locking mechanism 144 can be actuated to lock the third hinge joint 140 to a predetermined "locked" position, which may correspond to a generally upright orientation of the spine assembly 160 relative to the ground plane or base portion 110 of the omnidirectional motion system. The locking mechanism 144 can also provide the user with a choice between multiple different locking positions of the third hinge joint 140 and / or the spine assembly 160, which may include, but are not limited to, fully upright, partially upright, and fully downward. In some embodiments, the locking mechanism 144 can be freely engaged by the user to lock the third hinge joint 144 and the spine assembly 160 to any desired position within the range of motion associated with the third hinge joint 140, thereby providing greater flexibility and customization options for various user needs and usage scenarios.

[0084] More generally, in addition to the springs and damping mechanisms described above for providing resistance at hinge joints 120, 130, and 140, one or more locking mechanisms may be provided to lock or otherwise prevent rotation of the hinge joints. For example, Figure 2A and Figure 3A Locking mechanism 124 for locking the rotation of the first hinge joint 120 and locking mechanism 144 for locking the rotation of the third hinge joint 140 are depicted. Although not shown, locking mechanisms may be additionally provided on or integrated with the second hinge joint 130 without departing from the scope of this disclosure.

[0085] In addition to one or more locking mechanisms, one or more hinge rotation limiters may be provided at one or more hinge joints. For example, Figure 3A and Figure 3BA hinge rotation limiter 126 is depicted disposed at the first hinge joint 120. In operation, interference between the arm link 154 and the upwardly projecting angled tab of the rotation limiter 126 prevents the arm link 154 from rotating beyond a certain angular displacement or degree of rotation. In some embodiments, the rotation limiter 126 may be provided as an interchangeable component, wherein different examples of the rotation limiter 126 each allow a larger or smaller amount of rotation at the hinge joint. For example, a novice user of the omnidirectional motion system 100 may prefer a smaller range of motion at the hinge joint, and therefore, the rotation limiter 126 may impose a greater degree of restriction. In some embodiments, the rotation limiter 126 may be removably attachable (and detachable) to one or more hinge joints of the articulated arm 150.

[0086] One or more of the locking mechanisms 124 and 144 can be manually engaged to lock rotation of their corresponding hinge joints (e.g., via user rotation of a knob coupled to drive the locking mechanism) and / or can be electronically engaged (e.g., via a solenoid). In some examples, electronic actuation of the solenoid or other drive component of the locking mechanism(s) can be used to provide automatic locking and unlocking functionality for the hinge joints of the articulated arm. For example, when a user fastens a vest or strap attached to the spine assembly 160, the circuit can be turned on, causing the circuit to trigger the solenoid to actuate the locking mechanism away from the default locked position and into the unlocked position. Intentionally (e.g., when the user removes the vest after using the omnidirectional motion system 100) or accidentally (e.g., when the user slips and falls) disengaging the circuit can automatically actuate the solenoid to lock the locking mechanism, which prevents any further rotation of the articulated arm 150. In some embodiments, one or more locking mechanisms can be configured at hinge joints 120, 130, and / or 140 to provide safety or fall protection. These various functions, along with, Figure 4 Further details of the exemplary locking mechanism 400, which can be seen in the diagram, are discussed together.

[0087] Figure 4The exemplary locking mechanism 400 may be similar to or identical to one or more locking mechanisms 124 and 144 respectively located at the first hinge joint 120 and the third hinge joint 140. In some embodiments, an additional locking mechanism similar to or identical to the exemplary locking mechanism 400 may also be located at or integrated with the second hinge joint 130. As shown, the exemplary locking mechanism 400 includes a planetary gear 410, a locking gear 412 having teeth adapted to mesh with the teeth of the planetary gear 410, and a cam 414 coupled to a knob 416. Rotation of the knob 416 (here, counterclockwise) causes a corresponding rotation of the cam 414, which contacts the locking gear 412 and drives it radially outward, locking it into engagement with the teeth of the planetary gear 410. The locking engagement between the meshing teeth of the locking gear 412 and the planetary gear 410 operates to lock the hinge joint and prevent any further rotation until the locking gear 412 disengages from the planetary gear 410.

[0088] Planetary gear 410 and locking gear 412 are rigidly connected to two different links that engage at hinge joints on which locking mechanism 400 is mounted. For example, as shown, planetary gear 410 is fixed to (and rotates with) the lower link 452 of the hinge joint, while locking gear 412 is fixed to (and rotates with) the upper link 454 of the same hinge joint. Therefore, when locking gear 412 meshes with planetary gear 412 so that the two gears cannot rotate relative to each other, the lower link 452 and upper link 454 of the hinge joint are also prevented from rotating relative to each other, thus locking the hinge joint.

[0089] In some embodiments, the exemplary locking mechanism 400 may be located inside the hinge joint, rather than as shown in the example. Figure 4 External mounting is shown. For example, the locking mechanism 400 may be mounted on the inner surface of the lower link 452 instead of the outer surface, or it may be mounted within the internal volume of the lower link 452 or the upper link 454. A servo mechanism or other electronically actuated mechanism (not shown) may also be provided with an exemplary locking mechanism 400 to automatically engage and disengage the locking gear 412 from the planetary gear 410.

[0090] Figure 5A An exemplary spring mechanism 500 is shown, which can be configured to provide resistance at one or more hinge joints of the articulated arm 150. This is in contrast to the illustration of an exemplary multi-spring mechanism 502. Figure 5B and Figure 5CConversely, the exemplary spring mechanism 500a consists of a single spring 522. As shown, the exemplary spring mechanism includes a clock spring 522; however, it should be understood that various other types of springs (including, but not limited to, torsion springs, linear springs, and adjustable compression springs) may be used without departing from the scope of this disclosure. The spring 522 may be rigidly coupled to the outer surface of the hinge joint of the lower link 552, such that the spring 552 and the lower link 552 do not experience relative rotation with respect to each other. The spring engagement tab 556 may be fixed to rotate together with the upper link 554, which terminates in the same hinge joint as the lower link 552, such that when the upper link 554 rotates clockwise (in... Figure 5A In the perspective view of Figure 5, the spring engagement tab 556 compresses or coils the spring 552. From this compressed / coiled position, the spring 552 can subsequently provide a restoring spring force, which is transmitted through the spring engagement tab 556 and biases the upper link 554 of the hinge arm to rotate in the opposite counterclockwise direction (again, in the perspective view of Figure 5). The above example corresponds to the scenario where the spring 552 is wound clockwise; by reversing the orientation of the spring 552 so that it is wound counterclockwise, the directionality of the restoring spring force can also be reversed. For example, refer to Figure 2B and Figure 3B It should be noted that the first spring mechanism 122 and the second spring mechanism 132 have opposite orientations and apply opposite spring restoring forces to the first hinge joint 120 and the second hinge joint 130, respectively.

