Virtual interaction apparatus

Abstract

A virtual interaction apparatus comprises a base (2) provided with an omnidirectional treadmill (3), a support structure (4) rising from said base along a direction that is at least partially vertical, and a display unit (5) connected to said support structure (4) and provided with at least one display screen (6). The display screen (6) is rotatably connected to the support structure (4) so as to rotate about the omnidirectional treadmill (3), with reference to a central axis (A) orthogonal to a plane of the treadmill, and the display unit (5) comprises movement means (7) configured to rotate the display screen (6) about the central axis (A) in response to and consistently with a movement of the user.

Description

[0001] VIRTUAL INTERACTION APPARATUS

[0002] The present invention relates to a virtual interaction apparatus.

[0003] The present invention therefore applies in particular to the creation of an immersive virtual environment for the user, preferably to be used as an early verticalisation rehabilitation device for neurological patients, i.e. in the rehabilitation or physiotherapy fields.

[0004] In fact, there has long been a need in the prior art to develop platforms or structures that allow early verticalisation of patients, enabling them to perform walking exercises in safe and monitored environments.

[0005] In this regard, nowadays the use of treadmills in conjunction with virtual reality visors, which allow patients, but more generally any user and for any purpose, to immerse themselves in virtual environments of indefinite size while moving in highly restricted environments, is widely known.

[0006] The solutions known to date, however, are not free from drawbacks that make them, especially in the rehabilitation field, unattractive.

[0007] Firstly, the use of traditional treadmills limits considerably the possibility for the user to live a truly immersive experience, in that the available movements are actually limited to a single longitudinal direction, moving either forward or backward.

[0008] In addition, the need to wear visors may be poorly tolerated by some patients, especially the elderly or those with partially disabling neurological problems, actually making the application thereof unattractive.

[0009] The object of the present invention is therefore to make available a virtual interaction apparatus that is able to overcome the drawbacks of the prior art.

[0010] In particular, it is the object of the present invention to make available a virtual interaction apparatus that is at the same time highly immersive and easy to tolerate for users.

[0011] A further object of the present invention is to realise a precise and efficient virtual interaction apparatus, prompt in responding to the movements of the user or patient. Said objects are achieved by a virtual interaction apparatus according to the present invention, having the characteristics of one or more of the following claims.

[0012] In particular, said objects are achieved by a virtual interaction apparatus comprising a base provided with an omnidirectional treadmill, i.e., provided with a belt capable of moving along all directions of the horizontal plane in response to a user movement.

[0013] In addition, there is also provided a support structure rising from the base, along a direction that is at least partially vertical, to which a display unit provided with at least one display screen is connected (in a top area).

[0014] The display screen is therefore kept hanging from the support structure at such a height that it is aligned to the height of the user's eyes.

[0015] According to one aspect of the invention, the display screen is rotatably connected to the support structure so as to rotate about said omnidirectional treadmill, with reference to a central axis orthogonal to a treadmill plane.

[0016] Advantageously, thus, the display screen does not have a predefined angular position, but this position is variable about the treadmill so as to “follow” the user's movements and convey the immersive experience even without a visor.

[0017] In this regard, the display unit preferably comprises movement means configured to rotate the display screen about said central axis in response to and consistently with a movement of the user.

[0018] More specifically, the movement means are configured to rotate the display screen about said central axis in response to a movement of the user's head and / or trunk.

[0019] Advantageously, the user thus always keeps his or her eyes on the screen and on the virtual reality environment wherein he or she is actively operating by means of the treadmill, all with no need to wear visors and regardless of the movement direction.

[0020] Preferably, the display screen is connected to the support structure by means of a slewing ring or axial bearing suitable for ensuring a freedom of rotation about said central axis.

[0021] More preferably, the movement means comprise a rotary actuator, preferably an electric motor, provided with a fixed portion, or stator, connected to said support structure and a rotatable portion, or rotor, directly or indirectly constrained to said slewing ring or axial bearing.

[0022] Advantageously, the slewing ring thereby allows the screen to be both rotated and supported, while hanging.

