Platform and system

Abstract

A platform comprising: a core; and a mesh configured to envelope the core in use, the mesh comprising a network of nodes interconnected by links; wherein the mesh is configured to move omnidirectionally relative to the core; wherein each node of the network of nodes comprises one or more convex sliding bearings configured to engage an outer surface of the core and reduce stiction and kinetic friction between the mesh and the core.

Description

PLATFORM AND SYSTEMFIELD

[0001] This relates to a platform and a related system.BACKGROUND

[0002] A platform may be used to create realistic movement to simulate various environments and experiences. In use, the platform provides an interface between a user and a simulation system. The platform is versatile and may be used across various industries for different purposes.SUMMARY

[0003] In a first example, there is provided a platform comprising: a core; and a mesh configured to envelope the core in use, the mesh comprising a network of nodes interconnected by links; wherein the mesh is configured to move omnidirectionally relative to the core; wherein each node of the network of nodes comprises one or more convex sliding bearings configured to engage an outer surface of the core and reduce stiction and kinetic friction between the mesh and the core.

[0004] In a further example, there is provided a motion system comprising: a motion platform for supporting a user, the platform comprising friction reduction comprising one or more convex sliding bearings configured to reduce stiction and static friction; driving elements configured to omnidirectionally drive the platform; and a controller in communication with the driving elements and configured to control operation of the motion system.

[0005] In a further example, there is provided a platform comprising: a core; and a mesh configured to envelope the core in use, the mesh comprising a network of nodes interconnected by links; wherein the mesh is configured to move omnidirectionally relative to the core; wherein each node of the network of nodes comprises one or more sliding bearings configured to engage an outer surface of the core and reduce stiction and kinetic friction between the mesh and the core.BRIEF DESCRIPTION

[0006] The description is framed by way of example with reference to the drawings which show certain embodiments. However, these drawings are provided for illustration only, and do not exhaustively set out all embodiments.

[0007] Figure 1 shows an example platform.

[0008] Figures 2a, 2b, and 2c show an example core of a platform.

[0009] Figure 3 shows an example node with associated links.

[0010] Figures 4a, 4b, 4c, 4d, and 4e show an example connector of a node.

[0011] Figures 5a, 5b, 5c, 5d, and 5e show a further example connector of a node.

[0012] Figures 6a, 6b, 6c, and 6d show example sliding bearings of a node.

[0013] Figure 7 shows an example link of a mesh.

[0014] Figure 8 shows a further example link.

[0015] Figure 9 shows a further example link.

[0016] Figures 10a and 10b show a further example link.

[0017] Figure 11a, lib, and 11c show an example mesh and example mesh segments.

[0018] Figures 12a, 12b, 12c, and 12d show an example motion system comprising a platform.

[0019] Figures 13a, 13b, 13c, 13d, 13e, and 13f show a further example platform.

[0020] Figure 14a shows an example mesh; Figure 14b shows an example mesh section.

[0021] Figures 15 shows a further example mesh section.

[0022] Figures 16a, 16b, and 16c show further example sliding bearings of a node.

[0023] Figures 17a, 17b, 17c, 17d, 17e, and 17f show a further example motion system comprising a platform.DETAILED DESCRIPTION

[0024] There is described herein a platform comprising a core and a mesh configured to envelope the core. The mesh is configured to move omnidirectionally relative to the core when driven by user locomotion and / or by one or more motion drivers provided in a motion system. The mesh comprises a network of nodes interconnected by links. The mesh forms a first engagement interface with an outwardly facing contact surface of the core and a second engagement interface with a part of a user. The first engagement interface may have a lowercoefficient of friction than the second engagement interface. Each node may comprise one or more bearings configured to reduce stiction and kinetic friction in the first engagement interface.

[0025] To avoid doubt, static friction is the general resistance to movement between two objects at rest. Static friction is a force that acts to prevent any relative motion from happening and is typically considered at the moment motion is about to begin. Stiction is a specific aspect of static friction. Stiction refers to the force required to overcome static friction and the initial resistance to motion when two objects are at rest relative to each other and a force is applied to initiate movement. Stiction is the force that must be overcome to start the relative motion. Stiction is typically considered at the moment motion is about to begin and can refer to the entire process of overcoming rest, including any time-dependent effects. When stiction is overcome then kinetic friction, also known as dynamic friction or sliding friction can be achieved.

[0026] In the context of this specification, stiction and static friction are combined and referred to herein as stiction. To avoid doubt, a reference to friction herein is a reference to both stiction and kinetic friction unless stated otherwise.

[0027] The one or more bearings may be sliding bearings configured to reduce contact surface area. This reduced contact surface area reduces both stiction and kinetic friction in the first engagement interface. The sliding bearings may be omnidirectional, thereby enabling omnidirectional movement of the platform. This contrasts conventional bearings, which are typically bidirectional and / or are confined to motion within a bounded housing. Moreover, the sliding bearings may be unbounded so as to allow debris and heat to escape, which can reduce the likelihood of a bearing failure compared to conventional, housed bearings.Motion Platform

[0028] Figure 1 shows an example platform 100.

[0029] The platform 100 comprises a core 101 and a mesh 102 configured to envelop the core 101. The mesh 102 is configured to move relative to the core 101, which may be in an omnidirectional manner. Omnidirectional movement refers to movement of the mesh 102 in any direction in a manner that is substantially tangential to the outer surface of the core 101. In this way, the platform 100 is configured to support a user and allow omnidirectional motion of the user. This means the user can walk or run in any direction, not just forward or backward. The user's motion is not confined to linear movement in one dimension as the platform 100 enables 360-degree movement including side-to-side and rotational movement.

[0030] The platform 100 can act as an interface between the user and a simulation system (which can also be considered an immersive experience system), which may comprise an immersive experience system comprising one or more of a virtual reality subsystem, an augmented reality subsystem, and a mixed reality subsystem. The omnidirectional capability of the platform 100 may allow for a more realistic user experience in an at least partially simulated environment as the user's motion would be more accurately reflected in the at least partially simulated environment, thereby enhancing immersion.

[0031] The platform 100 may be used in a range of immersive experience-related applications including but not limited to virtual reality gaming, mixed reality gaming, augmented reality gaming, exercise, action-based training, rehabilitation, and research and development.

[0032] In one example, the platform 100 is configured for a standalone omnidirectional treadmill.

[0033] In one example, the mesh 102 may be configured to move in one dimension only. The mesh 102 may be configured to move unidirectionally in the one dimension; in this way, the platform 100 may be a unidirectional treadmill (e.g. the user can only move forward or backward). The mesh 102 may be configured to move bidirectionally in the one dimension; in this way, the platform 100 may be a bidirectional treadmill (e.g. the user can move forward and backward).

[0034] The mesh 102 may be driven by a user's motion when the user is in engagement with the platform 100. For example, the user may stand on the platform 100 and drive movement of the mesh 102 relative to the core 101 by imparting a force via an action such as walking or running. Alternatively or additionally, the mesh 102 may be driven by a combination of motion control methods and actuators, which are described in more detail below.Core

[0035] Non-limitingly, the structure of the core 101 may be substantially an obloid. The core 101 may be formed as a single integral body or may be formed by connecting multiple constituent parts, which may be via interlocking arrangements provided on the constituent parts or via a suitable adhesive. The core 101 may comprise a substantially smooth and continuous outer peripheral surface, which may be a coated surface layer.

[0036] Segmented constituent parts may be advantageous, for example, for ease of manufacture. Segmented constituent parts may be joined by a mechanical interlockingengagement, an adhesive, mechanical fasteners, or a combination thereof. In some examples, the joining mechanism can allow easy disassembly of the node 103 for maintenance and repair.

[0037] The core 101 may be made of a material that has one or more of the following properties: high stiffness, low friction, resistance against wear and abrasion, and high durability. The core 101 may also comprise a coating that has one or more of the following properties: low friction, resistance against wear and abrasion (non-scratching), and high durability.

[0038] The core 101 may be formed from a substantially rigid material, such as a metal, rigid foam, spray foam, cardboard, wood, or a substantially rigid plastics material e.g. thermoplastics including but not limited polyoxymethylene (POM), polyamide / nylon 66 (PA66), and ultra-high molecular weight polyethylene (UHMWPE). The core 101 may be formed from a combination of the above materials and / or other suitable materials. The combination of materials may result in a core 101 that is substantially light-weight but provides sufficient structural integrity to support a user.