[0091] As mentioned above, Figure 5B and 5C An exemplary multi-spring mechanism 502 is shown, which can be configured to provide adjustable resistance at one or more hinge joints of the articulated arm 150. Figure 5B This is a perspective view of an exemplary multi-spring mechanism 502 disposed at a hinge joint 520 (which may be the same as or similar to one or more of the hinge joints 120, 130 and 140 described above). Figure 5C yes Figure 5C Side view of the same exemplary multi-spring mechanism 502 shown.

[0092] An exemplary multi-spring mechanism 502 is shown as including three springs 532a, 532b, and 532c, but more or fewer springs (e.g., two springs, four springs, etc.) may be used without departing from the scope of this disclosure. In some embodiments, one or more of springs 532a to 532c may be used in conjunction with the springs mentioned above. Figure 5AThe individual springs 522 discussed are identical or equivalent. As shown, three springs 532a to 532c are shown as identical to each other, but one or more of the three springs 532a to 532c may also differ in design, spring force / response, or both. Additionally, the three springs 532a to 532c are shown as clock springs; however, it should be understood that various other types of springs (including, but not limited to, torsion springs, linear springs, and adjustable compression springs) may be used without departing from the scope of this disclosure.

[0093] The multi-spring mechanism 502 is provided with a rotatable cam 546 coupled to a pin 542, which linearly retracts and extends from the body of the hinge joint 520 in response to rotation of the cam 546. The cam 546 can rotate automatically (e.g., driven by a servo mechanism, motor, etc.), manually (e.g., by a user), or both. The rotation of the cam 546, and thus the corresponding position of the pin 542, can be selected to engage or disengage a desired number of springs 532a to 532c, thereby adjusting the amount of resistance provided by the multi-spring mechanism 502 at the hinge joint 520. For example, based on the amount of extension of the pin 542 from the body of the hinge joint 520, none of the springs 532a to 532c can be engaged (e.g., pin 542 is fully retracted); only spring 532a can be engaged; springs 532a and 532b can be engaged; or all three springs 532a to 532c can be engaged. As more springs are engaged by pin 542, greater resistance is provided at hinge joint 520; conversely, when fewer springs are engaged by pin 542, less resistance is provided at hinge joint 520.

[0094] base part

[0095] exist Figures 6A to 7B Various depictions and components of an exemplary base portion of an omnidirectional motion system are presented. Typically, base portion 610 (which in some embodiments is similar to or identical to base portion 110 previously described) includes a fixed platform 612 on which the user stands and a fixed base frame 614 resting on the ground and providing overall support and stability for the omnidirectional motion system. Figure 6A and Figure 6B As shown, platform 612 corresponds to the upper half of base portion 610, while frame 614 corresponds to the lower half of base portion 610. Platform 612 includes a concave housing on which the user can stand, walk, run, squat, jump, etc., and is connected to an articulated arm belonging to the same omnidirectional motion system as base portion 610. Note that in Figure 6A and Figure 6BSeveral lower links 632, 634, and 656 of the articulated arms (such as articulated arm 150) can also be seen. As shown, the concave housing of platform 612 has a generally circular shape; however, it should be understood that various other shapes and visual designs may be employed without departing from the scope of this disclosure. For example, in some embodiments, the housing of platform 612 may be provided with an octagonal or polyhedral shape. Similarly, in some embodiments, the housing may be provided with a shape that is more concave or less concave than the shape shown in the example figures. Without departing from the scope of this disclosure, the housing may be provided with a flat shape, or even a convex shape if desired.

[0096] Platform 612 and base frame 614 are depicted as having substantially constant and equal diameters; however, it should be understood that varying diameters may be used for one or both of these components of base portion 610. More specifically, it is possible, but not required, for platform 612 and base frame 614 to have the same or substantially the same outer diameter. As shown, platform 612 and base frame 614 are vertically separated from each other with a gap, in which the lower portion 632 of the articulated arm can be received and coupled to the central rotating mechanism 620 (e.g., a hub or bearing). In some embodiments, platform 612 and base frame 614 may be rigidly connected to each other via internal fixing elements of the central rotating hub 620, examples of which are shown in […]. Figure 6B As shown in the sectional view. For example, the lower portion 632 of the articulated arm may terminate in a collar that is mounted (and rotates about) around the outer circumference of a rigid column that connects the upper platform of the base to the frame of the base.

[0097] In some embodiments, one or more foot protectors may be provided on or around the base portion 610. For example, the foot protectors may be configured in a circular shape with a diameter approximately equal to the diameter of the base platform 612, such that the foot protectors rise vertically above the upper edge of the base platform 612 to provide a barrier against the user's foot slipping or sliding off the base platform 612. The foot protectors may be tubular in nature and mounted such that the foot protectors rotate with the hinged arms, for example, relative to the fixed base portion 610 and the fixed base platform 612. In particular, the foot protectors may consist of circular edge elements that are vertically displaced at a certain height above the base platform 612, such that the circular edge elements of the foot protectors are in a plane substantially parallel to the upper surface / edge of the base platform 612. In some examples, the height of the foot protector above the edge of the base platform 612 allows the user's upper foot, ankle, or lower shin to come into contact with the foot protector in the event that the user's foot slips or slides off the base platform, thereby preventing or stopping the sliding.

[0098] In some embodiments, the circular edge of the foot protector can be attached to the hinge arm at various locations, such as at section 632 (below the base platform 612) and / or at section 634 (e.g., above the base platform 612). In this case, it is envisioned that the foot protector rotates together with the hinge arm, as described above. However, the foot protector can also be attached such that it remains fixed relative to the base platform 612, for example, the foot protector remains stationary when the hinge arm rotates about the base platform 612. In this case, the foot protector can be rigidly fixed to the bottom surface of the base platform 612 and / or rigidly fixed to the upper surface of the base frame 614.