[0023] Preferably, the apparatus further comprises an acquisition unit configured to detect one or more quantities representative of the orientation or angular position of one or more parts of the user's body comprising at least one of a user's head and a user's trunk.

[0024] The acquisition unit is also configured to generate one or more first signals representative of said one or more quantities.

[0025] Advantageously, therefore, the apparatus is provided with specific sensors (hardware and software) designed to detect the movement, in particular the orientation, of relevant parts of the body in order to determine the correct angular position of the screen, in particular of the head and / or trunk.

[0026] A control unit is therefore preferably configured to receive said one or more first signals, calculate a rotation to be given to the display screen (or an angular position of the display screen) according to said one or more first signals, and send a second signal representative of said rotation to the movement means.

[0027] The movement means are then configured to impart to the screen a calibrated angular movement according to said second signal.

[0028] According to a further aspect of the invention, the control unit of the apparatus is configured to perform a fast characterisation procedure of the transfer function of the system, thus making the apparatus extremely prompt and efficient in its operation.

[0029] Preferably, the apparatus comprises a first inertial sensor (or equivalent) associated with the rotary actuator and a second inertial sensor (or equivalent) associated with the display screen.

[0030] Both the first and second inertial sensors are configured to detect, respectively, a first and a second quantity representative of the angular position of the rotary actuator and the screen.

[0031] The control unit is configured to:

[0032] - rotate the rotary actuator and simultaneously acquire the first and second quantities, thus detecting the orientation of the two inertial sensors in real time;

[0033] - transform the time domain signals generated by the two inertial sensors into the frequency domain;

[0034] - verify the phase and extent relationships between the first quantity and the second quantity at a plurality of frequency values;

[0035] - characterise the global transfer function of the system (between actuator and screen) and thus derive said global transfer function.

[0036] Advantageously, this allows to obtain a simple and precise apparatus that can be properly “calibrated” for each use regardless of the axial and radial positioning or size of the screen.

[0037] These and other features, together with their relative advantages, will become clearer from the following illustrative, therefore non-limiting, description of a preferred, therefore non-exclusive, embodiment of a virtual interaction apparatus as shown in the attached drawings, wherein:

[0038] - Figure 1 shows a perspective view of a virtual interaction apparatus according to the present invention;

[0039] - Figure 2 shows a schematic cross-section view of the virtual interaction apparatus of Figure 1 .

[0040] With reference to the attached figures, a virtual interaction apparatus according to the present invention is hereinafter globally referred to by number 1 . Virtual interaction apparatus is herein intended to define an interface apparatus that allows a user to interact with a virtual environment that can be viewed via an appropriate display unit 5.

[0041] This apparatus 1 is mainly and particularly applied to the therapeutic and rehabilitation fields, allowing early verticalisation and deambulation of patients undergoing rehabilitation or conservative physiotherapy.

[0042] Alternatively, however, the apparatus 1 could also be applied to the training or gaming fields.

[0043] The virtual interaction apparatus 1 basically comprises a base 2, a support structure 4 and a display unit 5 connected to said support structure 4 and provided with at least one display screen 6.

[0044] The base 2 is provided with an omnidirectional treadmill s, i.e., a surface capable of simulating the movement of the user in any direction of the walking surface; examples of such devices, which are known in themselves, are published in Patent Applications W02020 / 106369 and KR10-2001853.

[0045] In general, therefore, the omnidirectional treadmill 3 comprises a support frame on which bearings and rolling elements that are active in a plurality of directions are mounted and on which a treadmill is slidably positioned; suitable actuators are preferably present to facilitate the movement imparted by the user's movement.

[0046] Sensors are also provided, more preferably integrated into the actuators, designed to detect the movement of the treadmill and generate signals representative of that movement, to be sent to the display unit 5.

[0047] This display unit 5 is thus configured to display a virtual environment to the user in a synchronised manner and consistent with the user's movement on the treadmill s plane.

[0048] The support structure 4 rises from the base 3 along an at least partially vertical direction.

