Omnidirectional treadmill surface

Abstract

An omnidirectional treadmill allows a user to walk, jog, or run in any direction. When the treadmill is coupled to a computer-generated immersive environment, the user can freely roam in any direction throughout the 3D virtual environment across a 360-degree VR environment with infinite extent and scope. The treadmill includes a bobbin comprised of a walking surface arranged around a circular arrangement of supporting omni-wheels. A driving omni-wheel on the outside of the bobbin is configured to translate the walking surface.

Description

[Technical Field]

[0001] [CROSS-REFERENCE TO RELATED APPLICATIONS] This application is a continuation-in-part of U.S. Patent Application No. 17 / 282,346, filed April 1, 2021, which is a national stage application of PCT / US2019 / 054371, filed October 2, 2019, and which further claims the benefit of and priority to U.S. Provisional Patent Application No. 62 / 740,008, filed October 2, 2018, and U.S. Provisional Patent Application No. 62 / 777,944, filed December 11, 2018. This application claims priority to PCT / US23 / 10141, filed January 4, 2023, U.S. Provisional Patent Application No. 63 / 406,070, filed September 13, 2022, and U.S. Provisional Patent Application No. 63 / 437,358, filed January 5, 2023. This application is also related to U.S. Provisional Patent Application No. 63 / 296,476, filed January 4, 2022, U.S. Provisional Patent Application No. 63 / 394,601, filed August 2, 2022, U.S. Provisional Patent Application No. 63 / 399,352, filed August 19, 2022, and U.S. Provisional Patent Application No. 63 / 406,070, filed September 13, 2022. The entire disclosures of the above patent applications are incorporated herein by reference. [Background technology]

[0002] OmniPad is an omnidirectional treadmill that allows users to walk, jog, or run in any direction. When combined with a computer-generated immersive environment, OmniPad allows users to freely roam throughout a 360-degree VR environment with infinite extent and range.

[0003] The OmniPad™ is an omnidirectional motion input device specifically designed for use in virtual reality immersive environments. The OmniPad™ is a fundamental component of the OmniPad environment. Summary of the Invention [Problem to be solved by the invention]

[0004] The OmniPad is comprised of many parts and subassemblies. This specification provides a general description of the operation and components of the OmniPad. Each section describes one or more inventions that form the basis of a patent application. [Means for solving the problem]

[0005] Various embodiments of the present invention include an omnidirectional treadmill, comprising a membrane having dynamic stiffness controlled using smart material, the membrane configured to be part of a surface on which one or more users of the treadmill are configured to walk, the smart material may include wire, a ferromagnetic material, a magnetorheological solid, or a magnetorheological liquid.

[0006] Various embodiments of the present invention include an omnidirectional treadmill comprising a flexible bladder, a blood-like rigid inner core disposed within the bladder and configured to support the bladder at a location where a user is configured to walk on the bladder, a layer disposed in a space under at least a partial vacuum between the inner core and the bladder, and a drive motor configured to move the bladder in response to user movement and / or motion within a virtual environment.

[0007] Various embodiments of the present invention include an omnidirectional treadmill comprising a blood-ball-shaped internal component, an optional membrane configured to fit around the internal component, and an optional hexagonal tile layer flexibly joined at its edges and formed around the internal component, with ball bearings disposed on the hexagonal tiles contacting the inner core, and an optional drive motor configured to move the hexagonal tile layer in response to a user's movements and / or actions within the virtual environment.

[0008] Various embodiments of the present invention include an omnidirectional treadmill comprising: a movable bladder including an active material configured to change flexibility and / or thickness in response to an electric current, a magnetic field, and / or an electric field; a first support surface, which may be concave, configured to support the bladder at a location where a user is configured to walk on the bladder; an optional second concave surface located opposite the first support surface; a vacuum system configured to hold the bladder in proximity to the first support surface or that uses a vacuum to cause the bladder to conform to a central component; an optional lubricant configured to hold the bladder in proximity to the first support surface; and an optional drive motor configured to move the bladder in response to a user's movements and / or actions within a virtual environment. [Brief explanation of the drawings]

