阅读说明：本技术 马达驱动的全方位运动表面 (Motor driven all-directional motion surface ) 是由 尼尔.爱泼斯坦 D.卡梅因 B.弗里曼 于 2019-10-02 设计创作，主要内容包括：一种马达驱动的全向踩踏机,允许用户在任何方向行走、慢跑或跑步。当踩踏机与计算机生成的沉浸式环境相结合时,用户可以在360度的VR环境中自由行走。(A motor driven omni-directional treadmill allows a user to walk, jog or run in any direction. When the treadmill is combined with a computer-generated immersive environment, the user can walk freely in a 360 degree VR environment.)

1. An omnidirectional moving surface system includes a first plurality of ball-bearing; a spindle for positioning the ball-bearing such that the ball-bearing forms a ring around the spindle; a bladder for enclosing a plurality of ball-bearings; and (c).

2. The system of claim 1, further comprising an interface for connecting the capsule to a virtual reality device.

3. The system of claim 1, wherein the spindle has a top to support the weight of a user.

4. The system of claim 3, wherein the top of the mandrel is convex.

5. The system of claim 1, further comprising a base comprising a second plurality of ball bearings for holding said capsules.

6. The system of claim 1 further comprising a viscous substance surrounded by said capsule and in contact with said first plurality of ball-bearings.

7. The system of claim 1, further comprising a trackball contacting said capsule and serving as an interface between said capsule and said virtual reality device.

8. The system of claim 1, wherein the balloon is an elastomeric sphere.

9. The system of claim 1, wherein said capsule is comprised of a moneloprene (moneprene) material.

10. The system of claim 1, wherein the bladder is comprised of rubber.

11. The system of claim 6, wherein the viscous material is fluid silicon.

12. A system according to any preceding claim, comprising means for varying the height and inclination.

Disclosure of Invention

OmniPad is an all-directional treadmill that allows a user to walk, jog, or run in any direction. When OmniPad is combined with a computer-generated immersive environment, the user can walk freely in a 360-degree virtual reality environment.

OmniPad^TMThe virtual reality immersion type input device is an all-directional mobile input device and is specially used for a virtual reality immersion type environment. OmniPad^TMIs a major component of the OmniPad environment.

OmniPad is composed of many parts and subassemblies. This document provides a general description of OmniPad operations and components. Each of which describes one or more inventions that form the basis of a practical patent application.

Drawings

Fig. 1-a shows an isometric view of an omnidirectional tread unit in accordance with various embodiments of the present invention.

Fig. 1-B illustrates a cross-sectional view of a treadmill according to various embodiments of the present invention.

Fig. 1-C shows a detailed view of the cross-section of fig. 1-B, in accordance with various embodiments of the present invention.

FIG. 2 illustrates a playing surface according to various embodiments of the present invention.

FIG. 3 illustrates a bearing support system according to various embodiments of the present invention.

FIG. 4 illustrates a motor drive system according to various embodiments of the present invention. An optional motor drive system is configured to drive and/or assist the rotary tread surface.

FIG. 5 illustrates a smart tread design according to various embodiments of the present invention. Alternatively, by using a motorized polyhedral assembly of rotating treadle surfaces, the fabric of the treadle surfaces can be hardened or relaxed in real time in certain areas, rather than implementing a single skin treadle.

Fig. 6 illustrates a ferrous tread material according to various embodiments of the invention. Ferrous tread material is designed to be used as part of a magnetic levitation system that will levitate the entire spindle system, allowing the moving tread surface to rotate easily.

Fig. 7 illustrates the polarity of the ferrous tread material according to various embodiments of the present invention. The figure includes an exemplary illustration of the polarity configuration of a ferrous treadle surface in a magnetic levitation system.

Fig. 8 illustrates an alternative configuration of a ferrous tread material in accordance with various embodiments of the invention. A secondary application of ferrous treadles for magnetically reducing friction between the resilient treadles and the internal motion platform; which is also magnetized to the opposite polarity.