[0099] The foot protector may be substantially circular in nature and may be configured as a single piece or a multi-piece construction. A single-piece construction may correspond to a foot protector that is a complete (e.g., closed) circle, such that there are no gaps. A single-piece construction may also correspond to a foot protector that is not a closed circle, but has only a single small gap (e.g., approximately "U" or "C" shaped). In some embodiments, the gap in the foot protector may be located directly in front of the hinge arm (e.g., where the foot protector rotates with the hinge arm rather than remaining fixed relative to the base portion 610). A multi-piece construction may also be provided, corresponding to a foot protector comprising multiple segments with gaps between adjacent segments. For example, a two-piece foot protector may consist of two foot protector segments arranged substantially along the outer circumference of the base platform 612. When the foot protector is provided as a multi-piece construction, the constitutive segments of the foot protector may be the same or different, and furthermore, may be arranged symmetrically or asymmetrically with respect to the base platform 612.

[0100] exist Figure 6B The outer shell of platform 612 (i.e., the shell on which the user stands) is no longer shown. Instead, a subframe 613 on which platform 612 can be mounted is depicted. Subframe 613 may include one or more radially arranged support rails to provide structural strength and support platform 612 and any user thereon. In some embodiments, noise-suppressing foam or other sound-absorbing materials may be installed in the gaps between the radial support rails of subframe 613, for example, to reduce noise and / or mitigate the impact of the user's footsteps on platform 612.

[0101] In some embodiments, although not shown, the base portion 610 and, in particular, the base frame 614 may include a pair of wheels and / or handles to allow easy transport and storage when the omnidirectional motion system of this disclosure is folded or otherwise manipulated into a compact storage configuration. For example, in some embodiments, the upper arm assembly (including one or more of the articulated arm and spine assembly of the omnidirectional motion system) may fold down to be substantially flush with or otherwise closer to the base portion. In some embodiments, a lockable hinge (not shown) may be provided on the articulated arm, for example, between segments 632 and 634 of the articulated arm. In this way, the optional hinge may allow the articulated arm to fold down toward the base portion 610 and then lock in the folded storage position. The hinge may additionally allow the articulated arm to open from the folded storage position and lock in an upright vertical position when the user wishes to use the omnidirectional motion system.

[0102] As described above, once folded into a more compact storage position, an optional hinge can be configured to lock the upper arm assembly in place. In some embodiments, the user can then grasp a handle (e.g., along section 634 of the articulated arm) located on one or more of the base portion 610 and the articulated arm and use the wheels to roll the folded omnidirectional motion system to the desired location for storage.

[0103] The rotation mechanism 620 may include a rotatable hub or bearing that, for example, connects the platform 612 to the base frame 614 along a fixed central axis or inner axis of the rotation mechanism 620. One or more rotation sensors may be configured in combination with the rotation mechanism 620, disposed in the platform 612, disposed in the base frame 614, or disposed in some combination thereof. The rotation sensors may measure the relative rotation or angular position of the articulated arm relative to the fixed base frame 614, and more specifically, may measure the relative rotation or angular position of the user relative to the fixed base frame 614 (emphasizing that the user is connected to the rotatable articulated arm via the arm's vest and spine assembly).

[0104] In some embodiments, one or more Hall effect sensors may be used to detect and measure the rotational / angular position of the rotatable articulated arm; however, it should be understood that one or more other sensors (e.g., in addition to Hall effect sensors) may be used to detect and measure the rotational / angular position of the rotatable articulated arm. For example, such as Figures 6B to 7B As shown, multiple Hall effect sensors can be provided in a circular pattern along a slip ring 650 provided as a component serving as a base frame 614 (note that, for clarity, ...). Figure 6B Only the base frame 614 is depicted in part, and Figure 7A and Figure 7BOnly the articulated arm and slip ring 650 are depicted. The slip ring 650 can additionally route electrical and / or data connections from an external connection module 640, also disposed on the base frame 614, to the articulated arm. As previously described, the articulated arm may include one or more internal and / or external wired connections to receive and distribute electrical and / or data to various components of the currently disclosed omnidirectional motion system.

[0105] The electrical and data connections within the articulated arm may terminate within one or more conductive brushes 652 disposed on the lower portion 632 of the articulated arm, such that the conductive brushes 652 maintain electrical contact with corresponding one or more conductive traces or rings disposed on the slip ring 650. These conductive traces / rings on the slip ring 650 are connected to an external connection module 640. In some examples, power and data are transmitted to and from the articulated arm via contact patches formed between the conductive brushes 652 of the articulated arm and the conductive traces / rings on the slip ring 650 of the base frame 614. In this way, the articulated arm can rotate freely relative to the fixed base frame 614 and the slip ring 650 without interrupting any electrical or data connections of the articulated arm. As previously described, in some embodiments, power cables / components may be integrated with data cables / components, provided separately, or provided in some combination of both. Additionally, data may be transmitted wirelessly, whether between components of the omnidirectional motion system and an external transceiver, between different components within the omnidirectional motion system itself, or both. For example, the external connectivity module 640 may additionally include a Bluetooth transceiver, a Wi-Fi transceiver, or one or more wireless transceivers implementing other wireless communication standards and protocols.