[0039] In one example, the core 101 is substantially hollow but comprises one or more internal support structures to ensure the core 101 has sufficient rigidity and structural integrity. Without limitation, such support structures can comprise one or more honeycomb structures, pillars, columns, web structures, or matrix structures. The support structures may be formed from thermoplastics including but not limited to polyoxymethylene (POM), polyamide / nylon 66 (PA66), and ultra-high molecular weight polyethylene (UHMWPE). The support structures may be formed from a combination of the above materials and / or other suitable materials. The combination of materials may result in support structures that are substantially light-weight but provides sufficient structural integrity to support a user.

[0040] Substantially rigid can mean that the core 101 must be stiff enough to withstand substantial deformation so as to support movement of the mesh 102 relative to the core 101 under the weight of a person. However, the core 101 may have some inherently flexibility to provide a comfortable tactile response against the weight of a person.

[0041] The coating of the core 101 may be a low friction coating and may comprise gel coating or tooling gel coating. In particular, the tooling gel coating may be one or more thermoseting polymers based on epoxy or unsaturated polyester resin chemistry. The gel coating or the tooling gel coating may be provided on a surface of a fibre-reinforced composite.

[0042] In another example, the coating of the core 101 may be fiberglass.

[0043] The obloid structure is generally oblong but may comprise a combination of flattened features and curvatures including convex features and concave features.

[0044] The obloid structure may be an ellipsoid having a first, flattened side and a second, flattened side. This obloid structure has curved edges that conform to both the first, flattened side and the second, flattened side. The first side may be opposite the second side.

[0045] The obloid structure may be an ellipsoid having a first, flattened side and a second, convex side. This obloid structure has curved edges that conform to both the first, flattened side and the second, convex side. The first side may be opposite the second side.

[0046] The obloid structure may be an ellipsoid having a first, concave side and a second, convex side. This obloid structure has curved edges that conform to both the first, concave side and the second, convex side. The first side may be opposite the second side.

[0047] The obloid structure may be an ellipsoid having a first, concave side and a second, concave side. This obloid structure has curved edges that conform to both the first, concave side and the second, concave side. The first side may be opposite the second side.

[0048] The obloid structure may be an ellipsoid having a first, convex side and a second, convex side. This obloid structure has curved edges that conform to both the first, convex side and the second, convex side. The first side may be opposite the second side.

[0049] The obloid structure may be an oblate spheroid having an equatorial radius greater than the polar radius.

[0050] In any case, the core 101 provides a platform on which a user may stably stand and be supported so that the user can drive movement of the mesh 102 relative to the core 101, with or without motion assistance provided via motion control methods and actuators. This platform may be a flattened side of the core 101.

[0051] Figure 2a, Figure 2b, and Figure 2c show the isometric view, the top view, and the side view of a core 101 according to an example. The core 101 in this example comprises a substantially circular flattened surface 121 for supporting a user. Further, the core 101 comprises a curvature 122 for joining the substantially circular flattened surface 121 to the underside (not shown) of the core 101.

[0052] Figures 13a to 13f show a further example of a core 2101 that differs from the core 101 insofar as form and structure but otherwise fulfills substantially the same function as far as the overall platform. A mesh 2104 substantially similar to the mesh 102 is configured to envelop thecore 2101. The mesh 2104 is configured to move relative to the core 2101, which may be in an omnidirectional manner.

[0053] Figure 13a shows a top isometric view of the core 2101 enveloped by the mesh 2104. Figure 13b shows a first bottom isometric view of the core 2101 enveloped by the mesh 2104 and provided with two exemplary motion drivers (described in more detail below). Figure 13c shows a bottom view of the core 2101 enveloped by the mesh 2104 and provided with three exemplary motion drivers and three exemplary supports 2202. Figure 13d shows the same arrangement as Figure 13c except with the mesh 2104 omitted. Figure 13e shows a further bottom isometric view of the core 2101 enveloped by the mesh 2104 and provided with three exemplary motion drivers and three exemplary supports 2202. Figure 13f shows the same arrangement as Figure 13e except with the mesh 2104 omitted.

[0054] The core 2101 is substantially frustoconical, comprising a relatively small top (in the sense that gravity is considered to act in a downward direction) 2102 configured to support a user and a relatively large base 2103 that is opposite the top and configured to engage a support structure such as the ground or floor, or a mounting.

[0055] The top 2102 of the core 2101 is substantially flattened so as to support a user in such a way that presents a substantially flat surface on which the user can freely move about at a second engagement interface involving a corresponding top section of a mesh 2104. The top 2102 can be considered substantially planar, contrasting the concave base 2103 described below.

[0056] The base 2103 of the core 2101 comprises a central rise 2105, a bowl-shaped depression 2106 that surrounds the central rise 2105, and a rim 2107 that surrounds the depression 2106. In this way, the rise 2105, the depression 2106, and the rim 2107 may be centrally aligned with respect to the center of the rise 2105.

[0057] The contour of the base 2103 can be considered along a radial axis originating from the central rise 2105, traversing the depression 2106 and extending outwardly toward the rim 2107. The rise 2105 may be substantially circular and may offer a sufficiently large flat contact area so as to establish a stable engagement with the support structure (e.g. a flat ground or floor section, or a mounting). In some cases, there may be provided a pad 2108 to serve as an interface between the support underneath and the rise 2105. An example of such a pad 2108 assuming a disk shape is shown in Figure 13e.

[0058] The depression 2106 is recessed relative to the central rise 2105 and the surrounding rim 2107, forming a continuous concave cavity configured to cradle a section of the mesh 2104. The meaning of the term "cradle" in this context extends further than mere engagement and implies that the section of the mesh substantially conforms to the external profile of the core with minimal slack (see discussion on conformity below). The contour of the base 2103 extends radially from the depression 2106 to the rim 2107, which rises circumferentially to form a containment boundary.

[0059] Compared to a planar base, the concave base 2103 provides a larger surface area in a first engagement interface between the core 2101 and the mesh 2104. A larger surface area can mean a greater degree of conformity of the mesh 2104 to the external profile of the core 2101, particularly if the mesh 2104 substantially approximates a sphere. In other words, the increase in surface area due to the concavity in the base 2103 can reduce the amount of slack in the engagement between the mesh 2104 and the core 2101.

[0060] A motion system comprising the core 2101 may comprise one or more motion drivers. A motion driver is configured to transmit motion from an actuator to the platform comprising the core 2101. As an example, the motion drivers are each configured to transmit rotational motion by forming direct contact with the mesh 2104. The motion system and motion drivers are described in more detail under the System section.

[0061] A motion system comprising the core 2101 may comprise one or more supports 2202. A support 2202 may be configured to engage the base 2103 of the core 2101. The supports 2202 may be best appreciated in Figure 13f; in the example shown, three supports 2202 are distributed circumferentially within the depression 2106 around the central rise 2105 and extend radially outward to interface with the base 2103 of the core (via the mesh 2104, though the mesh 2104 is omitted in Figure 13f for clarity).

[0062] In one example, a support 2202 comprises a foot 2203 configured to engage a support structure (e.g. a flat ground or floor section, or another mounting). The foot 2203 may be planar and polygonal, for example substantially trapezoidal in the example shown in Figure 13f, with chamfered edges and a set of fastener apertures distributed around its perimeter. These apertures can accommodate mechanical fasteners for rigid attachment to a separate mounting.

[0063] A neck 2204 of the support 2202 longitudinally joins the foot 2203 to the shoulder 2205 of the support 2202. The neck 2204 may be a polygonal structure with sufficient strength and rigidity to guide the mesh 2104 to conform to the core 2101 (this is discussed in more detailbelow). The length of the neck 2204 may be adjusted in accordance with the height of the core 2101.

[0064] The neck 2204 terminates at the shoulder 2205, which may provide a curved or contoured interface that abuts the underside of the core 2101 (via engagement with the mesh 2104). The curvature of the shoulder 2204 may be configured to conform to the curvature of the base 2103 since the supports 2202 are configured to be provided within the depression 2106 of the base 2103.