[0049] Preferably, the support structure 4 comprises at least one upright 4a extending along a substantially vertical direction alongside of said base 2; alongside preferably means that the upright 4a may rise above the base 2, within its dimension, but at a peripheral area thereof, or that it rises along the vertical alongside of the base 2, outside its dimension and not necessarily inside it, directly constrained thereto.

[0050] There is also a horizontal crossbeam 4b extending from the top of said upright 4a to an area above said omnidirectional treadmill 3.

[0051] It should be noted in this regard that the term "horizontal crossbeam" is not intended to herein bind the extension and / or orientation of the crossbeam 4b to a perfectly horizontal direction, but rather to indicate a prevailing extension direction that determines the arrangement of one of its free ends above, preferably in a central area of, the treadmill. The display unit 5 is associated with said free end.

[0052] In the preferred embodiment, moreover, the horizontal crossbeam 4b is slidably constrained to the upright 4a in such a way that it can vary its height according to a command given by the user, preferably determined by its height.

[0053] Advantageously, the display unit is thereby maintained at a height consistent and proportionate with the height of the user, optimising the immersive feature of the experience.

[0054] In the preferred embodiment, the display unit 5 comprises, as mentioned, a display screen 6. This display screen 6 can be of various types, preferably flat screen, with LCD, LED, OLED or any state-of-the-art image display technology.

[0055] According to an aspect of the present invention, the display screen 6 is rotatably connected to the support structure 4 so as to rotate about the omnidirectional treadmill 3, with reference to a central axis A orthogonal to a plane of the omnidirectional treadmill 3 itself.

[0056] Preferably, moreover, the display unit 5 comprises movement means 7 configured to rotate the display screen 6 about said central axis A in response to and consistently with a user movement. More preferably, the display screen 6 is connected to the movement means 7 by means of a radial arm 11 extending away from said central axis A.

[0057] Advantageously, the screen thus not only displays to the user an environment consistent with his / her movement on the plane, but also consistent with the movement of his / her head or chest, allowing for a fully immersive experience even without visors.

[0058] Preferably, moreover, the display screen 6 is connected to the support structure 4, in particular to the crossbeam 4b, by means of a slewing ring 8 or axial bearing suitable for ensuring a freedom of rotation about said central axis A.

[0059] Advantageously, therefore, the display screen 6 can thus freely rotate about the central axis A, suitably guided by the movement means 7 into the correct angular position.

[0060] Preferably, in this respect, the movement means 7 comprise a rotary actuator 9, preferably an electric motor, provided with a fixed portion 9a, or stator, connected to said support structure 4 and a rotatable portion 9b, or rotor, directly or indirectly constrained to said slewing ring 8 or axial bearing.

[0061] In other words, the motor is preferably fixed to the crossbeam 4b and comprises a rotatable portion connected to the slewing ring 8, more precisely to a connection element associated to the rotatable element of the slewing ring 8.

[0062] Alternatively, however, the movement means could comprise a linear actuator connected by means of a connecting rod to the central axis or by means of a rack and pinion mechanism to a pinion constrained to the slewing ring 8.

[0063] The screen can therefore rotate about the axis A for an indefinite number of revolutions. Preferably, in this regard, the rotatable portion 9b of the rotary actuator is connected to the rotatable element of the slewing ring 8 by means of a transmission or in any case with a reduction ratio that allows the size (and cost) of the actuator to be reduced.

[0064] Preferably, the rotatable portion 9b of the rotary actuator 9 has a rotation axis that is parallel but offset (i.e. misaligned) from the central axis A.

[0065] Preferably, moreover, the display screen 6 is electrically powered by means of special wiring harnesses 10 connected to the electrical grid (or possibly to a generator or battery pack).

[0066] In order to allow for the continuous rotation of the screen about the central axis A, the wiring harnesses 10 are divided into first cables 10a and second cables 10b.

[0067] The first cables 10a extend between the screen 6 and the movement means 7; preferably, between the screen 6 and the slewing ring 8.

[0068] The second cables 10b extend between the movement means 7 and a power source G; preferably, between the screen 6 and the slewing ring 8.

[0069] In order to ensure the passage of current, the wiring harnesses 10 comprise a set of sliding contacts 10c interposed between the first and second cables 10a, 10b and placed at the movement means 7, thus allowing the screen 6 to be powered for any angular position.