[0106] In view of the above Figures 6A to 7BIn the discussion, it should be understood that the concave housing of platform 612 conceals and protects the internal components of the omnidirectional motion system's base. For example, the concave housing covers the support frame member 613, the rotation / Hall effect sensor, and the power / slip ring 650 of the base. In some embodiments, the base portion 610 of the omnidirectional motion system may include one or more steps to assist the user in moving up and down the base platform 612. The steps may be attached to or otherwise integrated with the fixed base platform 612 and the fixed base frame 614. In some embodiments, the steps may be rigidly fixed in place, for example, held in an "expanded" position. However, the steps may also be movable or retractable, for example, provided on a hinge that allows the steps to rotate from the "expanded" position to a "retracted" position below the base portion 610, such that in the retracted position, the steps are concealed and invisible by the housing of the base portion 610. However, it should also be noted that additional clearance may be required in the rotating mechanism 620 to accommodate the volume and / or height of the step within the internal volume of the base 610 when in the retracted position. For example, the direct connection section 632 of the rotating mechanism 620 and the articulated arm may have a minimum clearance that interferes with the step in the retracted position. In some embodiments, the step may instead move linearly, for example, sliding horizontally along the ground to move into and out of the internal volume of the base portion 610, rather than rotating about the hinge to move between the retracted and extended positions. The step may be mechanically or manually actuated by the user, and / or electrically actuated, for example, by one or more motors, servo mechanisms, or solenoids within the base portion 610. Note that the position of the step, whether movable or not, can be used to indicate the “front” of the omnidirectional motion system due to the fact that the user enters the omnidirectional motion system by using the step. Thus, in the default or initial state, the step may be positioned relative to the rotating articulated arm about the circumference of the base portion 610 of the omnidirectional motion system at an offset of approximately 180° from the rotating articulated arm. In some embodiments, user engagement with the step can be sensed and used to activate or otherwise initialize the omnidirectional motion system for user use. Initialization of the omnidirectional motion system may include, but is not limited to, unlocking one or more locking mechanisms 124, 144, and 400 (e.g., rotational locking mechanisms) that may be located at one or more hinge joints of the articulated arm. For example, if the step can move between a retracted position and an extended position, the omnidirectional motion system can be initialized in response to the step moving to the extended position. In some embodiments, an additional locking mechanism (e.g., in or attached to a rotational mechanism) can lock rotation of the arm about the base (i.e., about the circumference of the base).Additionally or alternatively, the steps and / or platform 612 may include a load cell or one or more other sensors to detect when a user steps onto or stands on the steps or platform 612; that is, after detecting the user's weight / presence, the omnidirectional motion system can then be initialized for use. Sensor-based embodiments may be used regardless of whether the steps are movable between a retracted and extended position or whether they are permanently fixed to the base portion 610.

[0107] This disclosure now turns to a discussion of various exemplary sensors that can be used by or in conjunction with the currently disclosed omnidirectional motion systems for the rapid and accurate measurement of user motion and related data. In some embodiments, there are at least three main categories of user motion tracking that can be performed by the omnidirectional motion system and / or associated VR computing devices: foot tracking, torso orientation tracking, and head and hand position tracking. The following description is provided for illustrative and explanatory purposes and should not be construed as limiting the sensor implementations that can be used in conjunction with the currently disclosed omnidirectional motion systems.

[0108] Regarding the tracking of a user's feet, in some embodiments, a sensor attachment for their shoes can be provided to the user, wherein one or more sensor attachments measure the movement of the user's feet or their "steps" as the user walks, runs, or moves on the omnidirectional motion system. For example, the sensor attachment may include one or more inertial measurement units (IMUs) or other inertial sensors that generate inertial data that can be converted into information about the user's motion. More specifically, the sensor attachment may combine the IMU and other inertial sensors in a "pod" type design suitable for mounting on shoes or footwear already worn by the user of the omnidirectional motion system. See, for example, commonly owned U.S. Patent Nos. 10,286,313, 10,635,162, 10,751,622, and 16 / 395,776, the disclosures of which are incorporated herein by reference in their entirety. User movement, particularly the movement of the user's feet, can also be tracked using sensors disposed within the base portion 610 of the omnidirectional motion system and / or sensors disposed near the omnidirectional motion system and the user. Sensors such as these can be used in conjunction with inertial sensors worn on the user's feet and / or can be used independently. In some embodiments, movement of the user's feet (e.g., user footsteps) can be tracked or detected by one or more sensors disposed below the surface of the concave platform 612 on which the user stands. Sensors disposed below the platform surface may include, but are not limited to, proximity sensors, capacitive sensors, pressure sensors, magnetic sensors, Hall effect sensors, etc. In some embodiments, a combined Hall effect sensor system or network can be used to track the user's feet / movements, wherein the combined Hall effect sensor network includes the Hall effect sensors previously described for detecting rotation of the articulated arm relative to the base portion of the omnidirectional motion system, and also includes one or more Hall effect sensors for tracking the user's feet / movements. In some embodiments, these Hall effect sensors (or portions thereof) for detecting rotation of the articulated arm can also be used to track the user's feet / movements.

[0109] One or more optical sensors can also be used in combination with one or more holes / grooves on the platform surface, such that when the user's foot is placed on the platform and covers the hole, a relatively reduced amount of light falls on the optical sensor, and when the user's foot is lifted off the platform and stops covering the hole (e.g., when the user lifts his foot to take a step, the optical sensor records an increase in brightness or light intensity), a relatively increased amount of light falls on the optical sensor. User movement and foot movement can also be tracked via one or more optical sensors arranged on the exterior of the base portion 610 and / or the concave platform 612 (e.g., in some embodiments, using similar sensing logic as described above with respect to the optical sensors below the base portion 610). In some embodiments, one or more optical sensors (and / or cameras) can be provided around the exterior of the base portion 610 (or near the base portion 610 / omnidirectional motion system), and computer vision can be used to identify or otherwise detect user movement and foot movement. It should also be understood that various other implementations of optical tracking technology can be utilized without departing from the scope of this disclosure.

[0110] Regarding tracking the user's body and / or torso orientation (and any rotation thereof), the omnidirectional motion system may utilize one or more Hall effect sensors disposed within the base portion 610 (e.g., Hall effect sensors disposed on the circumference or periphery of the slip ring 650 to detect the angular position of the lower segment 632 of the articulated arm). Additionally, the omnidirectional motion system may combine known geometry and dimensional information of the articulated arm with previously described rotary sensors or encoders (e.g., sensors 128, 138, and 148) at the hinge joint of the articulated arm to determine the translational movements of the user and the spine assembly to which the user is attached via a vest or shoulder strap.