[0065] In addition to their inherent function as support structures placed underneath the core 2101, the supports 2202 may provide the surprising benefit of reducing the amount of slack (which causes non-conformity) in the engagement between the core 2101 and the mesh 2104. For example, there may be slack (sag) in the mesh 2104 at the underside of the core 2101 due to gravity, or there may be slack as a result of a motion driver or a user transmiting motion to the core 2101 and the mesh 2104. It has been found through experimentation and testing that a core substantially similar in shape and form to the core 2101 can exhibit a lower degree of conformity with a corresponding mesh compared with a core substantially similar in shape and form to the core 101, particularly at the underside of the core. By providing one or more supports similar to the supports 2202, the amount of slack in the engagement between the core 2101 and its corresponding mesh 2104 is reduced, leading to greater conformity in the core-mesh engagement interface. This can consequently enhance user experience in relation to the overall platform comprising the core 2101 and the mesh 2104. Further, greater conformity in the coremesh engagement interface can facilitate the transmission of motion from the motion drivers (explained in more detail below) to a platform comprising the core 2101 and the mesh 2104.

[0066] Different options regarding the placement of supports 2202 and motion drivers 2201 are described under the System section below.

[0067] In some examples, the core 2101 is formed from a combination of one or more of closedcell polymer foam, rigid cellular plastic foam, and synthetic thermoplastic foam. This particular manufacture has been found to provide the advantage of conformity described above in a cost- effective preformed solution. Fiberglass coating may be applied. In one example, the core 2101 is formed from a rigid cellular plastic foam and a closed-cell extruded polystyrene foam (e.g. Styrofoam) with fiberglass coating.Mesh

[0068] The mesh 102 substantially envelops the core 101 such that the mesh 102 may be driven to move continuously in any direction relative to the core 101 while maintaining substantial engagement with the outer surface of the core 101. The mesh 102 is configured to move omnidirectionally, meaning the mesh 102 (or a given point on the mesh 102) can move substantially tangentially relative to the core 101 in any direction. The mesh 102 is flexible such that it substantially conforms to the shape of the core 101 so as to maintain substantial envelopment of the core 101.

[0069] The mesh 102 comprises a network of nodes 103 interconnected by links 104. Each link 104 is associated with at least two nodes 103 and enables relative movement between the associated nodes 103 within at least a two-dimensional plane. Each link 104 may enable relative movement between the associated nodes 103 within a three-dimensional space to enable omnidirectional movement of the mesh 102 relative to the core 101. In some examples, the links 104 make minimal or no contact with the core 101 in order to minimise the total contact surface area between the core 101 and the mesh 102. In some examples, the links 104 make minimal or no contact with the user in order to minimise the total contact surface area between the user and the platform 100, which may be a part of a motion system 200 as described below.

[0070] Each node 103 of the network of nodes may be individually configured to move omnidirectionally relative to the core.

[0071] In one example, the nodes 103 and the links 104 may be integral with each other e.g. the links 104 may be co-moulded or 3D printed with nodes 103. Accordingly, the mesh 102 may be one unitary constituent part of the platform 100, or the mesh 102 may be formed by connecting a number of sub-meshes (mesh sections). The nodes 103 and the links 104 of each sub-mesh may be integral with each other.

[0072] In another example, one or more nodes 103 may each comprise a connector configured to couple an end of at least one link 104 to a node 103. In one example, the connector fixedly connects a link 104 to a node 103. In another example, the connector detachably connects a link 104 to a node 103; in this example, a node 103 may comprise a locking mechanism for fixing the detachable connection.

[0073] Each node 103 is connected to one or more links 104, though the number of connected links 104 may vary amongst different nodes 103 forming the mesh 102.

[0074] The connector may be a male-female type connector and may attach and detach via a snap fit.

[0075] The locking mechanism may comprise a clip that selectively prevents an end of a link 104 from being detached from a corresponding connector. For example, the clip may prevent retraction of a male link end from a corresponding recess in a node 103.

[0076] Generally speaking, the mesh 102 comprises an inwardly facing contact surface configured to form a first engagement interface with an outwardly facing contact surface of the core 101. Inwardly facing in this context means relatively closer to the centre of the core 101. Outwardly facing in this context means relatively further from the centre of the core 101. Further, the mesh 102 comprises an outwardly facing contact surface configured to form a second engagement interface with a part of a user or a motion driver e.g. the soles of their feet or shoes or a contact element of the motion driver (except in a magnetic motion control and drive and arrangement where there is no physical contact). The first engagement interface may have lower friction than the second engagement interface.

[0077] In general terms, the mesh 102 may be a skeletal 3D sphere-hedron framework following a geodesic pattern joining nodes 103 with links 104, combining various valences (the number of associated nodes 103 a node 103 is connected to via links 104) depending on the specific hedrons' involved. While five and six may be the dominant valences, the combination of different valences may change based on the combination of hedrons' used. The lengths of the links 104 may not be all equal.

[0078] In one example, the mesh 102 comprises a skeletal 3D sphere-hedron framework following a polyhedral pattern joining nodes with links.

[0079] In one example, the mesh 102 comprises a skeletal framework joining nodes with links.

[0080] In one example, the skeletal 3D sphere-hedron framework may comprise a plurality of five-way nodes (valence being five) and six-way nodes (valence being six) as well as associated links. In this way, the sphere-hedron framework is a network of interconnected pentagons and hexagons. Figure 11a shows a diagram representative of a geodesic mesh dome 1100 comprising a plurality of five-way nodes e.g. 1101 and six-way nodes e.g. 1102. It can be seen that links 1003 form pentagons and hexagons with the nodes as vertices. The lengths of the links 1003 may not be all equal.

[0081] Figure lib shows an example mesh segment 1120 comprising a five-way node 1121 and six-way nodes e.g. 1122 and links 1123.

[0082] Figure 11c shows a further example mesh segment 1130 comprising a plurality of fiveway nodes e.g. 1131 and six-way nodes e.g. 1132 and links 1133.

[0083] Figure 14a shows an example mesh 1140 where its skeletal framework is a pentagonalbased sphere-hedron framework. Figure 14b shows an example pentagonal mesh segment 1141 of the plurality of pentagonal mesh segments 1141 that form the mesh 1140. The framework is a sphere-hedron framework where the constituent pentagonal mesh segments 1141 are each formed by a combination of five-way nodes 1142 and six-way nodes 1143 being interconnected by links 1144. The pentagonal mesh segments 1141 join in a contiguous manner to approximate a spherical shape.

[0084] In some examples, a mesh may comprise two-way nodes as well as nodes with different valences. These two-way nodes may be considered strengthening nodes as opposed to geometric nodes such as the five-way or six-way nodes that define the skeletal framework of the mesh, which may be a sphere-hedron framework. In other words, the strengthening nodes may be considered strengthening members that are part of their respective links. Such strengthening may be incorporated where a link would otherwise be of an undesirably long length if not for the two- way nodes i.e. the two-way nodes can effectively reduce the maximum length of a link. This can prove advantageous for scalability where a mesh needs to be enlarged to match a specified large- scale platform. Other than to strengthen the links and the overall mesh, the two-way nodes can also be incorporated to increase the overall contact surface area in the second engagement interface, thereby reducing the amount of contact a user's foot makes with the links and improving user experience. Furthermore, incorporation of two-way nodes can help improve the approximation of a sphere-hedron framework to a sphere.

[0085] Figure 15 shows an example mesh segment 1501 comprising a combination of two-way nodes 1502, six-way nodes 1503, and five-way nodes (not shown). The mesh segment 1501 may be a segment of a mesh whose skeletal framework is a pentagonal-based sphere-hedron framework. In particular, Figure 15 demonstrates that the links 1504 joining six-way nodes 1503 may be provided with two-way nodes 1502, which can provide the advantages described above.Node

[0086] Each node 103 may comprise a disk 105 that is the body of the node with one or more convex sliding bearings on an inwardly facing surface of the disk 105. Inwardly facing in this context means relatively closer to the centre of the core 101. The disk 105 comprises one or more inwardly facing surfaces configured to engage an outer surface of the core 101 and slide relative thereto. The sliding bearings are contact elements configured to reduce friction (e.g. by reducing contact surface area as the sliding bearings are convex) in the engagement and movement between mesh 102 and the core 101. The sliding bearings may comprise bearing projections.

[0087] The friction reduction of the sliding bearings may not require a separate lubricant.