[0009] [Figure 1A] 1 illustrates an isometric view of an omnidirectional treadmill according to various embodiments of the present invention. [Figure 1B] 1 illustrates a cross-sectional view of an omnidirectional treadmill according to various embodiments of the present invention. [Figure 1C] 1B shows a detailed view of the cross-sectional view of FIG. 1B, according to various embodiments of the present invention. [Figure 2] 1 illustrates a motion surface according to various embodiments of the present invention; [Figure 3] 1 illustrates a bearing support system according to various embodiments of the present invention. [Figure 4] 1 illustrates a motor drive system according to various embodiments of the present invention, where the optional motor drive system is configured to drive and / or assist a rotating tread surface. [Figure 5] 1 illustrates a smart tread design according to various embodiments of the present invention. Optionally, the tread surface fabric can be regionally stiffened or softened in real time using an electrical polyhedron assembly on the rotating tread surface, rather than implementing a single-skin tread. [Figure 6]1 illustrates an iron-based tread material, according to various embodiments of the present invention, designed to function as part of a magnetic levitation system that levitates the entire spindle system, allowing the moving tread surface to rotate easily. [Figure 7] 1 illustrates the polarity of ferrous tread materials according to various embodiments of the present invention. This figure includes an example diagram of the polarity configuration of the ferrous tread surface within a magnetic levitation system. [Figure 8] 1A-1C illustrate alternative configurations of ferrous tread material according to various embodiments of the present invention. A second application of the ferrous tread to magnetically reduce friction between the elastomeric tread and the inner moving platform. The inner moving platform is magnetized with opposite polarity. [Figure 9A] 1 illustrates a polyhedral configuration of the tread surface according to various embodiments of the present invention. Instead of a single-skin tread implementation, a polyhedral tread surface assembly is advantageous. The polyhedral tread assembly is optionally provided with holes in the segments to reduce stress on the individual components and release frictional heat from the interior of the rolling tread. [Figure 9B] 1 illustrates a polyhedral arrangement of a tread surface according to various embodiments of the present invention. Instead of a single-skin tread implementation, a polyhedral tread surface assembly is advantageous. The polyhedral tread assembly is optionally provided with holes in segments to reduce stress on the individual components and release frictional heat from the interior of the rotating tread. [Figure 10] 10A-10C illustrate spring hinges, according to various embodiments of the present invention, that allow flexion and extension between the polyhedron parts while the segments move around the sides of the inner platform during movement. [Figure 11]11A-11C show a single-layer tread surface according to various embodiments of the present invention. Various embodiments include a single-skin rolling tread surface, which may be made of multiple layers that meet the anti-friction requirements of the inner tread while also meeting the anti-skid requirements of the outer tread where movement occurs. FIG. 11B shows a multi-layer tread surface according to various embodiments of the present invention. Various embodiments include a single-skin rolling tread surface, which may be made of multiple layers that meet the anti-friction requirements of the inner tread while also meeting the anti-skid requirements of the outer tread where movement occurs. Included are cutaway enlarged views of the multi-layer single-skin rolling tread material. [Figure 12] 1 illustrates a plan view of a multi-layer tread surface according to various embodiments of the present invention, including a multi-layer single-skin tread, where the inner layers are not necessarily bonded together. [Figure 13] 10 illustrates airflow within the tread according to various embodiments of the present invention. Air lifting of a rolling tread to reduce friction on the inner moving surface, similar to a bellows or air hockey table. [Figure 14] 14A shows magnetic levitation of the tread, according to various embodiments of the present invention. The magnetic levitation system is described as follows: 1) Because the tread material has ferrous properties and the inner motion surface has permanent magnetic or electromagnetic influence of opposite polarity, friction can be minimized by lifting the elastomeric tread from the inner surface. 2) Because the inner motion platform exerts a magnetic influence and the magnetic influence emanating from the base of the device is opposite, friction at the undermounted roller can be minimized by lifting the entire spindle system via magnetic levitation. FIG. 14B shows a detailed view of the tread of FIG. 14A, according to various embodiments of the present invention. This view includes a cutaway close-up of the magnetic tread and the repelling inner motion surface magnets. [Figure 15] 1 illustrates an inner motion surface according to various embodiments of the present invention, with ball bearings surrounding the spherical inner motion surface, allowing the spheroid rolling tread to move freely. [Figure 16] 1 illustrates a ball bearing arrangement according to various embodiments of the present invention. [Figure 17] 1 illustrates an adapted ball bearing arrangement according to various embodiments of the present invention. [Figure 18] 1 illustrates a bearing retainer assembly according to various embodiments of the present invention. [Figure 19] 1 illustrates a roller assembly including multiple motor drives according to various embodiments of the present invention. [Figure 20] 10 illustrates details of an alternative roller assembly according to various embodiments of the present invention. [Figure 21] 1 illustrates a magnetically levitated spindle according to various embodiments of the present invention. [Figure 22] 1 illustrates a cross-sectional view of a magnetic levitation system, including both a spindle and a spindle support system, according to various embodiments of the present invention. [Figure 23] 23A and 23B show alternative magnetic levitation systems according to various embodiments of the present invention, showing details and polarity configurations of both the spindle and spindle support system according to various embodiments of the present invention. [Figure 24] 10A-10C illustrate cross-sectional views of alternative spindle support systems according to various embodiments of the present invention. [Figure 25] 24B shows a detail of a portion of FIG. 24A according to various embodiments of the present invention. [Figure 26] 24B shows a detail of a portion of FIG. 24A according to various embodiments of the present invention. [Figure 27] 1 illustrates a support configuration for an omni-wheel spindle according to various embodiments of the present invention. In various embodiments, the omni-wheel spindle support configuration. The omni-wheel device, intermittently secured to the base of the device, supports the spindle portion while allowing the tread surface to rotate freely in any direction. [Figure 28]1 illustrates a segmented inner motion platform according to various embodiments of the present invention. The segmented, gap-free inner motion platform expands outward equally in all directions to fit snugly inside the spherical rolling tread. This is useful for initial assembly of the device as well as periodic adjustment of the fit to the rolling tread. Each section can be expanded via a hydraulic system that can be activated by remote control and powered by a wireless charging mechanism. [Figure 29] 1 illustrates an injection system, according to various embodiments of the present invention, that allows a substance to be injected into the spherical motion tread and solidify to form a motion surface. [Figure 30] 1 illustrates an inner moving tread drive system, according to various embodiments of the present invention, including an auxiliary or drive motor that is wirelessly controlled and powered by inductive charging. [Figure 31] 1 illustrates a cross-sectional view of a drive system according to various embodiments of the present invention. [Figure 32] 10A-10C illustrate the adaptation of omni-wheels according to various embodiments of the present invention. Similar to bearing blocks, omni-wheels or mecanum wheels are adapted to be intermittently fixed around the periphery of the fixed base of the device, which wheels support and stabilize the rotating annular tread surface while allowing the rolling tread to move in any direction. [Figure 33] 33 shows a cross-sectional view of the system of FIG. 32 according to various embodiments of the present invention. [Figure 34] 1 illustrates an omnidirectional motor, according to various embodiments of the present invention. This is an example of an omnidirectional motor that is part of a series of similar motors that include a motor drive system. The omnidirectional motor is intermittently fixed around the base of the device to drive and / or assist the movement of a rotating tread surface based on real-time data describing the user's position on the device and within the virtual environment. [Figure 35] 1 illustrates the use of an omnidirectional motor in a drive system, according to various embodiments of the present invention. [Figure 36]36 shows a cross-sectional view of the system of FIG. 35 according to various embodiments of the present invention. [Figure 37] 1 illustrates a motorized drive option according to various embodiments of the present invention. This is a motorized drive system option in which two motors drive balls that contact the rotating tread surface to assist and / or drive the rotation of the tread. This option may be used in conjunction with the motorized drive option shown in FIG. 4. [Figure 38] 1 illustrates a ball transfer motor configuration according to various embodiments of the present invention. [Figure 39] A diagram of an omnidirectional treadmill according to various embodiments of the present invention is shown. It illustrates installation and configuration options for a motion tracking system that relays real-time user movement data to both the VR environment and the motorized drive system, and potentially to the tilting and changing surface robotic platform described below. This system combination implements predictive artificial intelligence, where the device attempts to predict the user's movements based on biokinetic analysis, and the motorized drive system responds by keeping the user centered on the circular motion surface. Other uses of predictive analytics and motion tracking include improving the user's connection to the virtual environment. [Figure 40] 1 illustrates an inclined omnidirectional treadmill according to various embodiments of the present invention, including a side view of an undermounted tilting robotic platform option that responds in real time to the user's location in the virtual environment. In this case, when the user encounters an incline in the VR environment, the platform, and therefore the exercise surface, tilts upward in any direction the user is moving to simulate walking or running up a hill. The reverse is also true to simulate a downhill slope in the VR environment. [Figure 41] 40 shows an inclined omnidirectional treadmill according to various embodiments of the present invention, including a side view of an undermounted tilting robotic platform option that responds in real time to a user's location in the virtual environment, and a side view of a changing surface platform that can cooperate with the tilting mechanism shown in FIG. 40. This option simulates climbing and descending in the virtual environment. [Figure 42] 10A-10C illustrate plan views of three-axis motion control using a 120 degree trine and a drive axis through the platform center, according to various embodiments of the present invention. [Figure 43] 1 shows a perspective view of eighteen single-planar omni-wheels according to various embodiments of the present invention. [Figure 44] 1A-1D show perspective and front views of a biplanar omni-wheel according to various embodiments of the present invention; [Figure 45] 1 illustrates an exemplary balloon during molding, according to various embodiments of the present invention. [Figure 46] 1 illustrates the formation of a balloon by low pressure injection molding within a multi-part mold according to various embodiments of the present invention. [Figure 47] Two parts of the mold of FIG. 46 are shown. [Figure 48] 47 shows a partially unformed balloon inside the mold of FIG. 46. [Figure 49] 10 illustrates an exemplary manual process for tensioning a balloon onto a bobbin, according to various embodiments of the present invention. [Figure 50] 1 illustrates an exemplary bobbin with a balloon cover, according to various embodiments of the present invention. [Figure 51] 1 illustrates an exemplary process for sealing a hole in an injection molded balloon, according to various embodiments of the present invention. [Figure 52] 1 illustrates an exemplary process for sealing a hole in an injection molded balloon, according to various embodiments of the present invention. [Figure 53] 1 shows a top view schematic of an OmniPad illustrating an exemplary tracking camera, according to various embodiments of the present invention. [Figure 54] 1 shows a perspective view of an OmniPad including an exemplary video display according to various embodiments of the present invention. [Figure 55] 1 illustrates a cross-sectional view of an omnidirectional treadmill according to various embodiments of the present invention. [Figure 56] 1 illustrates a top view of a bobbin of a bladder-less omnidirectional treadmill according to various embodiments of the present invention. [Figure 57]1 illustrates a top view of a bobbin of an omni-directional treadmill with a bladder showing a drive omni-wheel and a stabilizing omni-wheel disposed around the bobbin in accordance with various embodiments of the present invention. [Figure 58] 1 illustrates a top view of the bobbin of a bladder-less omni-directional treadmill showing the drive omni-wheel and stabilizing omni-wheel disposed around the bobbin in accordance with various embodiments of the present invention. [Figure 59] 59 shows a perspective view of the device of FIG. 58. [Figure 60] 59 shows a side view of the device of FIG. 58. [Figure 61] 1 illustrates a treadmill membrane with copper stiffness according to various embodiments of the present invention. [Figure 62] 1 illustrates a side view of an omnidirectional treadmill having a concave shape, according to various embodiments of the present invention. [Figure 63] 10 is a photograph of the internal components of an omnidirectional treadmill in accordance with various embodiments of the present invention. [Figure 63] 1 illustrates a surface made up of hexagons, according to various embodiments of the present invention. [Figure 64] 10 illustrates alternative tile structures according to various embodiments of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0010] Please refer to Figures 1A, 1B, and 1C.