[0111] Note that the methods described above for tracking rotation operate under the assumption that the user's body orientation and associated rotation / angular position are approximately equal to the rotation of the articulated arm; that is, the user's rotation is either inferred from or set to be equal to the sensed rotation of the articulated arm. In some embodiments, other sensors may also be used to detect the relative rotation or angular position of the articulated arm. For example, without departing from the scope of this disclosure, optical encoders, mechanical rotary encoders, etc., may also be used to detect relative rotation (and thus the user's torso orientation and rotation). In some embodiments, one or more inertial or gyroscope sensors may be used to detect the user's torso orientation and rotation. For example, these inertial or gyroscope sensors may be inertial sensors worn in a "pod" attached to the user's shoe, integrated with a vest worn by the user, and attached to attachment points on a spine assembly, etc. Inertial or gyroscope sensors may also be located in one or more of the VR headset worn by the user and / or one or more VR handheld controllers held by the user, in which case inertial sensor data from these sources may also be utilized. Furthermore, one or more optical sensors may be used to track the user's body orientation. In some embodiments, these optical sensors may be the same as one or more optical sensors used to track the user's feet / movements. The optical sensors may additionally or alternatively be provided by one or more optical sensors used to track the user's hands (such as VR handheld controllers) or head (such as VR headsets or standalone VR systems). In some embodiments, when the user first steps onto the omnidirectional motion system, one or more initial readings may be acquired, allowing the optical sensors to acquire baseline readings and / or reference points that will be used to perform torso orientation tracking once the user begins actively engaging with and moving within the omnidirectional motion system.

[0112] In some embodiments, a virtual reality headset used to provide a virtual reality environment to a user of an omnidirectional motion system can also provide measurements or indications of user movement, which can be used alone or in combination with the aforementioned sensor measurements and calculations. More specifically, the position of the user's head and / or hands can be tracked using the VR headset held by the user and / or one or more VR hand controllers. For example, optical tracking can be performed by the VR headset to determine this information. In an "outside-in" optical tracking method, external optical sensors face the user on the omnidirectional motion system and detect the VR headset and VR hand controllers held by the user. From one or more external reference points used for optical tracking, the three-dimensional coordinates of the VR headset and hand controllers, and thus the user's head and hands, can be calculated substantially in real time. In an "inside-out" optical tracking method, an optical camera integrated with the VR headset faces outward / away from the user and the omnidirectional motion system and can acquire one or more environmental reference points that provide a baseline for calculating the same three-dimensional real-time coordinates. In any optical tracking scenario (outside-in or inside-out), optical tracking can be enhanced or refined using IMU data received from the IMU in the VR headset and VR hand controller, and / or sensor data obtained from the omnidirectional motion system corresponding to the rotational or translational movements of the user and the articulated arm. Additionally, it should be understood that in some embodiments, the VR hand controller (or other VR controller) may utilize electromagnetic tracking, which may also be assisted by IMU sensor data.

[0113] The VR headset and VR handheld controllers are coupled to a VR computing device to perform one or more of the aforementioned measurements and calculations, and more generally, to provide interactivity with the VR environment to the user of the omnidirectional motion system. In some embodiments, the currently disclosed omnidirectional motion system may utilize a standalone VR headset with an embedded processor and other necessary computing hardware; in other words, the VR headset and VR computing device may be the same, and no external computing device is required. To support the computing needs of the standalone VR headset, the omnidirectional motion system may provide tethered power to the VR headset (e.g., the VR headset is plugged into a suitable power connector provided on the omnidirectional motion system) and / or the VR headset may be battery-powered, and the omnidirectional motion system may provide a charging station or outlet to charge the VR headset when needed or when not in use.

[0114] Some users may desire the freedom of not being tethered to their VR headset. In this case, a standalone VR headset can be battery-powered (which can be supplemented by wireless charging or wireless power from the omnidirectional motion system) and equipped with a wireless antenna or transceiver for wireless communication between one or more of the standalone VR headset, VR handheld controllers, VR accessories, or additional controllers and the omnidirectional motion system. For example, wireless communication can be provided via Bluetooth, WiFi, or any other suitable wireless communication standard or protocol without departing from the scope of this disclosure. The omnidirectional motion system can also wirelessly connect to one or more VR computing devices to transmit sensor and motion data and / or receive adjustment commands (e.g., braking settings / commands for one or more components of the omnidirectional motion system, haptic or force feedback commands for applying real-world forces corresponding to the user's experience in the VR environment, etc.). The one or more VR computing devices can be located within or integrated with the omnidirectional motion system, located in a VR headset (i.e., a standalone VR headset), and / or provided as computing devices external to the omnidirectional motion system and the user. It is also conceivable that the omnidirectional motion system may include one or more wired communication links that connect the omnidirectional motion system to a VR headset, one or more VR controllers, one or more VR computing devices, or any combination thereof. For example, the omnidirectional motion system may be connected to the VR computing device via USB, and the VR headset may also be connected to the same VR computing device via USB (or wirelessly).

[0115] As described above, VR computing devices (or one or more parts / components of VR computing devices) can be integrated with, coupled to, or otherwise combined with currently disclosed omnidirectional motion systems. For example, the VR computing device can be built into an omnidirectional motion system, and appropriate data (and power) connectors are used to connect a user's VR headset to the omnidirectional motion system and the integrated VR computing device within the omnidirectional motion system. In some embodiments, processing or computational loads can be shared between a first VR computing device integrated with a standalone VR headset and a second VR computing device integrated with the omnidirectional motion system. This load sharing can be monitored according to various modes or user preferences, for example, shifting a larger computational load to the integrated VR computing device on the omnidirectional motion system to save battery life or increase the charging speed of the user's standalone VR headset; or shifting computationally more complex components to the integrated VR computing device on the omnidirectional motion system to provide better visual performance, frame rate, resolution, etc. In some embodiments, the VR computing device can be removably attached to a receiver or holder on the omnidirectional motion system. This design not only allows users the freedom to choose their VR computing device (or choose not to use one at all, but instead utilize a separate VR headset), but it also provides users with the ability to modularize and upgrade their VR computing device as the hardware improves or advances. The omnidirectional motion system can provide dedicated retainers or sockets (e.g., tab-type clips, adjustable frames / retainers, recessed slots, or volumes) to receive modular VR computing devices and, once plugged into or connected to the omnidirectional motion system, establishes appropriate power and data / sensor connections for the modular VR computing device.

