Proxy Controller Suit with Central Tracking Unit for Drift Correction
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Solution Overview
Problem
Conventional controller suits for robot proxies experience sensor drift, leading to inaccurate tracking and transmission of operator movements, which is problematic in unrestricted environments and requires advanced programming and sensors for autonomous operation.
Innovation Solution
A proxy controller suit with a central tracking unit and multiple motion sensors attached to the operator's body, using a skeletal network to minimize sensor drift by referencing all motion sensors back to the central tracking unit, eliminating the need for Kalman filtering and providing accurate position and movement tracking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional controller suits use multiple independent motion sensors to track operator movements, then the tracking coverage is improved, but sensor drift occurs leading to inaccurate position transmission
Solution Approach 1:
The system divides the tracking function into two segments: a central tracking unit that provides absolute position reference and multiple motion sensors that track relative movements. This segmentation allows the central unit to correct drift in the motion sensors, maintaining accuracy while using multiple sensors for comprehensive tracking.
Solution Approach 2:
The central tracking unit acts as an intermediary between the motion sensors and the robot proxy. It receives data from motion sensors, corrects for drift using its own accurate position tracking, and transmits corrected position information to the robot, ensuring reliable control despite sensor imperfections.
2Extent of automation
If autonomous operation is implemented to eliminate sensor drift, then automation level is improved, but system complexity and programming requirements increase significantly
Solution Approach 1:
The controller suit provides its own drift correction service through the central tracking unit, which continuously monitors and corrects sensor drift without external intervention. This self-service approach eliminates the need for complex autonomous algorithms while maintaining tracking accuracy.
Solution Approach 2:
The system implements feedback by having the central tracking unit continuously provide position reference information back to the motion sensors. This feedback loop allows real-time drift correction without requiring autonomous decision-making or complex programming.
3Measurement precision
If more sensors are added to improve tracking accuracy, then measurement precision is improved, but the system becomes more complex and harder to calibrate
Solution Approach 1:
The system segments the sensing function so that the central tracking unit handles absolute position reference while motion sensors handle relative movement detection. This segmentation allows multiple motion sensors to be used for improved precision without proportionally increasing overall system complexity, as the central unit provides a unifying reference frame.
Data Source
AI summary
A proxy controller suit for enabling an operator to control an actual or virtual proxy in an actual or virtual remote space includes a central tracking unit that is configured to provide the position of the operator in a tracked space. The proxy controller suit includes a first motion sensor attached to a first location on a first appendage of the operator at a known first distance from the central tracking unit, wherein the movement of the first motion sensor is determined with reference to the first motion sensor. The proxy controller suit also includes a second motion sensor attached to a second location on the first appendage of the operator at a known distance from the first motion sensor, wherein the movement of the second motion sensor is determined as a function of the measurements made by the first motion sensor.