[0011] Tread: The tread is made from a flexible, extremely durable rubber-like material such as silicone, EPDM, or natural rubber that can be moved by a person walking or running. The tread is made in one spherical embodiment and then wrapped around the spindle, completely encasing the spindle and bearings. The material is flexible enough to be able to change direction 360 degrees around the spindle.

[0012] Spindle - Walking Platform: The spindle is approximately 200 mm thick and 1-2 m in diameter. The top surface is designed to support the user during operation.

[0013] Edge Bearings: Edge bearings reduce friction on the tread (bladder) as it rotates around the spindle. The bearings allow the bladder to move freely 360 degrees.

[0014] Bobbin: See Figure 2. As shown below, the bobbin assembly is a combination of tread (bladder), spindle, edge bearings, and lubricant. The bobbin assembly allows the user to be present in the virtual environment and move as if in the natural world. This assembly is supported by a support bearing block.

[0015] Support Bearing Block: See Figure 3. The bearing support system allows the bobbin assembly to move with little or no friction as shown below. This system supports the bobbin during operation and transfers the load to the base system.

[0016] Motorized System: See Figure 4. The motorized system is used to assist the user's natural movements and relay movement gestures to the virtual environment, which updates in real time as shown below.

[0017] Tread Material: Made from a flexible, extremely durable rubber-like material such as silicone, EPDM, or natural rubber that can be moved by a person walking or running. The tread is made as a single spherical embodiment and then wrapped around the spindle, completely encasing the spindle and bearings. The material is flexible enough to be able to turn 360 degrees around the spindle. The tread is made as a continuous surface and then wrapped around the spindle, completely encasing the spindle and bearings. In various embodiments, the tread is formed from a balloon. The tread is also referred to herein as a bladder or walking surface.

[0018] Smart Adaptive Tread Materials: Smart adaptive tread materials change the properties of the material in real time when a voltage, electric field, current, or magnetic field is applied. When a voltage, current, or electromagnetic field is applied to a specific area of ​​the surface, only the material properties in that area change. For example, when a current or electromagnetic field is applied to a material, the material becomes more flexible or stiffer in only that localized area. See Figure 5. Region 1 is the walking, driving, or support region, a rigid region that limits the sliding or buckling of the material. Region 2 is the flexible region.

[0019] Iron-based tread material: bobbin support. See Figures 6 and 7. Currently, magnetic bearings are commonly used in industrial applications such as turbomolecular pumps or magnetic levitation trains. The iron-based tread material allows the omnidirectional moving surface to be magnetically polarized and can attract or repel magnetic or electromagnetic forces. This allows the tread to magnetically levitate the bobbin assembly. In Figure 7, region 1 is the magnetically polarized tread and region 2 is the magnetic levitation bearing block.

[0020] Reduced Friction: Referring to Figure 8, another use of iron-based tread materials is to reduce frictional forces by suspending them away from the spindle. By using magnetic repulsion and the resilience of the tread itself, the tread is able to move away from the spindle creating a small gap, reducing friction between the spindle and the tread. In Figure 8, region 1 is the negatively charged outer surface, region 2 is the positively charged inner tread surface, and region 3 is the positively charged outer surface of the spindle.

[0021] Goldberg Polyhedron Tread Material: See Figure 9A. Another embodiment of the bladder is made up of separate segments, typically in the shape of hexagonal or pentagonal polyhedra, that are joined edge-to-edge to form a sphere.

[0022] The polygonal segments used in Goldberg polyhedron spheres are made of flexible materials. Individual polygonal elements must be able to stretch in any direction by at least 150% of their original dimension in any planar direction. One category of material that may fit this description is thermoplastic rubber or stretchable fabrics such as elastane (spandex).

[0023] The Goldberg structure uses hexagons and pentagons. Other geometric shapes, such as parallelograms, are also possible. These alternative structures are not Goldberg polyhedra.

[0024] Referring to Figures 9B and 10, a further improvement to the Goldberg segment is the inclusion of hole patterns. The inclusion of holes allows the structure to stretch with lower material stress for the same strain. These patterns are made of hexagons and pentagons, like a soccer ball. The elastomer shape stretches to fill the gap. Spring hinge pins allow bending at the hinge line.

[0025] Multi-Skin Tread: Referring to Figures 11A and 11B, a multi-skin tread uses thin layers of different tread materials, coatings, and textures, each with specific properties. The inner layer slides on the spindle surface and needs to have very low friction, such as a Teflon (PTFE) coating. The outer layer preferentially needs to have higher friction or traction so that the user's foot and motor drive can move the tread surface in any direction. The inner and outer surfaces of each layer may or may not be bonded to each other. Using multiple thin layers creates a stronger tread and also helps facilitate easier assembly of the entire bobbin section.

[0026] See FIG. 12. In various embodiments, the layers may or may not be bonded to one another. The layers may or may not be of the same material or material properties. Optionally, the inner layer may not be bonded or sealed (areas 1-4 below). The outer layer may be selected with consideration for friction with the user's foot or footwear. The inner layer may be selected to reduce friction of the movement of the tread surface against the support structure. Thus, the outer layer (e.g., layer 5) may have a greater coefficient of friction than the inner layer 1.

[0027] Friction reduction systems: The surface between the spindle and the tread is where very high friction forces are experienced. To mitigate these friction forces, the inventors have designed various alternatives. The basic solution to high friction forces is the use of a low friction layer such as Teflon™ (or PTFE), but other solutions are also available.

[0028] Air Bearings: Referring to Figure 13, air bearing spindles use a similar concept to air hockey tables. Air hockey tables use small air jets to levitate the puck above a surface. Air bearing spindles either have a porous spindle surface or use air jets to separate the tread material from the spindle surface, thereby minimizing or eliminating friction. The arrows in the image below represent the air flow exerting a force on the tread / bladder. This driving force causes the tread to expand like a balloon, moving away from the spindle, thereby reducing friction between the two elements.

[0029] Magnetic Levitation: By utilizing magnetically polarized tread material and permanent or electromagnets, the tread material can be levitated above the spindle surface, minimizing or eliminating contact between the tread and the spindle, thereby reducing or eliminating frictional forces.

[0030] See Figures 14A and 14B. Region 1 is the magnetically polarized tread, region 2 is a permanent magnet or electromagnetic spindle, region 3 is the inductive power supplied to the spindle in the case of an electromagnetic spindle, region 4 is the outer surface of the tread, which has an opposite magnetic charge to the inner surface. Region 5 is the inner surface of the tread, which has a different polarity than the spindle to separate the tread from the spindle. This is to eliminate (or minimize) friction between the spindle and the tread. In region 6, the magnet in the spindle can be a permanent magnet or an electromagnet. The electromagnet can be powered by an inductive power coil, similar to wireless charging of a cell phone. Control of the electromagnet is via wireless communication.

[0031] Dry and wet lubricants: Dry and wet lubricants are used to reduce friction between the tread and the spindle. These lubricants are also used to dissipate some of the heat energy generated by friction.

[0032] Ball Transfer Bearing: Referring to Figures 15 and 16, this is the simplest means of reducing end friction when transferring motion to the rolling contacts of a bearing. This is achieved by placing balls, rollers, or rollers and balls around the outside perimeter. On the top surface, this can be achieved by employing a platform of omni-rollers that are aligned to form a surface. The omni-rollers need to be small enough to form a surface with multiple foot contact points, but large enough to employ a reasonably sized bearing.

[0033] Referring to Figure 17, region 1 is the edge ball bearing, region 2 is the magnet embedded within the edge bearing, region 3 is the magnet embedded within the ball transfer base, and region 4 is the recirculating bearing.

[0034] Referring to Figure 18, area 1 is the edge ball bearing, similar to a ball transfer area with a smaller ball bearing behind the main ball that contacts the bladder (tread), area 2 is the bearing cage (not required), and area 3 is the spindle.