[0088] In some examples, the sliding bearings are unbounded (i.e. not confined within a housing). Instead, the body of the node secure the sliding bearings in an open, exoskeletal arrangement. This can allow the mesh to be flexible so as to be able to traverse irregularities on the outer surface of the core. Further, this configuration means debris and wear particles are less likely to become trapped and cause degradation in performance (e.g. due to increased friction and material wear) compared to sliding bearing in a bounded configuration. Additionally, the exoskeletal arrangement may be configured to handle differing frictional forces while allowing heat (whether generated from kinetic friction or another source) to escape and not build up within the platform 100.

[0089] In some examples, the one or more inwardly facing contact surfaces of the disk 105 and the sliding bearings have a substantially low friction coefficient (in addition to providing a reduced contact surface area) to reduce friction during movement of the mesh 102 relative to the core 101.

[0090] Each disk 105 comprises one or more outwardly facing surfaces configured to provide an interface for the user to engage with and drive movement of the mesh 102 relative to the core 101. Outwardly facing in this context means relatively further from the centre of the core 101. The one or more outwardly facing surfaces may provide sufficiently high friction to allow the user to reliably drive movement of the mesh 102 i.e. by avoiding slippage between the soles of a user's feet (or shoes) and the disk 105.

[0091] In some examples, the one or more outwardly facing contact surfaces have a higher friction coefficient than the one or more inwardly facing contact surfaces.

[0092] In some examples, the structure of one or more disks 105 has substantially rotational symmetry.

[0093] In one example, one or more disks 105 are substantially circular or elliptical disks. The substantially circular or elliptical disks may have an overall smooth profile with curved edges.

[0094] In one example, one or more disks 105 are substantially polygonal disks. Non-limitingly, the one or more disks 105 may be a substantially flat pentagonal prism or hexagonal prism. The substantially polygonal disks may have an overall smooth profile with no sharp corners.

[0095] One or more disks 105 may be substantially circular or elliptical. This is because a disk 105 can tilt as a result of an imbalance distribution of weight and / or a heavy weight applied to the mesh 102. The tilting could mean that an edge would come into contact with the outer surface of the core 101, thereby adversely affecting user operation of the platform 100 e.g. a disk 105 applying greater pressure on the core 101 in a smaller contact area can disrupt the balance of the user. It has been found that substantially circular or elliptical disks 105 with rounded edges in a tilted stated are less likely to adversely affect operation (due to not having high-friction corners, edges, or contact surfaces e.g. a sharp edge) and are more likely to recover from a tilt and reestablish contact with the core 101 at the sliding bearings and / or an inwardly facing contact surface (e.g. the underside of a disk 105). In other words, substantially circular or elliptical disks 105 have some self-correction capability in terms of maintaining normal, sliding engagement between the mesh 102 and the core 101.

[0096] One or more disks 105 may comprise features for interfacing with a link 104 such as a connector for connecting a link 104 to a node 103. Such features may comprise a male feature and / or a female feature. The number of such features corresponds to the number of links 104 associated with a node 103. In one example, recesses are provided on the periphery of a disk 105 to receive an end portion of each link 104.

[0097] A disk 105 may be integrally formed with one or more sliding bearings. Otherwise, a disk 105 may comprise features for interfacing with one or more sliding bearings which are separately provided e.g the sliding bearings not molded with the disks. In examples where the one or more sliding bearings are projections for reducing contact surface area, such features may be female feature configured to receive the one or more sliding bearings e.g. cut-outs having a matching profile with the shape of the projections. The number of such features corresponds to the number of sliding bearings in a node 103.

[0098] In some examples, the disks 105 including the sliding bearings and the core 101 have matching properties including but not limited to high stiffness, low friction, resistance against wear and abrasion, and high durability. As an example, the disks 105 and the core 101 will likely have a long operational lifespan if they are similar in their resistance against wear and abrasion. If one part is significantly different to the other, then the wear lifespan will likely be shortened.

[0099] The disks 105 including the sliding bearings may be formed from a substantially rigid plastics material e.g. thermoplastics including but not limited to polyoxymethylene (POM), polyamide / nylon 66 (PA66), ultra-high molecular weight polyethylene (UHMWPE).

[0100] The disks 105 including the sliding bearings may be at least partially formed from fiberglass.

[0101] The disks 105 including the sliding bearings may be at least partially formed from an amorphous thermoplastic such as acrylonitrile butadiene styrene (ABS)

[0102] Each disk 105 may comprise coating at the one or more inwardly facing contact surfaces and / or the sliding bearings. The coating of the disks 105 may be a low friction coating and may comprise gel coating or tooling gel coating. In particular, the tooling gel coating may be one or more thermoseting polymers based on epoxy or unsaturated polyester resin chemistry. The gel coating or the tooling gel coating may be provided on a surface of a fibre-reinforced composite.

[0103] Each disk 105 may comprise a cap and a connector, the cap being positioned outwardly relative to the connector. The cap and the connector may be integral with each other, or they may be separate parts fixedly or detachably couplable to each other. The connectors are configured to connect the nodes 103 to their associated links 104. Additionally, the connectors of all disks 105 forming the mesh collectively provide an inwardly facing contact surface of the mesh 102 configured to form the first engagement interface with an outwardly facing contact surface of the core 101. Similarly, the caps of all disks 105 forming the mesh 102 collectively provide an outwardly facing contact surface of the mesh 102 configured to form the second engagement interface with a part of a user. Each connector may comprise sliding bearings configured to reduce friction in the first engagement interface (e.g. by reducing contact surface area). Sliding bearings may be provided in engagement with the connector.

[0104] The cap, or at least an outward contact surface thereof, may be formed from and / or coated with a material to give the second engagement interface sufficient friction to enable a user to sufficiently engage with and move the outward contact surface. This would in turn enablethe mesh 102 to be moved relative to the core 101. For example, an abrasive may be coated or otherwise applied. Alternatively or additionally, grips may be moulded or co-moulded onto the outward contact surface to increase the coefficient of friction; or, grips may be 3D printed and attached to the outward contact surface via an appropriate means, which may form a reversible attachment or a more permanent attachment.

[0105] Figure 3 shows an example node 103 comprising a cap 301 and a connector 302. The cap 301 is configured to couple to and over the connector 302 to lock the end of each associated link 303 in place. The link 303 may be same or different compared to the links of other examples of the invention.

[0106] Each cap 301 may be coupled over the respective connector 302 via any suitable fixing mechanism such as one or more fasteners or an adhesive; where a cap 301 is coupled over the respective connector 302 via a fastener, the cap 301 may comprise a bore 304, which may be centrally located. In some examples, the fixing mechanism is a releasable fixing mechanism to allow easy disassembly of the node 103 for maintenance and repair. The connector 302 comprises one or more recesses that are configured to couple an end of each associated link 303.

[0107] Figures 4a to 4e show an example connector 400 that is substantially circular. The connector 400 comprises an outward end 408, which comprises five recesses 401 for receiving the ends of five associated links. In this way, the connector 400 is a five-way connector, and a node comprising the connector 400 would be a five-way node. The connector 400 may be considered an example of connector 302.

[0108] Figure 4a shows a top view of the connector 400. The five recesses 401 are radially spaced about the periphery of the connector 400. Each recess 401 is complementary in shape to a respective end of an associated link. Each recess 401 may comprise a neck 403 extending from the periphery of the connector 400 inwardly towards the centre of the connector 400, terminating in a bulbous head 402.

[0109] As shown in Figure 4a, Figure 4b, Figure 4c, and Figure 4d, the connector 400 comprises a bore 404 configured to receive a fastener passing through a corresponding bore (e.g. bore 304) in another part of node 103 (e.g. cap 301). The bore 404 may be centrally located. The bore 404 may comprise threads configured to form a fastening arrangement of the connector with another part of node 103 via the fastener.

[0110] As shown most clearly in Figure 4b and Figure 4e, three convex sliding bearings 405 extend from a substantially flat inward end 409 of the connector 400 to substantially minimise the contact surface area in the engagement interface between the core 101 and the mesh 102 (owing to the convexity of the sliding bearings 405), which substantially reduces friction. In this example, the three convex sliding bearings may comprise dimples that are radially and substantially evenly spaced about the inward end 409 to improve stability and stabilisation of the engagement interface between the core 101 and the mesh 102 as well as the engagement interface between the mesh 102 and the user. The dimples may be substantially spherical or substantially semi-spherical.

[0111] In one example, the convex sliding bearings may not be substantially spherical or semi- spherical dimples. However, they are still considered convex in the sense that they still curve or swell out relative to the their respective disk and, as a result, substantially minimise contact surface area and therefore substantially reduce the friction between the core 101 and the mesh 102. The sliding bearings may be a more flat, disk-like structure, though they would still substantially minimise contact surface area and therefore substantially reduce the friction between the core 101 and the mesh 102.