[0116] In some cases, another consideration in the design of the base portion 610 is the need to lock the rotation of the base portion 610 to allow the user to more safely and easily board the omnidirectional motion system and attach themselves to a vest connected to the spine assembly of the articulated arm. Therefore, some embodiments may include one or more braking mechanisms to slow down or completely prevent any rotation of the articulated arm that would otherwise occur without the application of one or more braking mechanisms. In some embodiments, disc or drum brakes may be used at the hub or central rotating mechanism 620 between the fixed base platform 612 and the fixed base frame 614. The braking mechanisms (including disc or drum brakes) may also be positioned away from the rotational center axis of the rotating mechanism 620; for example, a drum brake may be applied at or near the outer wall of the base portion 610, or a disc brake may have a diameter only slightly smaller than the diameter of the base portion 610. The above considerations include mechanical braking mechanisms, but dynamic braking mechanisms may also be used. For example, one or more motors may actuate a mechanical brake, or one or more motors may be used to directly counteract the rotation of the rotatable articulated arm of the omnidirectional motion system. In embodiments where one or more electric motors are already present (e.g., to provide physical feedback to the user corresponding to their actions / environment in a virtual reality world), these electric motors can be used to provide braking force to the articulated arm, which supplements or replaces braking force that would otherwise be provided by a purely mechanical device.

[0117] Similar to the safety braking / locking mechanisms (e.g., locking mechanisms 124, 144, and / or 400) previously described regarding the hinge joints of the articulated arm, a safety braking mechanism can also be used to lock the articulated arm in a stationary position until the user is ready to begin using the omnidirectional motion system or is ready to enter a virtual reality environment. For example, the articulated arm can remain in a locked state (unable to rotate relative to the fixed base portion 610 or the ground plane) until it is triggered to unlock and allow rotation. This can be achieved through purely mechanical means, where sufficient weight must be applied to the base (e.g., by a user standing on it) to engage the rotation mechanism 620 (e.g., the user's weight causes the rotation mechanism 620 to descend to an alignment that allows rotation to occur). Similarly, the user may have to pull a safety lever, press a safety button, etc., to allow the articulated arm of the omnidirectional motion system to rotate freely. In the locked position, the safety lever / button can cause one or more obstacles to be placed in the rotational path of the articulated arm, such as a pair of vertically oriented flanges or protrusions that block the rotational movement of the articulated arm. In some embodiments, the mechanical safety braking mechanism may be provided separately from the adjustable braking mechanism, which allows the user to adjust the ease of rotation of the articulated arm (e.g., a novice user may want a strongly damped rotation, while an expert user may want no damping or braking force applied after stepping onto the platform and removing the safety brake).

[0118] One or more sensors may also be used to control one or more of the safety braking force (e.g., locking the rotation of the articulated arm and / or locking the rotation of one or more hinge joints on the articulated arm when the user steps onto the platform and puts on the vest) and / or the adjustable braking force (e.g., controlling the degree to which the articulated arm resists free rotation during use). For example, a load cell in the base portion 610 may be configured to detect when the user steps onto the platform 612 and can accordingly activate and deactivate the safety brake. In some embodiments, the user's weight may be automatically used to determine the initial adjustable braking force (e.g., all else being equal, a lighter user will be configured for a weaker adjustable braking force compared to a heavier user). As previously described, such a load cell may also be located in the step attached to the base portion 610 to detect the user's presence and lock the rotation of the articulated arm and / or one or more hinge joints of the articulated arm before the user actually steps onto the platform 612 of the omnidirectional motion system. In some embodiments, a mechanical lever device may be integrated with the step such that when the user places his or her weight on the step, the lever causes the application of a mechanical braking force.

[0119] In some embodiments, braking control can be implemented in VR software associated with the omnidirectional motion system and running on a VR headset worn by the user. In this case, one or more braking or locking mechanisms associated with the articulated arm can be electronically controlled (e.g., powered from a slip ring 650 in the base frame 614) such that the rotation of the articulated arm is fully locked when the user steps on it and is not released until the user (e.g., using an interface of the VR environment provided by the VR headset) sends a command or otherwise confirms that the rotation of the articulated arm (and / or the rotation of one or more hinge joints of the articulated arm) will be enabled. Similarly, one or more adjustable braking forces associated with the rotation of the articulated arm and / or one or more adjustable resistances associated with the rotation of the hinge joints of the articulated arm can also be set, configured, or otherwise adjusted using the same or similar interface of the VR environment provided by the VR headset. Figures 8 to 19 Various examples of omnidirectional platforms according to various aspects of this disclosure are shown. For example, Figure 8 Five different omnidirectional platforms according to this disclosure are shown, labeled "A", "B", "C", "D" and "E". The following discussion refers to these various designs and their base components, and in particular the base components through one or more mechanisms that provide and allow relative rotation of the omnidirectional platform via a hinge / upper assembly / user attached to the vest.

[0120] exist Figure 9 and Figure 10In this design, the fixed base portion (which includes a concave shell on which the user stands) is enclosed by a full-height skirt, shown herein as a fabric skirt. The full-height skirt is included within the rotating portion of the base, and the hinge mechanism is integrated with / concealed by the outer cover of the full-height skirt. In operation, the full-height skirt and the integrated hinge rotate freely about the inner fixed base. Therefore, the maximum height of the step is less than the minimum height of the hinge integrated into the skirt, allowing sufficient clearance on the bottom surface of the hinge for rotation at the top of the step. Although the skirt is shown as a full-height skirt, it should be understood that various other skirt heights can be used, as long as sufficient clearance is maintained between the top of the step and the bottom of the hinge. Additionally, the hinge is shown as substantially flush with the top edge of the skirt; in some embodiments, the hinge may be positioned above or below the top edge of the skirt.

[0121] In some embodiments, Figure 9 and Figure 10 The omnidirectional platform can have a tight gap between the outer diameter of the center fixed base and the inner diameter of the full-height skirt, i.e., minimizing the extent of the open channel between them. Braking force can be applied through a friction braking mechanism between the center fixed base and the full-height skirt to slow or resist rotation of the skirt / hinge / upper arm assembly / user. For example, the number and / or surface area of ​​the contact pieces between them can be increased to provide stronger braking force, and the number and / or surface area of ​​the contact pieces can be decreased to provide weaker braking force. The braking element can extend from the outer surface of the center fixed base to contact the full-height skirt, or the braking element can extend from the inner surface of the full-height skirt to contact the center fixed base, or some combination of both. In some embodiments, one or more braking elements can be vertically inserted into the channel between the center fixed base and the full-height skirt to provide braking force; for example, a larger insertion corresponds to a larger braking force. The vertically actuated braking element can have a substantially constant diameter, or it can have a variable diameter to provide variable braking force as needed. Braking force may be additionally or alternatively provided at the central rotating hub or bearing, where the central fixed base and full-height skirt are connected (e.g., such as...). Figures 6A to 7B (The central hub shown).