[0035] Roller Ball Socket: Referring to Figure 19, motion along the perimeter of the OmniPad is continuously variable. The motion vector couples both vertical and horizontal motion. This is the simplest way to provide a rolling surface for vertical motion. Horizontal motion along the sides must rely on low sliding friction or rollers supported on bearings.

[0036] The cross section in Figure 20 shows the repeating bearings that surround the active surface in an annular fashion. In this embodiment, a center roller with balls is visible. Looking more closely, the roller is mounted on a central ball bearing, which efficiently transfers the vertical bladder force. The balls are mounted in cups, which are also mounted on bearings.

[0037] When these components are stacked around the perimeter of the OmniPad, each ball fits into the socket of the next. It can be seen that each ball is held in two sockets, each with its own bearing. The balls rotate relatively freely, but the mounting angle creates some friction with the bearing cups. The separation of the segments changes the vertical motion vector, allowing for maximum bearing-assisted motion versus friction-assisted motion. This type of repeating unit is driven from the outside of the Omnipad.

[0038] Referring to Figure 20, the above design employs straight vs. curved roller segments to ensure a secure ball mount and avoid roller segment interference. This design can be conventionally internally or externally driven. Advantages: fewer parts, larger drive surface (if internally driven), and potentially less bladder stress due to larger roller diameter.

[0039] In Figure 19, area 1 is the surface of the rollers, area 2 is the ball bearings that allow free movement between the rollers, area 3 is any motor drive system, and area 4 is the roller mounting bracket.

[0040] In Figure 20, area 4 is the ball bearing, area 5 is the outer ball roller cup, area 6 is the inner roller, area 7 is the bearing, and area 8 is the optional motor drive belt.

[0041] Magnetically Levitated Spindle: Magnetic bearings are currently commonly used in industrial applications such as turbomolecular pumps or magnetically levitated trains. Magnetically levitated bearings leverage technology used in other products to create a contactless bearing system that uses permanent magnets and / or electromagnets to magnetically levitate the bobbin assembly without contact. Referring to Figures 21, 22, 23A, and 23B, magnetically levitated bearing supports eliminate friction, eliminating the mechanical wear that contact-type bearings create. The OmniPad uses permanent magnets inside the bobbin assembly and electromagnets in the bearing block.

[0042] In Figure 23A: Region 1 is a permanent magnet embedded in the spindle, and Region 2 is a permanent magnet or electromagnet. In Figure 23B, Region 1 is a magnetically polarized tread, and Region 2 is a magnetically levitated bearing block.

[0043] Ball Transfer Bearing Block: Referring to Figures 24, 25, and 26, the ball bearing supports the bobbin assembly with a thrust bearing, allowing for low-friction load transfer. The images below show the connection between the ball bearing block and the bobbin assembly for normal and axial loads. A minimum of three bearing blocks is required, but the images show four bearing blocks. In these figures, Area 1 is the ball transfer section configured to support axial and radial loads. The motor drive section may be integrated into the ball transfer section.

[0044] Omni Wheels: Referring to Figure 27, a standard type omni wheel (as shown) or a Mecanum type omni wheel is used to support and stabilize the spindle assembly. For full stability, three or more contact points are required, but six are shown. A pair of wheels is required at the support node, one above and one below. Either or both of these wheels can be powered to control the movement of the surface.

[0045] As with other drive mechanisms, it is the surface velocity vector at the roller contact point that determines the drive speed of the roller. The Omniwheel has the unique feature of only driving in the plane of the wheel, perpendicular to the drive axis. All other motion is transmitted through the roller. The drive speed at a given point is achieved by rotating and driving the roller through the motion vectors that the roller can accommodate.

[0046] Referring to Figure 27, the system is supported at 45 degrees above and below the centerline by 3 to 8 pairs of support wheels, which can be used in concert to drive the tread.

[0047] Spindle: The spindle provides a rigid surface for the user to operate on, as well as a support structure for the edge bearing. The spindle is approximately 200mm thick and has a diameter of approximately 1m to 2m. The top surface is designed to support the user during operation.

[0048] In actual manufacturing, the difficulty of assembling the bobbin assembly led to the investigation of a solution to this problem. To better understand this, a disk (spindle) is inserted into the tread (or bladder) while stretching the bladder with a very high load to eliminate wrinkles or sagging and distribute the force evenly throughout.

[0049] Solid or Segmented Spindle: Referring to FIG. 28, a segmented spindle takes a rigid solid spindle and splits it to allow it to be assembled inside a bladder. The assembled spindle is expanded (manually or automatically) to the appropriate size and shape. In some embodiments, the solid spindle is split into smaller pieces to aid in assembling the spindle inside the bladder. Optionally, a ratchet device is used to expand the assembled spindle inside the bladder.

[0050] Alignment function Inflatable Spindle: The inflatable spindle (see area 1 in Figure 29) allows the spindle to be inserted into a small opening in the bladder during the assembly process. The spindle is then filled with a medium (gas or liquid) that stiffens the spindle so that the load (bearings and user weight) is properly supported and managed. One of the main factors of this material is its low coefficient of friction.

[0051] Drive System: Drive on an omnidirectional treadmill can be achieved through an internal or external motor. The drive system is essential for overcoming the high frictional forces experienced by the tread. These motors are typically controlled by circuitry that responds to sensors that detect the movement of a user standing on the treadmill. The circuitry is configured to keep the user centered on the treadmill as they move in different directions by walking or running.

[0052] Internal Drive: See Figure 30. This repeating section centers the drive sprocket relative to the rollers and runs the drive belt internally. You can see the separate sections being repeated. As before, the balls are mounted in sockets that rotate freely within themselves. A further variation, not shown, would be to connect all four roller segments together in the middle and place bearings under the ball cups as in the previous design. This variation would provide more end face drive, but would also result in greater vertical frictional shear forces.

[0053] See Figure 31. Region 1 is the roller surface, region 2 is the ball bearings that allow free movement between the rollers, region 3 is the motor drive system, and region 4 is the roller mounting bracket. See Figure 20B. Region 4 is the ball bearing, region 5 is the outer ball roller cup, region 6 is the inner roller, region 7 is the bearing, and region 8 is the motor drive belt.

[0054] Omni Wheels: Figures 32 and 33 show six external omni wheels driving the surface. The bottom omni rollers are connected to servo motors. Each omni roller drives only the motion vector tangent to the contact point. Due to the roller structure, motion across the contact point is transmitted directly. The top omni rollers typically function to fully constrain the OmniPad in 3D space. Additionally, the top rollers can be used to increase the contact force of the drive rollers. Theoretically, only three drive rollers are needed to accommodate all top surface motion vectors.

[0055] Drive Wheels: Referring to Figure 35, a simple drive system can drive the tread from a series of motors mounted below the bobbin assembly. See the isometric view in Figure 36. These motors are mounted on a rotary table to allow movement in any direction. The image below shows a motor system with four motors synchronized to move the tread with minimal disruption to the surface carrying the user. Figure 34 shows a simple motor and wheel drive system on a rotary table. Area 1 is the motor and encoder for the main drive wheel, area 2 is the motor and encoder for the table rotation, area 3 is the main drive wheel used to move the tread around the spindle, area 4 is the rotary table, and area 5 is the motor base.

[0056] Ball Transfer Drive System: Referring to Figures 37 and 38, the ball transfer drive system uses two motors to drive balls supported by underlying bearings. This allows the motors to drive the balls in any direction. This motor drive system may be mounted within the ball transfer bearing block, or it may be a separate motor system located in the center of the bobbin assembly.

[0057] Control System: Referring to Figure 39, the control system design controls the speed and direction of the tread surface. The control system ensures the user has a safe and enjoyable experience when using the omnidirectional moving surface. This control system utilizes user motion feedback via a camera, force feedback via a safety harness, and feedback from the drive motor system. These different feedback systems provide validation and confirmation of the user's interaction with the OmniPad system.