[0112] In one example, the convex sliding bearings are substantially ring-shaped. The bearing comprises a larger, outwardly facing engagement surface configured to engage a user's foot and a smaller, inwardly facing substantially ring-like structure that interfaces with the core 101. An example of such convex sliding bearings is shown in Figures 16a, 16b, and 16c.

[0113] Figure 16a is a bottom view of the ring-shaped bearing 1405. The bearing 1405 comprises a generally circular outwardly facing plate 1406 having a relatively broad diameter and a flat outward facing surface, configured to engage a user's foot in use. Joined to the plate 1406 is a concentric inwardly facing ring 1407, whose reduced diameter is visible within the outer perimeter of the plate 1406. The ring 1407 defines a hollow 1408 within. In this way, the ring 1407 being an inwardly facing projection relative to the outwardly facing plate 1406, can reduce the contact surface area in the first engagement interface between the mesh 102 and the core 101.

[0114] Figure 16b is a sectional view taken along a vertical centerline of Figure 16a (Section A- A). This view shows the internal profile of the ring-shaped bearing 1405. The outwardly facing plate 1406 is shown as a substantially rectangular structural member with a flat upper surface for user engagement. Extending downward from the lower side of the plate 1406 is a narrowerannular contact ring 1407, which is configured to provide the primary point of contact with the core 101 with a reduced surface area. This configuration reduces the friction at the first engagement interface by minimising the surface area in contact with the core 101 while maintaining vertical load support.

[0115] Figure 16c is a side view of the ring-shaped bearing 1405, showing the external contour. The side view presents the overall profile of the bearing structure, including the outwardly facing plate 1406 and the curved, inwardly facing portion defined by the contact ring 1407 with a reduced diameter. The side profile shows the reduced contact area and low-friction design, as only the ring 1407 makes contact with the underlying surface of the core 101.

[0116] In some examples, the one or more convex sliding bearings comprise structures that are substantially planar and circular forms.

[0117] In some examples, the one or more convex sliding bearings comprise structures that are circular geometries.

[0118] Stability refers to the ability of an interface to maintain operational engagement: this can include resistance against deformation of the mesh 102 such as buckling, twisting, folding, tilting, bending, coiling, or similar. Stabilisation refers to the ability of an interface to restore stability either by self-correction or in response to a user action or motion control implemented by one or more motion control methods: this can include correction of deformation of the mesh 102 such as buckling, twisting, folding, tilting, bending, coiling, or similar.

[0119] In another example, there may be a different number of convex sliding bearings protruding from an inward end of a disk 105. The convex sliding bearings may be radially and substantially evenly spaced about the inward end.

[0120] In an example where a disk 105 comprises a single convex sliding bearing, the convex sliding bearing may be provided at the centre of the disk 105.

[0121] In another example, each convex sliding bearing may comprise a substantially elongated rib extending from an inwardly facing contact surface of a node. A rib may extend from the periphery of an inward end of a disk 105 towards the centre. A rib may extend from the centre of the disk 105 towards the periphery.

[0122] Figures 5a to 5e show an example connector 500 that is substantially similar to the example connector 400 with the exception that the connector 500 comprises six recesses 501 for receiving the ends of six associated links. In this way, the connector 500 is a six-way connector,and a node comprising the connector 500 would be a six-way node. The connector 500 may be considered an example of connector 302.

[0123] Features 501, 502, 503, 504, 505, 508, and 509 of the connector 500 substantially correspond to features 401, 402, 403, 404, 405, 408, and 409 of the connector 400. Notably, the six recesses 501 may be more tightly spaced about the periphery compared to the five recesses 401 because the recesses 401 and 501 may be the same size so as to be compatible with the same links.

[0124] Figures 4a to 4e and Figures 5a to 5e show examples of how a node 103 could be configured for connection with five associated links 104 and six associated links, respectively. However, there may be other nodes 103 that are configured for a different number of associated links 104, which may be achieved in substantially the same manner as that shown in Figures 4a to 4e and Figures 5a to 5e.

[0125] Figure 6a and Figure 6b show an example node 600 comprising three convex sliding bearings 602 radially and substantially evenly distributed on an inwardly facing surface 601. The inwardly facing surface 601 is configured for engagement with an outer contact surface of the core 101. Another node may comprise a different number of sliding bearings, which may be distributed in substantially the same manner.

[0126] Figure 6c and 6d show a different example node 1600 comprising three convex sliding bearings 1602 radially and substantially evenly distributed on an inwardly facing surface 1601. The inwardly facing surface 1601 is configured for engagement with an outer contact surface of the core 101. Compared to the examples of Figures 6a and 6b, the bearings 1602 are positioned closer to the perimeter of the node 1600 than their counterparts, bearings 602. Irrespective of the different positioning, the convex sliding bearings 602 and 1602 can similarly reduce the surface area in contact with a respective core and reduce friction in a first engagement interface between the core and its mesh.

[0127] While the core 101 may have a smooth outer profile, the disk 105 and its sliding bearings can be sized to be sufficiently small so as to have flexibility in traversing an irregularity on the core's outer surface.Links

[0128] Referring to the example as shown in Figure 7, each link 701 comprises a shaft 702 and a pair of bulbous heads 703 at either end. The link 701 may be considered an example of link 104.The shaft 702 may have a reduced diameter compared to the bulbous heads 703. Each head portion 703 is configured to couple to an associated node such that the link 701 serves as a connection between two nodes. Each head portion 703 is configured to be received and retained within a corresponding recess of an associated node.

[0129] In general terms, the material of the link 701 would allow the link 701 to flex in at least a two-dimensional plane and, in some examples, in a three-dimensional space. The link 701 would be biased toward a neutral state in which it can cause the associated nodes to maintain operational engagement with the core 101. The bias may be achieved by the inherent property of the link material and / or by intervention via a biasing mechanism.

[0130] Figure 8 shows a further example 801 of a link that can help form a mesh 102. The link 801 may be considered an example of link 104. In this example, a plurality of shafts 803 (four are shown, but a different number of shafts may be provided in other examples) are radially spaced and extend outwardly from a central junction 802. Each shaft 803 extends to a bulbous head 804, which is configured to couple to an associated node. In this manner, each associated node can connect to two or more other associated nodes via the link 801.

[0131] Figure 9 shows a further example 901 of a link that can help form a mesh 102. The link 901 may be considered an example of link 104. In this example, the link 901 comprises a pair of members 902 movably connected relative to one another such that the members may move in at least a two-dimensional plane and, in some examples, in a three-dimensional space. Each member 902 is configured to connect at one end (in the form of a bulbous head portion) to an associated node and at an opposing end to a substantially flexible, deformable and resilient element 903 e.g. an elastomeric tendon or a helical spring. The pair of members 902 may be telescopically engaged.

[0132] Figure 10a and Figure 10b show an example link 1000 with a shaft 1001 having a reduced diameter and extending to a bulbous head portion 1002 at either end. The bulbous head portion 1002 is configured to connect to an associated node. Notably, Figure 10a shows the link 1000 in a flexed state, and Figure 10b shows the link 1000 in a neutral state. The link 1000 may be inherently biased towards the neutral state e.g. by way of its material properties. The link 1000 may be substantially similar at least in part to the links 701, 801, and 901.

[0133] The links described above may be formed from a substantially flexible, deformable and resilient material. The links may be formed from an elastomeric material such as synthetic rubber, polyurethane, silicone, or a thermoplastic. The links may also be formed from cold castpolyurethane, which may have a Shore hardness of approximately 50A. The links may comprise fillers, fibre, fabric, metals, and / or reinforcement structures for improved strength; these may be crosslinked and blended with thermoplastics.

[0134] One or more different types of links may be utilised within a mesh 102.System

[0135] Figures 12a, 12b, 12c, and 12d show a motion system 200 comprising a platform 100, a plurality of motion drivers 201, and a frame 202. To avoid doubt, the platform 100 in Figures 12a and 12b comprises a mesh despite it not being explicitly shown. In the example shown, there are six motion drivers 201, though a different number of motion drivers may be provided in another example. The motion drivers 201 are fixedly or detachably connected to the frame 202. The platform 100 is engaged with and supported by the motion drivers 201 so that the platform can stably occupy a position in mid-air without being susceptible to displacement caused by ambient disturbances, even with the weight of a person. Three motion drivers are radially and substantially evenly spaced about the platform 100 and engaged a top portion of the platform 100. Three motion drivers are radially and substantially evenly spaced about the platform 100 and engage a bottom portion of the platform 100. The top motion drivers and the bottom motion drivers may be substantially vertically aligned.