[0070] Preferably, the set of sliding contacts 10c is placed at said slewing ring 8.

[0071] The set of sliding contacts 10c preferably comprises at least one slewing ring, more preferably of the conductive block or brush type.

[0072] Preferably, therefore, there is a control unit 13 configured to:

[0073] - receive both the signals from the treadmill and signals representative of a movement of the user's head or chest;

[0074] - send to the movement means 7 a signal representative of an angular position or rotation according to said signals representative of a movement of the user's head or chest;

[0075] - send to the display group 5, in particular to the screen 6, a signal representative of the environment to be displayed on the screen according to said signals coming from the treadmill and to said signals representative of a movement of the user's head or chest, possibly a synchronised signal correlating them.

[0076] In more detail, the apparatus 1 preferably comprises an acquisition unit 12 configured to: detect one or more quantities representative of the orientation or angular position of one or more parts of the user's body comprising at least one of a user's head and a user's trunk; generate one or more first signals representative of said one or more quantities.

[0077] Such an acquisition unit 12 comprises, for example, one or more of the following devices:

[0078] - rgbd camera with associated skeleton tracking algorithm;

[0079] - an optoelectronic tracking device;

[0080] - kinematic magnetic sensor;

[0081] - inertial sensor with magnetometers.

[0082] Preferably, the acquisition unit 12 is configured to alternatively detect:

[0083] - the orientation of the user's head;

[0084] - the orientation of the user's trunk;

[0085] - a weighted average of the user's head orientation and trunk orientation.

[0086] The control unit 13 is configured to receive said one or more first signals, calculate a rotation to be given to the display screen 6 according to said one or more first signals and send to the movement means 7 a second signal representative of said rotation.

[0087] At the same time, the movement means 7 are configured to impart the screen 6 a calibrated angular movement according to said second signal.

[0088] Similarly, the control unit 13 is configured to receive also second signals from the treadmill, determine one or more spatial coordinates within the simulation environment according to said first and second signals, send to the display screen 6 a signal representative of the image to be displayed to the user according to said one or more spatial coordinates.

[0089] In certain embodiments, however, the apparatus 1 comprises one or more of the following auxiliary devices that can be associated with the display screen 6 and the omnidirectional treadmill and suitable for further improving the user experience.

[0090] Examples of such auxiliary devices are a generator of an air flow that can be selectively oriented with respect to said central axis A or a scented essence diffuser.

[0091] The auxiliary devices are preferably driven by the control unit 13 consistently with the angular position of said display screen 6, even more preferably in a synchronised manner with the video signal displayed on the screen.

[0092] According to a further aspect of the invention, the control unit 13 of the apparatus is also configured to perform a fast characterisation procedure of the transfer function of the system, thus making the apparatus extremely prompt and efficient in its operation.

[0093] According to this embodiment, the apparatus preferably comprises first inertial sensor 14a (or equivalent) associated with the rotary actuator and a second inertial sensor 14b (or equivalent) associated with the display screen 6.

[0094] Both the first 14a and the second inertial sensor 14b are configured to detect, respectively, a first and second quantity representative of the angular position of the rotary actuator 9 and screen 6.

[0095] The control unit 13 is thus configured to:

[0096] - rotate the rotary actuator 9 and simultaneously acquire the first and second quantities, thus detecting the orientation of the two inertial sensors 14a, 14b in real time;

[0097] - transform the time domain signals generated by the two inertial sensors into the frequency domain; - verify the phase and extent relationships between the first quantity and the second quantity at a plurality of frequency values;

[0098] - characterise the global transfer function of the system (between actuator and screen) and thus derive said global transfer function.

[0099] Advantageously, this allows to obtain a simple and precise apparatus that can be properly “calibrated” for each use regardless of the axial and radial positioning or size of the screen.

[0100] In this regard, it should be noted that the control unit 13 is preferably configured to start the fast characterisation procedure each time the apparatus is started and, preferably, whenever the height or radial position of the display screen 6 is changed.