[0058] Motion Feedback: Referring to FIG. 39, the OmniPad control system can determine the user's position, direction, and velocity using a camera or other sensors pointed at the user. As the user changes some or all of the above motion characteristics, the motion feedback system can react and predictively adjust the OmniPad's tread surface accordingly. The motion feedback system can also identify the location of the user's body parts to provide additional feedback within the virtual environment. By knowing the user's body position and velocity, the motion feedback system can calculate where the user's next step will be placed and where their center of gravity is. This feature helps enhance the overall effectiveness of the immersive experience.

[0059] Motor Feedback: By monitoring the motor direction (forward or reverse), speed (via the motor's encoder or step), and angle of attack (rotational direction relative to the ground), the actual position and movement of the tread can be controlled. By monitoring the motor current and encoder position, the system can monitor for system faults on the tread (i.e., the tread is not moving when it should be).

[0060] User Force Feedback: Sensors on the user harness, shoes, and / or treadmill provide the acceleration, directional, and angular forces generated by the user while manipulating the OmniPad. These accelerations and forces are processed and converted into responses by the OmniPad Tread, causing it to change direction or accelerate or decelerate while in motion.

[0061] Pivot Table System While walking or running on flat ground is sufficient, there are also uphill and downhill slopes in the real world that can be replicated with the OmniPad system. The ability to simulate moving up, down, or across hills, as well as across different surface types such as gravel, sand, or mud, significantly improves the virtual experience.

[0062] Tilting Robot Platform: Referring to Figure 40, using a combination of linear actuators and sensors (load cells, position indicators) a moving surface can be actuated to change the tilt or pitch of the tread surface. By implementing a tilting robot, or Stewart platform, the OmniPad can simulate a user going up, down, or across a slope in a virtual environment.

[0063] Emulating Variable Surfaces: Referring to Figure 41, while the user is immersed in a virtual world with visual, auditory, and motor capabilities, the OmniPad control system can slightly adjust the angle and height of the tread surface to simulate various surfaces such as gravel, sand, or mud.

[0064] The OmniPad control system, along with the immersive VR environment, manipulates the user's sensory perception, giving them the sensation of walking or running on various surface types and densities. Combining linear position indicators and load cells, the control system is able to calculate the position of each of the user's feet, allowing it to define the precise, subtle changes required to simulate varying surface types.

[0065] Powered OmniPad Platform Three-axis motion control using a 120-degree trine and drive axes through the platform center In Figure 42, the three trines are clockwise from 0 to 120 degrees, 120 to 240 degrees, and 240 to 360 degrees. Trine 1 begins at primary drive wheel A and extends to primary drive wheel B. Trine 2 begins at primary drive wheel B and extends to primary drive wheel C. Trine 3 begins at primary drive wheel C and extends to primary drive wheel A.

[0066] The three main drive wheels (A, B, C) are theoretically capable of driving a continuous surface by themselves. To distribute the driving force, redundant drive wheels are added. The counter drive wheels (-A, -B, -C) use the same motor input as their respective main drive wheels (A, -A), (B, -B), (C, -C), but in the opposite direction.

[0067] The inputs for driving the system are based on a Cartesian coordinate system (shown as 0, 90, 180, 270, with the center of the image at the center). The X and Y inputs are transformed to a polar coordinate system for driving each main drive wheel using the following equations:

[0068] Speed ​​of Motor A = COS of Polar Angle (degrees)

[0069] Motor B speed = 120 - COS of polar angle (degrees)

[0070] Speed ​​of motor C = 60 - COS of polar angle (degrees)

[0071] A continuous circular support structure consisting of 18 "single-plane" omni-wheels evenly spaced around a circular plate Figure 43 shows 18 "single plane" omni-wheels. For every six wheels, three wheels can be 120 degrees apart, and each of the three wheels can be of opposite polarity. This defines the drive system as a multiple of six wheels: 6, 12, 18, 24, etc. For this particular diameter, 18 wheels minimizes the unsupported space between the wheels.

[0072] Note that by using a single-plane omni-wheel instead of a bi-plane omni-wheel, it is possible to use a similar outer single-plane omni-wheel to drive the inner wheels through the moving surface. Not all of the inner wheels need to be driven. Because the moving surface can move in all directions, the undriven wheels will move as the surface is pulled across them.

[0073] For reference, Figure 44 shows a biplanar omniwheel in both perspective and front views. Note that due to the gap between the rollers in each plane, there is no consistent rolling contact when the two wheels roll against each other. A biplanar omniwheel has a set of rollers along the circumference of the wheel in two planes. Essentially, there are two sets of rollers in parallel planes around the circumference of the wheel. The problem is that the two sets of wheels are out of phase with each other to form a continuous rolling surface when rolling on a flat surface. Because only one omniwheel is driving the other omniwheel through the walking surface material, the discontinuity from one roller to the next cannot be as large. A uniplanar omniwheel nests a second set of rollers inside the first set of rollers within the same plane. This results in very little discontinuity from roller to roller.

[0074] A spherical elastomeric balloon with sphericity of 90% or greater to stretch over the continuous circulatory support structure and then "capping" to create a continuous surface. If the balloon is far from spherical, it will not move smoothly. Due to uneven tension, it will be pulled to the shortest side. Figure 45 shows a 14-inch diameter balloon while still on the (spherical) core mold and after removal from the core mold, also showing the through-hole. The balloon preferably does not deviate from sphere by more than about 10% at any two measured diameters. If the smallest measured diameter is 10 inches, the largest measured diameter should be 11 inches or less. This can also be considered + / - 5%. The balloon material should be very tough and highly elastic. A suitable example is platinum-cured silicone with a Shore A hardness of 03 and a stretch-to-break ratio of 7. Other materials have similar properties. For example, latex, TPU, TPE, etc. can be used with appropriate manufacturing equipment. When incorporated into the OmniPad, the balloon is understood to be the same structure as a bladder or walking surface, etc.

[0075] Forming balloons using multi-part molds and low pressure injection molding. Figure 46 shows the formation of a balloon by low-pressure injection molding in a multi-part mold held together with clamps. Figure 47 shows two halves of the mold. Figure 48 shows a partially unformed balloon inside the mold. More specifically, when assembled, the multi-part mold defines a void in the desired shape of a spherical balloon. There is a central spherical core with a single neck, which is captured by two halves of the outer cavity, which are then assembled to the lower cavity. The result is outer and inner wall surfaces, between which a two-part platinum-cure silicone is injected using low pressure (e.g., 45 psi) to fill the void and form the balloon. The outer cavity of the mold can then be disassembled (split) to separate the balloon and spherical core. The balloon is then stretched to separate from the spherical core, resulting in a one-piece spherical balloon. There are many alternative methods for making spherical balloons, and low-pressure injection molding is just one example.

[0076] Tensioning of balloons onto a continuous circulation support structure. Figure 49 shows the manual process of tensioning a balloon onto a bobbin, while Figure 50 shows a bobbin with a balloon. Note that the balloon can be intentionally marked or colored during manufacture, or after manufacture and before tensioning, or after tensioning.

[0077] Sealing / capping of holes in the balloon required to tension the balloon onto the support structure to create a continuous, uninterrupted surface. Figures 51 and 52 show an exemplary process for sealing the hole, allowing the balloon to be tensioned on the bobbin. First, as seen in Figure 51, the hole is stretched closed to near zero tension, and then the edges of the hole are clamped to the inner structural plate. A puddle of silicone is then poured into the hole on the plate and then allowed to cure. After curing, the clamp is removed and excess material is peeled off the inner structural plate. This results in a sealed balloon encasing the omniwheel structure.

[0078] Pedestrian motion tracking that moves "pedestrians" to the center or near the center of the walking area. Figure 53 shows a top view schematic of an exemplary OmniPad. The arrows in Figure 53 represent the location and direction of exemplary tracking cameras. Each camera can "see" the athlete on the motion surface and output position data that is used to move the circular motion surface in any direction needed to move the athlete to the center of the motion surface. Even a single motion tracking camera will work; more cameras will improve accuracy and sensitivity.