[0136] While not shown, there may be further support mechanisms extending from the frame 202 to support the platform 100.

[0137] Each motion driver may comprise a plurality of wheeled drives 203 for transmiting motion from an actuator (e.g. an electric motor) to the platform 100. This may be achieved by directly engaging the platform or, as shown, by an intermediary rolling element 204 configured to couple motion of the wheeled drives 203 to the platform 100.

[0138] The platform 100 is configured to support a user. In this example, the platform 100 comprises a top flat surface that the user can stand and move on in order to drive movement of the mesh relative to the core. The platform 100 is not limiting and covers different variations and examples described above.

[0139] In some examples, the motion system 200 uses passive motion control.

[0140] In some examples, the motion system 200 comprises a controller (not shown) configured to control operation of the motion system including but not limited to start, stop, directional control, and speed control. In use, the controller can assist a user's input motion. The controllermay be a computer system in communication with one or more sensors and one or more actuators. The computer system comprises hardware for storage, computing, and communication (wired or wireless) with another "smart" device e.g. a user's mobile phone. The operation of the controller may be assisted by a trained artificial intelligence.

[0141] The computer system may comprise or be in communication with a simulation (immersive experience) system, which may comprise one or more of a virtual reality subsystem, an augmented reality subsystem, and a mixed reality subsystem.

[0142] The motion system 200 may be used in a range of applications including but not limited to immersive experiences such as virtual reality gaming, mixed reality gaming, augmented reality gaming, exercise, action-based training, rehabilitation, and research and development. Operation may also factor digital objects and / or environment mechanics. For example, the controller may ensure any preset in-experience (digital) boundaries are adhered so a user cannot walk through an object, such as a wall. Algorithms (Al) may assist improving user experiences.

[0143] In one example, the motion system 200 is a standalone treadmill system.

[0144] The controller is configured to control the operation of the motion drivers and thereby control movement of the platform 100 independently of user-generated motion. The net movement of the platform 100 will be determined by the net force resulting from the force applied by the user and the total force imparted on the platform 100 by the motion drivers 101. In one example, operational movement may be determined by reading (sensing) any part of a user's body to determine movement (e.g. hip movement and the resulting locomotion can be sensed first and used as indicator information for motion assist).

[0145] Non-limitingly, the controller may comprise one or a combination of electric actuation and sensing, hydraulic actuation and sensing, pneumatic actuation and sensing, magnetic actuation and sensing (involving one or more of an electromagnet, ferromagnetic materials, a permanent magnet, and magnetic slurry), and sensing and / or actuation involving piezoelectric systems.

[0146] The system 200 may comprise a platform base 205 configured to provide additional support for the platform 100. In the example shown in Figure 12d, the platform base 205 is substantially spherical with its top cut to a planar engagement surface configured to contact a bottom contact surface of the platform 100, though another platform base may assume a different shape and still perform the function of providing support to the platform 100. Theplatform base 205 may be a passive support guide, or it may be a motorised base comprising motion transmission means configured to transmit motion generated from an actuator to the platform 100. The motion transmission means may be substantially similar to that of a motion driver 101.

[0147] Figures 17a show a further example motion system 9200 comprising a platform 9100, a plurality of motion drivers 9201, and a frame 9202.

[0148] Compared to the platform as shown in Figures 12a, 12b, 12c, and 12d, the platform 9100 comprises the core 2101 as opposed to the core 101 as depicted in Figures 2a, 2b, and 2c. The platform 9100, the motion drivers 9201, and the frame 9202 fulfill substantially similar functions to the platform 100, the motion drivers 201, and the frame 202. A significant difference between the motion system 9200 and the platform 9100 is the different configuration of the motion drivers relative to the platform owing to the difference in the form and structure of the cores employed. Motion drivers are generally referred to as motion drivers 9201 in Figure 17a. However, the motion drivers 9201 may be differentiated based on their location relative to the platform 9100: motion drivers positioned at least partially within the depression 2106 or directly underneath the platform 9100 are labelled 9111, and motion drivers positioned on the periphery of the platform 9100 are labelled 9113. Different configurations are explained in more detail below.

[0149] In one example, the plurality of motion drivers 9201 comprises one or more motion drivers 9111 provided at least partially within the depression 2106 at an angle relative to the plane of the base 2103. Non-limitingly, this configuration is illustrated in Figures 17b to 17f. Each motion driver 9111 comprises a plurality of wheeled drives 9203 for transmiting motion from an actuator (e.g. an electric motor) to the platform 9100. This may be achieved by directly engaging the platform or, as shown most clearly in Figure 17f, by an intermediary rolling element 9204 configured to couple motion of the wheeled drives 9203 to the platform 9100.

[0150] While not shown, the system 9200 may comprise a platform base provided underneath the base 2103 to engage the central rise 2105. The platform base for the system 9200 may be substantially similar to the platform base 205 for the system 200.

[0151] In one example, the plurality of motion drivers 9201 may comprise one or more motion drivers 9113 provided on the periphery of the core to engage a radially outward surface of the core 2101. Non-limitingly, this configuration is illustrated in Figures 17d, 17e, and 17f. Each motion driver 9113 comprises a plurality of wheeled drives 9203 for transmiting motion from an actuator (e.g. an electric motor) to the platform 9100. This may be achieved by directly engagingthe platform or by an intermediary rolling element 9204 configured to couple motion of the wheeled drives 9203 to the platform 9100. In another example, one or more of the motion drivers 9113 may be non-motorised i.e. with the motion driver comprising a rolling element 9204 but omiting any actuators.

[0152] In one example, the system 9200 may comprise one or more supports 2202 configured to engage the mesh 2104of the platform 9100 at the base 2103 of the core 2101. The structure and function of the supports 2202 is described under the Core subsection above. Figures 17c and 17e show examples where three supports 2202 are radially provided within the depression 2106, alternating with the motion drivers 9111. The supports 2202 and the motion drivers 9111 may be radially and substantially evenly spaced about the central rise 2105. In summary, Figures 17b to 17f show different options and positions for the provision of motion drivers 9201 and supports 2202. In the example of Figure 17b, the system 9200 comprises three motion drivers 9111, which are provided at least partially within the recess 2106. In the example of Figure 17c, the system 9200 comprises three motion drivers 9111 and three supports 2202, which are provided at least partially within the recess 2106. In the example of Figure 17d, the system 9200 comprises three motion drivers 9111, which are provided at least partially within the recess 2106, and three motion drivers 9113, which are provided on the periphery of the platform 9100. In the example of Figure 17e, the system 9200 comprises three motion drivers 9111 and three supports 2202, which are provided at least partially within the recess 2106, and three motion drivers 9113, which are provided on the periphery of the platform 9100. In the example of Figure 17f, the system 9200 comprises six motion drivers 9111, which are provided at least partially within the recess 2106, and six motion drivers 9113, which are provided on the periphery of the platform 9100. To avoid doubt, the examples shown in Figures 17b to 17f are not exhaustive and limiting. The examples are intended to highlight that the system 9200 may be configured differently based on different configurations of motion drivers and supports, including but not limited to the number of each component provided and their relative positioning.

[0153] In a first aspect, there is a platform comprising: a core; and a mesh configured to envelope the core in use, the mesh comprising a network of nodes interconnected by links; wherein the mesh is configured to move omnidirectionally relative to the core; wherein each node of the network of nodes comprises one or more convex sliding bearings configured to engage an outer surface of the core and reduce stiction and kinetic friction between the mesh and the core.

[0154] A second aspect can include the platform of the first aspect, wherein the links enable relative movement between the interconnected nodes in a three-dimensional space.

[0155] A third aspect can include the platform of the first aspect or the second aspect, wherein the one or more convex sliding bearings comprise one or more dimples.

[0156] A fourth aspect can include the platform of the third aspect, wherein the one or more dimples are substantially semi-spherical

[0157] A fifth aspect can include the platform of the third aspect, wherein the one or more dimples are substantially flat, disk-like structures.