[0122] As shown in the figure, the arm component can consist of an upper part and a lower part, both of which are hollow, allowing the upper part to slide in and out of the lower part to provide height adjustment for the user of the omnidirectional platform: the upper part of the arm extends from the lower part to set a larger height, and the upper part of the arm inserts into the lower part to set a smaller height. The relative position / range of the upper and lower parts of the arm can be set by a quick-release clamp, where the user releases the clamp and makes the desired height adjustment, and then tightens the quick-release clamp to lock the upper and lower parts of the arm at the desired height.

[0123] The spine component may have fabric coverings on its mechanical parts to provide an enhanced aesthetic appearance. As shown, one or more gas dampers may be provided between the spine component and the arm component, wherein the force applied by the gas dampers(s) is configured to support the weight of the spine component (and, in some embodiments, the attached vest) when in a stationary position. In other words, the gas dampers(s) apply a force designed to keep the spine in a vertical or upright position relative to the ground, rather than allowing the spine component to rotate under gravity / its own weight (which would otherwise occur). In some embodiments, the force applied by the gas dampers(s)(s) may be adjustable, for example, to provide different levels of resistance to different users, depending on factors such as user experience and user weight. The spine component may include one or more constant-force springs that counteract the weight of the spine component (and, in some embodiments, the vest attached to the spine), such that, in a stationary position, the spine component is substantially vertically centered relative to its attachment point with the arm. In some embodiments, the resting position of the spine can be configured such that two-thirds of its vertical height is above the arm attachment points and one-third of its vertical height is below the arm attachment points. In some embodiments, the constant force spring can be adjustable, for example, to provide different resistance levels to different users based on factors such as user experience, as novice users may prefer a higher resistance level to provide damping for their vertical movement, while expert users may prefer no additional resistance (exceeding the spring force required to counteract the weight of the spine assembly and the vest itself).

[0124] exist Figure 11 and Figure 12 In this design, a concave skirt is configured as part of a fixed base portion, while a hinge is attached to a rotating mechanism contained within an internal volume defined by the concave skirt. For example, as shown, a swing arm is coupled to the internal rotating mechanism and protrudes through a seal in the concave skirt (e.g., the seal may be provided by a rubber coating or other low-friction coating on the open ends of the upper and lower skirts). As the swing arm rotates, the seal between the upper and lower skirts opens to accommodate the swing arm and then closes behind the swing arm as rotation continues. In some embodiments, while the hinge may also protrude beyond the outer surface of the concave skirt, the swing arm and hinge may also be configured such that the hinge is substantially flush with the outer surface of the concave skirt. A step is shown integrated with the lower portion of the concave skirt, and the maximum height of the step is expected to be less than the minimum height of the hinge. In some embodiments, the fixed platform on which the user stands (i.e., the uppermost portion of the base) may have a larger diameter than the central portion of the concave skirt where the hinge is located. Therefore, by adjusting the concavity of the fixed concave skirt, the hinge can remain inconspicuous or even hidden from view when the omnidirectional platform is viewed from above.

[0125] As shown in the figure, the arm can be configured as a two-piece hollow tubular structure with an elliptical cross-section. As previously mentioned, the upper arm portion can slide in and out of the lower arm portion to provide height adjustment for the user. Markings indicating different height adjustments can be indicated on the outer surface of the upper arm portion, for example, in one-inch increments. An inconspicuous long clamping bar can be used to allow the user to adjust and then lock the upper and lower arm portions to the user's desired height.

[0126] The spine component may include two guide rails located on the rear of the spine (away from one or more attachment points on the user's vest). A roller or other suitable mechanism may engage an upper arm between the two guide rails of the spine, thereby allowing vertical movement of the spine. As previously described, one or more gas pistons may be used to hold the spine / vest in a stationary upright position and prevent tilting at the spine hinge, and one or more constant-force springs may be used to counteract the weight of the spine / vest and hold the spine in a mid-way or other desired stationary position and prevent the spine from being pulled downwards to its maximum extent due to its own weight.

[0127] exist Figure 13 and Figure 14 In this design, a fixed side skirt can be integrated with an inner base platform on which the user stands, creating a channel between the side skirt and the inner base through which a hinge can travel / rotate. As shown, the channel can be angled, meaning the inner base platform can be higher than the fixed side skirt, thus creating an angled channel between them. The hinge is connected to a rotating mechanism inside / at the center of the base via a swing arm extending through the angled channel. In some embodiments, the outer lip of the channel (i.e., on the outer surface of the fixed side skirt) can conform to the profile of the hinge to provide a smoother appearance and tighter clearance. The hinge can be aligned with the maximum outer diameter of the fixed side skirt, or it can be larger or smaller than the outer diameter of the fixed side skirt. In some embodiments, braking can be provided by engaging one or more of the swing arm and hinge base with the channel. For example, the swing arm or hinge base can contact the fixed side skirt, for example, along the hinge profile. Braking can also be implemented at a rotating mechanism inside the base.

[0128] As shown in the figure, the arm component can be configured as a hollow, two-piece tubular structure as described above, but with a quick-release lever actuated by a helical or rotary handle. For example, the user can turn the handle counterclockwise to release the clamp and adjust the arm height as needed, and then turn the handle clockwise to tighten the clamp and secure the arm to the desired height. The spine component can be configured as a single unit, wherein the outer surface of the spine guide rail is inserted into the receiving portion on the upper arm. The friction between the outer surface of the spine guide rail / component and the inner surface of the upper arm receiving portion can be adjusted as needed to compensate for the weight of the spine and vest and to set the desired vertical starting position of the spine and / or to provide user feedback level as needed. One or more gas pistons can be used to resist tilting of the spine component in a rest position, shown here as being connected between the arm and spine below the hinge.