[0079] Motion control output (joystick, keyboard, mouse, VR / AR) from the walking surface control system to a gaming computer (PC, VR headset, etc.) to synchronize AR / VR environment motion with pedestrian movement, i.e. driving game movement solely by walking on the surface. The motion tracking input(s) that cause the motion surface to return the exerciser to the center of the motion surface can also be output to a VR headset, gaming system, PC, etc. to synchronize and "move" the subject within the AR / VR / gaming environment. Figure 54 shows a perspective view of an OmniPad with a curved video display.

[0080] Active and non-active wheel options. Only three main drive wheels are required to define motion control, and only one idler wheel is required to prevent the walking surface from rotating about the vertical (Z) axis relative to the drive assembly, but four or more are preferred.

[0081] Choice of number of redundant drive wheels. The number of redundant drive wheels can be any number, but multiples of six are most reasonable. Intermediate wheels can also be added.

[0082] A range of possible wheel diameters. (Also, a range of possible alternative sizes for the system, and perhaps a range of wheel size to platform size ratios.) Since the drive wheel rolls on the outside of the walking surface, any diameter will work. However, the goal is to keep it as small as possible. 100mm diameter wheels are readily available, but 125mm diameter wheels will also work. As the platform size increases, the wheel diameter also increases. An exemplary maximum ratio of wheel size to platform size (diameter to diameter) is about 6:1, while the minimum is 1:1, just like a spherical walking surface. The closer you get to a sphere, the easier everything becomes. However, a 20ft diameter sphere is needed to have a usable walking surface, and the goal is to keep it as small as possible.

[0083] Alternative motor / wheel ratios. The motor to wheel ratio is reduced to a minimum number of drive wheels to a minimum number of idle wheels to avoid clocking the walking surface.

[0084] 55-60 show additional illustrations of an omnidirectional treadmill according to various embodiments of the present invention. FIG. 55 shows a cross-sectional view of a bobbin showing two support omniwheels surrounded by flexible bladders. The support omniwheels are held in place by a support structure. Each support omniwheel defines an axis of rotation that is perpendicular to the plane of the figure. The axis of rotation of each support omniwheel is also tangent to the circle defined by the arrangement of the support omniwheels. Outside the bobbin are multiple drive omniwheels that contact the bladders, and each drive omniwheel is driven by a motor (not shown). Each drive omniwheel is positioned on one of the support omniwheels so that the bladders are compressed between each drive omniwheel and its respective support omniwheel. In addition to the support omniwheels, an optional stabilizing omniwheel is positioned outside the bobbin and also contacts the bobbin, as shown.

[0085] Figure 56 shows a top view of the bobbin of an omnidirectional treadmill without a bladder. This figure shows a different perspective view of the bobbin shown in Figure 43. Both show the supporting omniwheels arranged around a circle.

[0086] Figures 57 and 58 are plan views of drive and stabilizing omni-wheels arranged around a bobbin, according to various embodiments. Figure 57 includes a bladder, while Figure 58 omits the bladder and shows the internal support omni-wheel. Figure 59 shows a perspective view of the device in Figure 58, while Figure 60 shows its side view. In the figure, there are six drive omni-wheels, each driven by a motor. In addition, the figure shows four stabilizing omni-wheels. Each stabilizing omni-wheel defines an off-axis plane relative to the center of the bobbin. The stabilizing omni-wheels are paired so that each stabilizing omni-wheel is located opposite its partner across the center of the bobbin and their respective planes are parallel. Each stabilizing omni-wheel is positioned to contact a bladder on the opposite side of the support omni-wheel. The side view particularly illustrates that the omni-wheels can be positioned in a plane below the central horizontal plane defined by the bobbin to support the bobbin. Similarly, an omni-wheel can be positioned in another plane above the horizontal plane of the bobbin to hold down the bobbin. In various embodiments, the omni-wheel above the plane of the bobbin is a drive omni-wheel while the omni-wheel below the plane of the bobbin is a stabilizing omni-wheel, or vice versa, or a drive omni-wheel and a stabilizing omni-wheel are positioned in both planes. In some embodiments, one of the stabilizing omni-wheels is configured to prevent clockwise rotation of the bobbin about its vertical axis, and another of the stabilizing omni-wheels is configured to prevent counterclockwise rotation of the bobbin about its vertical axis.

[0087] Various embodiments of the present invention include a treadmill membrane with dynamic stiffness and, optionally, electronic circuitry configured to control the dynamic stiffness. See, for example, FIG. 61. Stiffness can be dynamically controlled, for example, using smart materials such as smart metal wires or magnetorheological solids or liquids. In these embodiments, a spheroid or hemispheroid (bladder) can be controlled to have variable stiffness in different regions, for example, using a microprocessor, electronic signals, and / or static devices (e.g., magnets). For example, a material can be made more stiff near the center of the treadmill and less stiff near the edges of the treadmill. Stiffness can be controlled using induction (to smart wires), static magnetic fields, and / or electromagnets, etc. Smart materials may include magnetically responsive materials, such as rubber containing iron powder or other ferromagnetic materials, and / or configured to change flexibility in response to electrical currents, electric fields, magnetic fields, or light.

[0088] The dynamic treadmill membrane may or may not have tiles attached.

[0089] In some embodiments, the tread surface material is more flexible around the edges of an omnidirectional treadmill, such as those described elsewhere herein, relative to the center of the treadmill. This allows for more flexibility where the surface must flex and stretch, and less flexibility in the middle where a user may walk. In various embodiments, the change in flexibility (e.g., elasticity) can vary by 1:1.5, 1:2, 1:3, 1:5, and / or any range therebetween.

[0090] In various embodiments, the flexibility of the active material is controlled using induced currents, electric fields, and / or magnetic fields. For example, inductors, electric coils, or magnets within the active material bladder can be used near the center of the tread surface to make the active material stiffer. Stiffness can be dynamically controlled in response to the user's activity on the treadmill, which may also be in response to the virtual environment. For example, the stiffness of the center of the treadmill (where the user walks or runs) can change depending on whether the user is walking or running.

[0091] In some embodiments, the dynamic stiffness of the active material is further manipulated to control the texture of the active material. For example, the active material may be given a modulated texture to simulate uneven terrain in the virtual environment. Stiffness, texture, and thickness may be controllable using the same means.

[0092] In some embodiments, active materials are used to generate movement on the treadmill surface, for example, the stiffness / thickness of the active material can be changed suddenly to create a sensation of movement or vibration in the user's feet.

[0093] The system may include a movement device (e.g., a motor or piezoelectric device) configured to move the magnet or electric coil toward or away from the active surface, and in some cases the movement device may be disposed within the bladder. Any movement device, such as a motor described herein, may be used with a dynamic bladder / membrane.

[0094] In some embodiments, this active tread surface is very flexible around the circular edges of the bobbin portion, while the elastomeric tread surface itself becomes taut (less flexible), thicker, and stiffer in the center of the flat, moving portion of the tread surface during movement / rotation. This effect can occur in real time, induced by an electromagnet placed inside the bobbin (inside the toroidal bladder).

[0095] In some embodiments, eddy currents are used to control the flexibility and / or thickness of the active material.

[0096] The system may be charged / powered (internal electrical elements receive their energy) via wireless charging / conduction. Such charging may occur at frequencies that are transparent or nearly transparent to the active material. For example, in various embodiments, the components within the bladder are wirelessly powered with AC frequencies of at least 30 Hz, 60 Hz, 120 Hz, 240 Hz, 480 Hz, or 1000 Hz, or any range therebetween.

[0097] The system may further include a cooling system configured to keep the active material cool.

[0098] The system may further include a vacuum system or magnets configured to keep the active material in close proximity to the curved (concave) surface of the treadmill.

[0099] The tread may be single skin, or may comprise a flexible membrane covered with tiles, such as ceramic or plastic tiles.