[0158] A sixth aspect can include the platform of the first aspect or the second aspect, wherein the one or more convex sliding bearings comprise elongated ribs.

[0159] A seventh aspect can include the platform of any one of the first to sixth aspects, wherein the one or more convex sliding bearings comprise a substantially ring-like structure.

[0160] An eighth aspect can include the platform of any one of the first to seventh aspects, wherein the one or more convex sliding bearings comprise structures that are substantially planar and circular forms.

[0161] A ninth aspect can include the platform of any one of the first to eighth aspects, wherein the one or more convex sliding bearings comprise structures that are circular geometries.

[0162] A tenth aspect can include the platform of any one of the first to ninth aspects, wherein each node comprises convex sliding bearings that are radially and substantially evenly distributed.

[0163] An eleventh aspect can include the platform of any one of the first to tenth aspects, wherein a node of the network of nodes and its associated links are integrally connected.

[0164] A twelfth aspect can include the platform of any one of the first to tenth aspects, wherein a node of the network of nodes comprises a connector, and wherein the node and its associated links are connected by the connector.

[0165] A thirteenth aspect can include the platform of any one of the first to twelfth aspects, wherein the core is substantially an obloid comprising a flattened side.

[0166] A fourteenth aspect can include the platform of any one of the first to twelfth aspects, wherein the core is substantially frustoconical and comprises a relatively small top configured to support a user and a relatively large base configured to engage a support structure.

[0167] A fifteenth aspect can include the platform of the fourteenth aspect, wherein the top is substantially flattened.

[0168] A sixteenth aspect can include the platform of the fourteenth aspect or the fifteenth aspect, wherein the base comprises a central rise, a bowl-shaped depression that surrounds the central rise, and a rim that surrounds the bowl-shaped depression.

[0169] A seventeenth aspect can include the platform of any one of the fourteenth to sixteenth aspects, wherein the depression forms a continuous concave cavity configured to cradle a section of the mesh such that the section of the mesh substantially conforms to the external profile of the core.

[0170] An eighteenth aspect can include the platform of any one of the first to seventeenth aspects, wherein the mesh is flexible so as to conform to the core and maintain substantial envelopment of the core during movement relative to the core.

[0171] A nineteenth aspect can include the platform of any one of the first to eighteenth aspects, wherein the mesh comprises a skeletal 3D sphere-hedron framework following a geodesic pattern joining nodes with links.

[0172] A twentieth aspect can include the platform of any one of the first to eighteenth aspects, wherein the mesh comprises a skeletal 3D sphere-hedron framework following a polyhedral pattern joining nodes with links.

[0173] A twenty-first aspect can include the platform of any one of the first to eighteenth aspects, wherein the mesh comprises a skeletal framework joining nodes with links.

[0174] A twenty-second aspect can include the platform of any one of the first to twenty-first aspects, wherein one or more nodes comprise a substantially circular or elliptical disk body.

[0175] A twenty-third aspect can include the platform of any one of the first to twenty-second aspects, wherein one or more nodes comprise a substantially polygonal disk body.

[0176] A twenty-fourth aspect can include the platform of any one of the first to twenty-third aspects, wherein one or more links comprise a shaft and two or more bulbous heads, and wherein each associated node comprises a female connector for coupling the bulbous heads.

[0177] A twenty-fifth aspect can include the platform of any one of the first to twenty-fourth aspects, wherein one or more links comprise three or more shafts extending from a central junction with each shaft terminating in a bulbous head, and wherein each associated node comprises a female connector for coupling the bulbous heads.

[0178] A twenty-sixth aspect can include the platform of any one of the first to twenty-fifth aspects, wherein the links are primarily formed from an elastomer such as polyurethane, silicone, synthetic polymer, or a thermoplastic.

[0179] A twenty-seventh aspect can include the platform of any one of the first to twenty-sixth aspects, wherein the links are formed from cold cast polyurethane.

[0180] A twenty-eighth aspect can include the platform of any one of the first to twenty-seventh aspects, wherein the links are formed from acrylonitrile butadiene styrene.

[0181] A twenty-ninth aspect can include the platform of any one of the first to twenty-eighth aspects, wherein the nodes comprise an inwardly facing contact surface, the inwardly facing contact surface and the one or more convex sliding bearings being formed from fiberglass and / or a thermoplastic such as polyoxymethylene, polyamide / nylon 66, acrylonitrile butadiene styrene, and ultra-high molecular weight polyethylene.

[0182] A thirtieth aspect can include the platform of any one of the first to twenty-ninth aspects, wherein the core is formed from a thermoplastic such as polyoxymethylene, polyamide / nylon 66, acrylonitrile butadiene styrene, and ultra-high molecular weight polyethylene.

[0183] A thirty-first aspect can include the platform of any one of the first to thirtieth aspects, wherein the core is formed from a combination of one or more of closed-cell polymer foam, rigid cellular plastic foam, and synthetic thermoplastic foam.

[0184] A thirty-second aspect can include the platform of any one of the first to thirty-first aspects, wherein the core and the inwardly facing contact surface and the one or more convex sliding bearings of the nodes comprise a low friction coating.

[0185] A thirty-third aspect can include the platform of the thirty-second aspect, wherein the low friction coating is fiberglass coating.

[0186] A thirty-fourth aspect can include the platform of any one of the first to thirty-third aspects, wherein the one or more convex sliding bearings are configured to reduce friction between the mesh and the core by reducing contact surface area.

[0187] A thirty-fifth aspect can include the platform of any one of the first to thirty-fourth aspects, wherein the one or more convex sliding bearings are configured to reduce stiction between the mesh and the core by reducing contact surface area.

[0188] A thirty-sixth aspect can include the platform of any one of the first to thirty-fifth aspects, wherein the platform comprises a first engagement interface for engagement between the coreand the mesh and a second engagement interface for engagement between the mesh and a user, the first engagement interface having a lower coefficient of friction than the second engagement interface.

[0189] A thirty-seventh aspect can include the platform of any one of the first to thirty-sixth aspects, wherein the platform comprises a first engagement interface for engagement between the core and the mesh and a second engagement interface for engagement between the mesh and a user, the first engagement interface having a lower coefficient of sliding friction than the second engagement interface.

[0190] A thirty-eighth aspect can include the platform of any one of the first to thirty-seventh aspects, wherein the one or more convex sliding bearings are unbounded.

[0191] A thirty-ninth aspect can include the platform of any one of the first to thirty-eighth aspects, wherein the one or more convex sliding bearings comprise bearing projections.

[0192] A fortieth aspect can include the platform of any one of the first to thirty-ninth aspects, wherein each node of the network of nodes is individually configured to move omnidirectionally relative to the core.

[0193] In a forty-first aspect, there is a motion system comprising: a platform for supporting a user, the platform comprising one or more convex sliding bearings configured to reduce stiction and static friction; driving elements configured to omnidirectionally drive the platform; and a controller in communication with the driving elements and configured to control operation of the motion system.

[0194] A forty-second aspect can include the motion system of the forty-first aspect, further comprising intermediary rolling elements for coupling motion of the driving elements to the platform.

[0195] A forty-third aspect can include the motion system of the forty-first aspect or the forty- second aspect, wherein the controller comprises an immersive experience system comprising one or more of a virtual reality subsystem, an augmented reality subsystem, and a mixed reality subsystem.

[0196] A forty-fourth aspect can include the motion system of any one of the forty-first to forty- third aspects, wherein the motion system is a standalone treadmill.

[0197] In a forty-fifth aspect, there is a platform comprising: a core; and a mesh configured to envelope the core in use, the mesh comprising a network of nodes interconnected by links;wherein the mesh is configured to move omnidirectionally relative to the core; wherein each node of the network of nodes comprises one or more sliding bearings configured to engage an outer surface of the core and reduce stiction and kinetic friction between the mesh and the core.Interpretation

[0198] The term "comprises" and other grammatical forms is intended to have an inclusive meaning unless otherwise noted. That is, they should be taken to mean an inclusion of the listed components, and possibly of other non-specified components or elements.

[0199] While the present invention has been explained by the description of certain embodiments, the invention is not restricted to these embodiments. It is possible to modify these embodiments without departing from the spirit or scope of the invention.