[0101] The invention achieves its intended purposes and attains important advantages.

[0102] In fact, the apparatus of the invention, provided with a screen that can be rotated in a controlled and indefinite manner, allows even patients / users who cannot wear visors to be able to use the apparatus fully, while still having an immersive and physically stimulating experience.

[0103] In addition, the possibility of characterising the system transfer function quickly and without any special equipment, allows to make the experience more similar to what the user would experience wearing the visors, reducing the lags and delays due to the several elements intervening between the user's movement and that of the screen.

Claims

CLAIMS1. A virtual interaction apparatus, comprising:- a base (2) provided with an omnidirectional treadmill (3);- a support structure (4) rising from said base along a direction that is at least partially vertical;- a display unit (5) connected to said support structure (4) and provided with at least one display screen (6); characterised in that said display screen (6) is rotatably connected to the support structure (4) so as to rotate about said omnidirectional treadmill (3), with reference to a central axis (A) orthogonal to a plane of the omnidirectional treadmill (3), wherein the display unit (5) comprises movement means (7) configured to rotate the display screen (6) about said central axis (A) in response to and consistent with a movement of the user.

2. The virtual interaction apparatus according to claim 1 , wherein said display screen (6) is connected to the support structure (4) by means of a slewing ring (8) or axial bearing suitable for ensuring a freedom of rotation about said central axis (A).

3. The virtual interaction apparatus according to claim 2, wherein said movement means (7) comprise a rotary actuator (9), preferably an electric motor, provided with a fixed portion (9a), or stator, connected to said support structure (4) and a rotatable portion (9b), or rotor, directly or indirectly constrained to said slewing ring (8) or axial bearing.

4. The virtual interaction apparatus according to any one of the preceding claims, wherein said display screen (6) is electrically powered by means of special wiring harnesses (10), wherein said wiring harnesses comprise:- first cables (10a) extending between said screen (6) and the movement means (7);- second cables (10b) extending between said movement means (7) and apower source (G);- a set of sliding contacts (10c) interposed between the first and the second cables (10a, 10b) and placed at the movement means (7) in order to allow the screen (6) to be powered for any angular position of said screen (6).

5. The virtual interaction apparatus according to claims 2 and 4, wherein said set of sliding contacts (10c) is placed at said slewing ring (8).

6. The virtual interaction apparatus according to any one of the preceding claims, wherein said display screen (6) is connected to the movement means (7) by means of a radial arm (11 ) extending away from said central axis (A).

7. The virtual interaction apparatus according to any one of the preceding claims, comprising:- an acquisition unit (12) configured to detect one or more quantities representative of the orientation or angular position of one or more parts of the user's body comprising at least one of a user's head and a user's trunk; generate one or more first signals representative of said one or more quantities;- a control unit (13) configured to receive said one or more first signals, calculate a rotation to be given to the display screen (6) according to said one or more first signals, send the movement means (7) a second signal representing said rotation, wherein said movement means (7) are configured to impart a calibrated angular movement to the screen (6) according to said second signal.

8. The virtual interaction apparatus according to claim 7, wherein said acquisition unit (12) comprises one or more of the following devices:- rgbd camera with associated skeleton tracking algorithm;- an optoelectronic tracking device;- kinematic magnetic sensor;- inertial sensor with magnetometers.

9. The virtual interaction apparatus according to claim 7 or 8, wherein the acquisition unit (12) is configured to, alternatively, detect:- the orientation of the user's head;- the orientation of the user's trunk;- a weighted average of the user's head orientation and trunk orientation.

10. The virtual interaction apparatus according to any one of the preceding claims, wherein said support structure (4) comprises at least one upright (4a) extending along a substantially vertical direction alongside of said base (2) and a horizontal crossbeam (4b) extending from a top of said upright (4a) to an area above said omnidirectional treadmill (3).11 . The virtual interaction apparatus according to any one of the preceding claims, comprising one or more of the following auxiliary devices:- an air flow generator that can be selectively oriented with respect to said central axis (A);- a scented essence diffuser; said auxiliary devices being driven consistently with the angular position of said display screen (6).

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