[0100] In various embodiments, the omnidirectional treadmill is configured to have a concave or biconcave shape. Such a shape may be configured to minimize the stretch change of the membrane. A shape with minimal stretch change can be achieved by taking a sphere, figuratively cutting the top third from the sphere, and inverting the cut section back into a sphere to form a cup. A compromise / optimization can be made between this shape with minimal stretch change and the desired slope of the surface of the treadmill surface. A biconcave shape is similar to the shape of a blood cell, which has a concave bottom and a concave top.

[0101] FIG. 62 shows a side view of an omnidirectional treadmill with a concave shape, according to various embodiments of the present invention. The shape of the bladder surface may be controlled by an internal component encased by the bladder membrane. An external component may be used to control some aspects of the shape, such as the curvature of the membrane under the platform in a biconcave configuration. Such an internal component is shown in FIG. 63. The internal component may comprise rubber, foam, plastic, metal, and / or other suitable materials. Bearings and / or lubricants may be disposed between the bladder membrane and the internal component. The internal component may include an inductively powered drive motor, such as the motors disclosed elsewhere herein. Similarly, the bladder membrane may be driven by an external motor and / or an omniwheel, as described elsewhere herein. In some embodiments, the bladder membrane is unpowered, with movement generated by the user's walking. In various embodiments, the ratio of the radius of curvature A of the center of the platform to the radius of curvature B of the intermediate edge of the platform is equal to or less than 1:1, 1.5:1, 2:1, 3:1, 5:1, 7:1, or 10:1, or any range therebetween.

[0102] Figure 63 shows a surface made up of hexagons, according to various embodiments of the present invention. Any of these hexagons may be connected to one another and / or to any of the bladder membranes described herein. The hexagons form a walking surface and may comprise ceramic, plastic, rubber (harder than the membrane), metal, wood, vinyl, and / or any other material suitable for walking. The hexagons may be connected to one another using resilient connectors, such as rubber connectors and / or the like.

[0103] FIG. 64 shows an alternative tile structure according to various embodiments of the present invention. This tile structure includes triangular tiles used to form pentagons and hexagons. This and similar tile structures can be used to minimize gaps between tiles. Additionally or alternatively, two or more sizes of tiles can be used to minimize gaps. If the tiles are securely connected to each other, a bladder membrane is optional. Tiles can have a maximum surface dimension of 0.25 inches, 0.5 inches, 1 inch, 2 inches, 3 inches, 4 inches, 5 inches, 7 inches, or 10 inches. Tiles can also be larger than 10 inches or smaller than 0.25 inches.

[0104] In some cases, the bladder is made of an active material (e.g., see above) or a passive (homogeneous) elastomer, and the top of the bladder membrane is inverted and fitted into the concave-top inner core. In some cases, during installation, the bladder itself can be vacuum-sealed to the inner core of the blood vessel by evacuating the air from inside the bladder membrane, making it airtight. This allows both the upper and / or lower portions of the membrane to retract into the concave area of ​​the inner component. The inner component can have a breathable surface for this purpose. For example, the inner core of the blood vessel can be perforated with open tunnels extending from a lubricant reservoir at the bottom of the blood vessel to the concave motion surface at the top.

[0105] In some embodiments, a self-circulating lubrication system is included within the bladder. This lubrication system can include a lubricant reservoir, for example, located at the bottom center of the upturned bladder inside the sealed bladder. The lubricant can be a solid (e.g., carbon aerogel or small bearings) and / or a liquid. In some embodiments, when an OmniPad user moves the bladder membrane around the bladder-like inner core, this movement of the bladder causes the lubricant to wick up to the upper moving surface, coat the inner portion (interior) of the upper moving surface of the bladder, then travel around the sides of the circular form and return to the lubricant reservoir.

[0106] In some embodiments, ball bearings are configured between the inner component and the bladder membrane. This design typically includes ball bearing "holders" set between the underside of the upper bladder and above the top surface of the inner component. These also allow the bladder to rotate around the inner component. In yet other embodiments, the ball bearing holders are hexagonal or approximately hexagonal, for example, about 2-inch ball bearing holders.

[0107] As described elsewhere herein, an external omni-wheel can be used to dampen and / or accelerate the movement of the bladder membrane, for example, an omni-wheel can be used to prevent rotation of the bladder membrane around the inner component.

[0108] In an alternative embodiment, the treadmill comprises a series of non-motorized, tiny, thin treadmills embedded in the concave dish surface. The thin (linear) treadmills comprise a series of radial micro-conveyor belts. This embodiment may consist, for example, of multiple, expanding, repeating structures or rings of micro (i.e., 1 / 2 inch by various lengths) miniature treadmills strategically positioned radially around the center of the dish and extending upward along the slope of the dish. The radial micro-conveyor belts may be arranged in a "sunburst" pattern, with the light beams (of the micro-treadmills) emanating radially around the center of the platform.

[0109] In various embodiments, the bladder is formed by cutting a flat sheet into a unique integral pattern of hexagons or hexagon-like shapes that, when joined together, form a continuous, perfect sphere. The bladder, in various embodiments, is made of elastic and / or static materials. The bladder may be in direct contact with a user's moving foot in an assembled omnidirectional treadmill. In some embodiments, the bladder membrane includes two or more layers, with tiles positioned between these layers. The tiles may be held in place by stitching, heat bonding, rivets, and / or other connectors between the membrane layers.

[0110] In some embodiments, a rigid inner component is inserted into the interior of the bladder before sealing the bladder. Only then is the top of the bladder inverted and fitted into the cup-shaped top of the inner component. In different embodiments, different types of rotating (approximately 1 inch or less) hexagonal or polygonal tiles are inserted between the rigid inner component and the bladder.

[0111] The lubricant and / or rotating tile area may be implemented within a vacuum created within the bladder to allow the bladder to move in all directions around the internal component. When a vacuum is drawn within the bladder, the air between the internal component and the bladder is at sub-atmospheric pressure, which then seals the bladder. The bladder is thus free to rotate in any direction around the rigid, circumferential interior. The vacuum may be sufficient to ensure that the bladder membrane conforms to the contours of the internal component.

[0112] In some embodiments, the completed assembly is a circular, omnidirectional movement platform on which a person can freely walk and / or run in any direction on the cup-shaped or concave top of the device. The platform can be at least 3 feet, 5 feet, 7 feet, 9 feet, 10 feet, 12 feet, 15 feet or more in diameter, or any range between these values. The platform may be greater than 15 feet in diameter. In some embodiments, the platform covers the floor of a room, e.g., a 1-foot diameter room, and is configured to support multiple users simultaneously on the platform surface. In these embodiments, movement of the bladder membrane may be responsive to multiple users moving (e.g., walking or running) on ​​the platform simultaneously.

[0113] In any of the embodiments described herein, the resulting omnidirectional rotation of the bladder around the rigid interior can be tracked in real time by a tracking sensor. The tracking sensor may include a laser, a camera, a wheel, a rollerball mouse device, RFID, and / or any other device configured to track bladder movement. The tracking device may be positioned, for example, below or on any side of the exercise platform. Tracking data from the tracking device can then be transmitted to a computing system configured to manage the virtual environment, which can further respond to the user's omnidirectional movement. This allows the user to experience the sensation of freely roaming in any direction throughout the 3D virtual environment.

[0114] Although several embodiments have been specifically illustrated and / or described herein, it will be understood that modifications and variations are encompassed by the above teachings and within the purview of the appended claims without departing from the spirit and intended scope thereof. For example, the systems described herein may include virtual reality systems.

[0115] The embodiments described herein are exemplary of the present invention. As these embodiments of the present invention are described with reference to the figures, various modifications or adaptations of the methods and / or specific structures described may become apparent to those skilled in the art. All modifications, adaptations, or variations that are based on the teachings of the present invention and advance the art from these teachings are considered to be within the spirit and scope of the present invention. Therefore, it is understood that the present invention is in no way limited to only the illustrated embodiments, and therefore these descriptions and drawings should not be considered limiting.