Claims

AMENDED CLAIMS received by the International Bureau on 18 January 2026 (18.01.2026)1. A platform comprising: a core; and a mesh configured to envelope the core in use, the mesh comprising a network of nodes interconnected by links; wherein the mesh is configured to move omnidirectionally relative to the core; wherein each node of the network of nodes comprises one or more protruding convex sliding bearings extending from an inwardly facing end or contact surface of the node and configured to slidably engage an outer surface of the core to reduce friction by reducing contact surface area between the mesh and the core, thereby reducing stiction and kinetic friction between the mesh and the core.

2. The platform of claim 1, wherein the links enable relative movement between the interconnected nodes in a three-dimensional space.

3. The platform of claim 1, wherein the one or more convex sliding bearings comprise one or more dimples.

4. The platform of claim 3, wherein the one or more dimples are substantially semi-spherical.

5. The platform of claim 3, wherein the one or more dimples are substantially flat, disk-like structures.

6. The platform of claim 1, wherein the one or more convex sliding bearings comprise elongated ribs.

7. The platform of claim 1, wherein the one or more convex sliding bearings comprise a substantially ring-like structure.

8. The platform of claim 1, wherein the one or more convex sliding bearings comprise structures that are substantially planar and circular forms.

9. The platform of claim 1, wherein the one or more convex sliding bearings comprise structures that are circular geometries.

10. The platform of claim 1, wherein each node comprises convex sliding bearings that are radially and substantially evenly distributed.

11. The platform of claim 1, wherein a node of the network of nodes and its associated links are integrally connected.

12. The platform of claim 1, wherein a node of the network of nodes comprises a connector, and wherein the node and its associated links are connected by the connector.

13. The platform of claim 1, wherein the core is substantially an obloid comprising a flattened side.

14. The platform of claim 1, wherein the core is substantially frustoconical and comprises a relatively small top configured to support a user and a relatively large base configured to engage a support structure.

15. The platform of claim 14, wherein the top is substantially flattened.

16. The platform of claim 14, wherein the base comprises a central rise, a bowl-shaped depression that surrounds the central rise, and a rim that surrounds the bowl-shaped depression.

17. The platform of claim 14, wherein the depression forms a continuous concave cavity configured to cradle a section of the mesh such that the section of the mesh substantially conforms to the external profile of the core.

18. The platform of claim 1, wherein the mesh is flexible so as to conform to the core and maintain substantial envelopment of the core during movement relative to the core.

19. The platform of claim 1, wherein the mesh comprises a skeletal 3D sphere-hedron framework following a geodesic pattern joining nodes with links.

20. The platform of claim 1, wherein the mesh comprises a skeletal 3D sphere-hedron framework following a polyhedral pattern joining nodes with links.

21. The platform of claim 1, wherein the mesh comprises a skeletal framework joining nodes with links.

22. The platform of claim 1, wherein one or more nodes comprise a substantially circular or elliptical disk body.

23. The platform of claim 1, wherein one or more nodes comprise a substantially polygonal disk body.

24. The platform of claim 1, wherein one or more links comprise a shaft and two or more bulbous heads, and wherein each associated node comprises a female connector for coupling the bulbous heads.

25. The platform of claim 1, wherein one or more links comprise three or more shafts extending from a central junction with each shaft terminating in a bulbous head, and wherein each associated node comprises a female connector for coupling the bulbous heads.

26. The platform of claim 1, wherein the links are primarily formed from an elastomer such as polyurethane, silicone, synthetic polymer, or a thermoplastic.

27. The platform of claim 1, wherein the links are formed from cold cast polyurethane.

28. The platform of claim 1, wherein the links are formed from acrylonitrile butadiene styrene.

29. The platform of claim 1, wherein the nodes comprise an inwardly facing contact surface, the inwardly facing contact surface and the one or more convex sliding bearings being formed from fiberglass and / or a thermoplastic such as polyoxymethylene, polyamide / nylon 66, acrylonitrile butadiene styrene, and ultra-high molecular weight polyethylene.

30. The platform of claim 1, wherein the core is formed from a thermoplastic such as polyoxymethylene, polyamide / nylon 66, acrylonitrile butadiene styrene, and ultra-high molecular weight polyethylene.

31. The platform of claim 1, wherein the core is formed from a combination of one or more of closed-cell polymer foam, rigid cellular plastic foam, and synthetic thermoplastic foam.

32. The platform of claim 29, wherein the core and the inwardly facing contact surface and the one or more convex sliding bearings of the nodes comprise a low friction coating.

33. The platform of claim 32, wherein the low friction coating is fiberglass coating.

34. The platform of claim 1, wherein the one or more convex sliding bearings are configured to reduce friction between the mesh and the core by reducing contact surface area.

35. The platform of claim 1, wherein the one or more convex sliding bearings are configured to reduce stiction between the mesh and the core by reducing contact surface area.

36. The platform of claim 1, wherein the platform comprises a first engagement interface for engagement between the core and the mesh and a second engagement interface for engagement between the mesh and a user, the first engagement interface having a lower coefficient of friction than the second engagement interface.

37. The platform of claim 1, wherein the platform comprises a first engagement interface for engagement between the core and the mesh and a second engagement interface for engagement between the mesh and a user, the first engagement interface having a lower coefficient of sliding friction than the second engagement interface.

38. The platform of claim 1, wherein the one or more convex sliding bearings are unbounded.

39. The platform of claim 1, wherein the one or more convex sliding bearings comprise bearing projections.

40. The platform of claim 1, wherein each node of the network of nodes is individually configured to move omnidirectionally relative to the core.

41. A motion system comprising: the platform of claim 1 or claim 45 for supporting a user; driving elements configured to omnidirectionally drive the platform; and a controller in communication with the driving elements and configured to control operation of the motion system.

42. The motion system of claim 41, further comprising intermediary rolling elements configured to couple motion of the driving elements to the platform.

43. The motion system of claim 41, wherein the controller comprises an immersive experience system comprising one or more of a virtual reality subsystem, an augmented reality subsystem, and a mixed reality subsystem.

44. The motion system of claim 41, wherein the motion system is a standalone treadmill.

45. A platform comprising: a core; and a mesh configured to envelope the core in use, the mesh comprising a network of nodes interconnected by links; wherein the mesh is configured to move omnidirectionally relative to the core; wherein each node of the network of nodes comprises one or more protruding convex sliding bearings configured to engage an outer surface of the core and reduce stiction and kinetic friction by reducing contact surface area between the mesh and the core.

46. The platform of claim 1 or claim 45, wherein the convex sliding bearings are configured to slidably engage the outer surface of the core and to reduce friction by reducing contact surface area at the engagement interface between the mesh and the core.

47. The platform of claim 36, wherein the first engagement interface comprises the one or more convex sliding bearings extending from an inwardly facing contact surface of the nodes and configured to slidably engage the outer surface of the core to reduce at least one of stiction and kinetic friction by reducing contact surface area.

48. The platform of claim 37, wherein friction reduction at the first engagement interface is provided by sliding engagement between the convex sliding bearings and the outer surface of the core, the convex sliding bearings extending from an inwardly facing end or contact surface of the nodes.

49. The platform of claim 1, wherein the one or more convex sliding bearings are configured to maintain stable sliding engagement with the outer surface of the core under at least a portion of a user load during movement of the mesh relative to the core.

50. The platform of claim 45, wherein the one or more convex sliding bearings are configured to maintain stable sliding engagement with the outer surface of the core under at least a portion of a user load during movement of the mesh relative to the core.

51. A platform comprising: a core; and a mesh configured to envelope the core in use, the mesh comprising a network of nodes interconnected by links; wherein the mesh is configured to move omnidirectionally relative to the core; wherein each node of the network of nodes comprises one or more protruding convex sliding bearings extending from an inwardly facing end or contact surface of the node and configured to slidably engage the outer surface of the core to reduce at least one of stiction and kinetic friction; and wherein the platform comprises a first engagement interface between the core and the mesh and a second engagement interface between the mesh and a user, the first engagement interface having a lower coefficient of friction than the second engagement interface.

52. The platform of claim 51, wherein the first engagement interface has a lower coefficient of sliding friction than the second engagement interface.

53. The platform of claim 51, wherein the one or more convex sliding bearings comprise one or more dimples.

54. The platform of claim 53, wherein the one or more dimples are substantially semi-spherical.

55. The platform of claim 53, wherein the one or more dimples are substantially flat, disk-like structures.

56. The platform of claim 3, wherein the one or more dimples are arranged to minimise contact surface area between the mesh and the core.

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