[0129] exist Figure 15 and Figure 16 In this design, the hinge is integrally formed with the skirt, meaning both are included within the rotating portion of the base and rotate around a fixed inner platform on which the user stands. Unlike the designs discussed above, here the hinge can extend beyond most of the outer diameter of both the inner fixed platform and the rotating skirt. The arm assembly can be configured as a single-piece hollow rectangular tube (as opposed to the two-piece or more-piece constructions discussed above). The user can perform vertical height adjustment by sliding the horizontal (or substantially horizontal) arm portion up and down along the vertical arm assembly. As shown, the vertical arm assembly may include markings indicating that the user may find useful height increments or other predefined height adjustments. A quick-release trigger-type mechanism can be located at the distal end of the horizontal arm assembly (e.g., away from the spine attachment point), where actuation of the trigger releases the horizontal arm assembly and allows the user to perform height adjustment as needed, then locks the horizontal arm assembly back to the appropriate position at the desired height. Additionally, as... Figure 8 As shown in the detailed view of B, the lower end of the vertical arm component can be integrated with or embedded in the hinge to provide a more robust and durable design.

[0130] exist Figure 17 and Figure 18 In the center, a fixed skirt and a central inner platform on which the user stands form a channel between them, within which hinges and the upper assembly rotate. A swing arm extends between an internal rotating mechanism and external hinges. (As shown...) Figure 17As shown in the detailed view, the cross-section of the channel formed between the fixed skirt and the central inner platform can be concave or bowl-shaped, and the correspondingly curved swing arm is positioned within the channel. While the same constraints remain (where the hinge must be given sufficient clearance to extend over the top of the fixed step), this allows for a smoother, slimmer, and more discreet design. Regarding the vertical adjustment of the arm component, a pin-type quick-release handle (similar to the handles found and used to adjust gym equipment) can be used to move the arm component between different predetermined vertical heights. As... Figure 18 As shown, the spine hinge and other spine components can be concealed inside the cover portion at the attachment point between the spine and the upper arm.

Claims

1. An omnidirectional motion system, comprising: The base portion includes a platform configured to support a user; A hinged arm extending upward from the platform, the hinged arm comprising at least: First link; Second link; A shoulder strap support assembly, which is connected to the second link; A first hinge joint, the first hinge joint connecting the first link and the second link; and A second hinge joint, the second hinge joint connecting the second link and the shoulder strap support assembly; and A rotating mechanism that rotatably connects the base portion to the hinge arm, wherein the hinge arm is capable of rotating about the entire outer periphery of the base portion.

2. The omnidirectional motion system according to claim 1, wherein, The shoulder strap support assembly has one or more attachment points, wherein the one or more attachment points connect the shoulder strap support assembly to a wearable user shoulder strap.

3. The omnidirectional motion system according to claim 2 further includes a sensor connected to the first hinge joint or the second hinge joint, wherein, The first hinge joint or the second hinge joint is configured to provide resistance in response to a reading from the sensor.

4. The omnidirectional motion system according to claim 1, wherein, The rotating mechanism includes a rotating locking mechanism.

5. The omnidirectional motion system according to claim 1, wherein: The first hinge joint is a rotary joint between the distal end of the first link and the distal end of the second link; and The first hinge joint includes a rotation locking mechanism.

6. The omnidirectional motion system according to claim 5, wherein, The rotation locking mechanism includes a first rotating component connected to the distal end of the first link and a second rotating component connected to the distal end of the second link. The rotation locking mechanism can be actuated to bring the first rotating component into contact with the second rotating component to prevent relative rotation between the first link and the second link.

7. The omnidirectional motion system of claim 1 further includes a spring coupled to the first hinge joint, such that the spring applies resistance to rotation of the first hinge joint in a first direction and applies a restoring force to rotation of the first hinge joint in a second direction opposite to the first direction.

8. The omnidirectional motion system according to claim 7, wherein, The spring includes a watch spring or a torsion spring.

9. The omnidirectional motion system of claim 8 further includes a damper connected to the same first hinge joint as the spring, such that the resistance includes a combination of a spring force applied by the spring and a damping force applied by the damper.

10. The omnidirectional motion system according to claim 7, wherein, The spring is adjustable, allowing it to provide a variable spring force.

11. The omnidirectional motion system of claim 1, further comprising a second spring coupled to the second hinge joint, such that the second spring applies resistance to rotation of the second hinge joint in a first direction and applies a restoring force to rotation of the second hinge joint in a second direction opposite to the first direction.

12. The omnidirectional motion system according to claim 11, wherein, The second spring includes a watch spring or a torsion spring.

13. The omnidirectional motion system according to claim 11, wherein, The second spring is adjustable to provide a variable second spring force.

14. The omnidirectional motion system according to claim 1, wherein, The base portion includes an upper platform and a lower frame, which are rigidly connected by an internal portion of the rotating mechanism.

15. The omnidirectional motion system according to claim 14, wherein, The hinged arm extends through the vertical gap between the upper platform and the lower frame and is connected to the outer portion of the rotating mechanism, the outer portion of the rotating mechanism being rotatable relative to the inner portion of the rotating mechanism.

16. The omnidirectional motion system according to claim 1, further comprising: A slip ring, which is included in the base portion, the slip ring comprising one or more circular conductive traces; as well as One or more brushes are disposed on the hinge arm, wherein the one or more brushes extend from the hinge arm to contact the one or more circular conductive traces of the slip ring.

17. The omnidirectional motion system according to claim 16, wherein, The slip ring has one or more circular conductive traces connected to a power supply or data communication path.

18. The omnidirectional motion system according to claim 17, wherein: The articulated arm further includes one or more of a power distribution system and a data communication system; and The one or more power distribution systems and data communication systems are connected to the power supply and the data communication path via a contact between the one or more brushes and the slip ring.

19. The omnidirectional motion system of claim 1, further comprising one or more Hall effect sensors disposed in the base portion to determine the angular position of the articulated arm relative to the base portion.

20. The omnidirectional motion system of claim 1, further comprising one or more rotation sensors coupled to the first hinge joint, wherein the one or more rotation sensors detect relative rotation between the first link and the second link at the first hinge joint.

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