[0116] Computing systems and / or logic may include integrated circuits, microprocessors, personal computers, servers, distributed computing systems, communication devices, network devices, etc., and various combinations thereof. Computing systems or logic may also include other devices configured to store analog or digital information, such as random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), magnetic media, optical media, nanomedia, hard drives, compact discs, digital versatile discs (DVDs), optical circuits, and / or databases. As used herein, computer-readable media explicitly excludes paper. Computer-implemented steps of methods described herein may include sets of instructions stored on computer-readable media that, when executed, cause a computing system to perform the steps. A computer system programmed to perform specific functions pursuant to instructions from program software is a dedicated computing system for performing those specific functions. Data manipulated by a dedicated computing system during the performance of those specific functions is stored at least electronically in buffers in the computing system, and each change to that stored data physically changes the dedicated computing system from one state to the next.

[0117] "Logic" as described herein is expressly defined to include hardware, firmware, or software stored on a non-transitory computer-readable medium, or any combination thereof. This logic may be implemented in quantum, electronic, and / or digital devices (e.g., circuits) to form special-purpose computing systems. Any of the systems described herein may include a microprocessor including quantum, electronic, and / or optical circuits configured to execute any combination of the logic described herein. Methods described herein may include execution of logic by such a microprocessor.

Claims

1. An omnidirectional treadmill, A membrane having dynamic stiffness controlled using smart materials, the membrane configured to be part of a surface on which one or more users of a treadmill are configured to walk. wherein the smart material may include a wire, a ferromagnetic material, a magnetorheological solid, or a magnetorheological liquid.

2. An omnidirectional treadmill, a flexible bladder; a blood vessel-shaped rigid inner core disposed within the bladder and configured to support the bladder at a location where a user is configured to walk on the bladder; a layer disposed in a space under at least a partial vacuum between the inner core and the bladder; a drive motor configured to move the bladder in response to a user's movements and / or actions within a virtual environment; and An omnidirectional treadmill with

3. An omnidirectional treadmill, a blood cell-like internal component; an optional membrane configured to fit around the internal component, and an optional hexagonal tile layer flexibly joined edges to form around the internal component, wherein ball bearings disposed on the hexagonal tiles contact the inner core; and an optional drive motor configured to move the hexagonal tile layer in response to a user's movements and / or actions within the virtual environment; and An omnidirectional treadmill with

4. An omnidirectional treadmill, a movable bladder including an active material configured to change flexibility and / or thickness in response to an electric current, a magnetic field, and / or an electric field; a first support surface, which may be concave, configured to support the bladder at a location where a user is configured to walk on the bladder; an optional second concave surface disposed opposite the first support surface; and a vacuum system configured to hold the bladder in proximity to the first support surface or to use a vacuum to cause the bladder to conform to a central component; an optional lubricant configured to maintain the bladder in proximity to the first support surface; an optional drive motor configured to move the bladder in response to the user's movements and / or actions within the virtual environment; and An omnidirectional treadmill with

5. The treadmill of any one of claims 1 to 4, further comprising electronic circuitry configured to control the smart material, optionally in response to a virtual environment.

6. 6. The treadmill of claim 1, further comprising tiles attached to the bladder, the tiles may include a plurality of polygonal types, which may include hexagons and pentagons.

7. The treadmill of any one of claims 1 to 6, further comprising a cooling system configured to control the temperature of the bladder.

8. The treadmill of any one of claims 1 to 7, further comprising a concave internal component which may be biconcave.

9. The treadmill of any one of claims 1 to 8, further comprising a lubricant disposed between the internal component and the bladder.

10. The treadmill of any one of claims 1 to 9, further comprising a sensor configured to detect movement of the bladder.

11. The treadmill of any one of claims 1 to 10, further comprising an omni-wheel configured to move the bladder.

12. 12. The treadmill of claim 1, wherein the bladder includes a plurality of layers and tiles disposed between the plurality of layers.

13. The treadmill according to any one of claims 1 to 12, wherein the layer disposed in the space includes a ball bearing, a liquid lubricant, or a solid lubricant.

14. 14. The treadmill of any one of claims 1 to 13, wherein the bladder is held in close proximity to the internal components by a vacuum.

15. The treadmill of any one of claims 1 to 14, further comprising a wireless charging system configured to provide power to the interior of the bladder.

16. 16. A treadmill according to any preceding claim, wherein the bladder comprises an active material configured to change flexibility and / or thickness in response to an electric current, a magnetic field, and / or an electric field.

17. 17. The treadmill of any one of claims 1 to 16, further comprising control circuitry configured to dynamically vary the flexibility and / or thickness of the active material on the bladder at a location where a user is configured to walk.

18. 18. A treadmill according to any preceding claim, wherein the active material is configured to be stiffer at a location on the bladder where a user is configured to walk relative to an edge of the treadmill.

19. A treadmill according to any preceding claim, wherein the ball bearings are arranged in hexagonal tiles.

20. 20. The treadmill of any one of claims 1 to 19, wherein the bladder comprises a plurality of joined hexagons.

21. 21. The treadmill of any preceding claim, wherein the flexible bladder comprises a material configured to change shape in response to an electric or magnetic field.

22. 22. The treadmill of any preceding claim, wherein the flexible bladder comprises a ferromagnetic material.

23. 23. A treadmill according to any preceding claim, wherein the flexible bladder is configured to be dynamically more flexible at the circumference of the supporting omni-wheel relative to the centre of the circle.

24. A treadmill according to any one of the preceding claims, wherein the support omni-wheel and / or the drive omni-wheel are single-plane omni-wheels.

25. 25. The treadmill of any one of claims 1 to 24, wherein at least three of the drive omni-wheels are configured to support bobbins.

26. 26. The treadmill of any one of claims 1 to 25, further comprising six or nine drive omni-wheels.

27. 27. The treadmill of claim 1, wherein the bobbin includes a magnet configured to prevent the circle of the support wheel from rotating about the center of the bobbin relative to the drive omni-wheel.

28. 28. The treadmill of any one of claims 1 to 27, further comprising two or four stabilizing omni-wheels, each of the stabilizing omni-wheels positioned adjacent to a respective support omni-wheel.

29. 29. The treadmill of any one of claims 1 to 28, further comprising two or four stabilizing omni-wheels configured to prevent rotation of the bobbin about a vertical axis defined through the center of the bobbin.

30. 30. A treadmill according to any preceding claim, wherein any of the omni-wheels includes interlocking rollers or has rollers spaced apart by a distance less than the length of each roller.

31. 31. The treadmill of any one of claims 1 to 30, wherein three of the drive omni-wheels are positioned below a horizontal surface of the bobbin and are configured to support the bobbin.

32. 32. The treadmill of any one of claims 1 to 31, wherein the three drive omni-wheels are arranged on a horizontal plane defined by the bobbin and are configured to press down on the bobbin.

33. 33. The treadmill of any one of claims 1 to 32, further comprising three, four, or six omni-wheels, each of the omni-wheels aligned with a respective supporting omni-wheel and configured to support the bobbin.

34. 34. The treadmill of any one of claims 1 to 33, wherein each of the drive omni-wheels includes 12 rollers.

35. 35. The treadmill of any one of claims 1 to 34, wherein one of the stabilizing omni-wheels is configured to prevent clockwise rotation of the bobbin about its vertical axis, and another of the stabilizing omni-wheels is configured to prevent counterclockwise rotation of the bobbin about its vertical axis.

36. 36. The treadmill of any one of claims 1 to 35, wherein three of the drive omni wheels are arranged in a first plane and three of the drive omni wheels are arranged in a second plane.

37. 37. The treadmill of any one of claims 1 to 36, further comprising a wireless charging system configured to provide power to the interior of the bladder.

38. 38. The treadmill of any one of claims 1 to 37, further comprising control circuitry configured to dynamically vary the flexibility and / or thickness of the active material at a location on the bladder where a user is configured to walk.

39. 39. A treadmill according to any preceding claim, wherein the active material is configured to be stiffer at a location on the bladder where a user is configured to walk relative to an edge of the treadmill.

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