Figures 9-a and 9-B illustrate polyhedral configurations of tread element surfaces according to various embodiments of the present invention. A polyhedral assembly of the surface of the rotary tread (instead of implementing a single skin tread) is advantageous. The polyhedral treadle assembly optionally has holes made in each segment to reduce stress on the individual components and allow frictional heat to escape from the interior of the rotary treadle.

FIG. 10 illustrates a spring hinge according to various embodiments of the present invention. The illustration includes a spring hinge that allows flexion and extension between the polyhedral assembly as the segments move around the sides of the internal platform in motion.

11-A and 11-B illustrate a single skin and a multi-layered tread surface according to various embodiments of the present invention. Various embodiments include a single skin (single skin) revolving tread surface, wherein the single skin may be comprised of multiple layers to meet the anti-friction requirements of an interior tread while meeting the anti-slip requirements of an exterior tread that is subject to exercise. Fig. 11-B includes a partial close-up of the multi-layer single skin rotary tread material.

Fig. 12 illustrates a top view of a multi-layered treadle according to various embodiments of the present invention. The illustration includes a multi-layer single skin treadle wherein the inner layers need not be joined.

Fig. 13 illustrates airflow within a tread element according to various embodiments of the invention. Air suspension of the rotary treadle to reduce friction on internal moving surfaces; similar to a bellows or ice hockey table.

Fig. 14-a illustrates magnetic levitation of a treadle according to various embodiments of the present invention. Description of a magnetic suspension system; 1) the tread member material may have ferrous properties and the inner moving surface may have permanent or electromagnetic properties of opposite polarity, thereby lifting the elastomeric tread member from the inner surface to minimize friction; 2) the internal moving platform will emit magnetic forces and the opposite magnetic forces will seep out of the base of the apparatus, thereby lifting the whole spindle system by magnetic levitation, minimizing the friction on the rollers mounted below.

Fig. 14-B illustrates a detailed view of the tread element of fig. 14-a, in accordance with various embodiments of the present invention. The figure includes a partial close-up view of a magnetic tread and a mutually exclusive interior moving surface magnet.

FIG. 15 illustrates an internal motion surface according to various embodiments of the invention. The ball support member surrounds the inner running surface, allowing the ball-rotating treading member to move freely.

FIG. 16 shows a ball-bearing apparatus according to various embodiments of the present invention.

FIG. 17 illustrates an adapted ball-bearing apparatus according to various embodiments of the present invention.

FIG. 18 illustrates a bearing retainer assembly according to various embodiments of the present invention.

FIG. 19 illustrates a roller assembly including multiple motor drives according to various embodiments of the present invention.

FIG. 20 shows details of an alternative roller assembly according to various embodiments of the present invention.

FIG. 21 illustrates a magnetically suspended spindle according to various embodiments of the invention.

Figure 22 shows a cross-sectional view of a magnetic levitation system according to various embodiments of the present invention. The illustration includes a mandrel and a mandrel support system

FIGS. 23-A and 23-B illustrate alternative magnetic levitation systems according to various embodiments of the present invention.

Figure 23-B illustrates details and polar configurations of a mandrel and mandrel support system according to various embodiments of the present invention.

FIG. 24 illustrates a cross-sectional view of an alternative mandrel support system according to various embodiments of the present invention.

Fig. 25 and 26 show detailed views of a portion of fig. 24-a, in accordance with various embodiments of the present invention.

FIG. 27 illustrates an omni-wheel spindle support structure according to various embodiments of the present invention. In various embodiments, an omni-wheel spindle support structure; an omni-wheel assembly intermittently mounted on the base of the apparatus will support the spindle unit while allowing the treadle to freely rotate in any direction

FIG. 28 illustrates a segmented internal motion platform according to various embodiments of the invention. A segmented solid internal motion platform that expands uniformly outward in all directions in order to fit tightly inside the spherical rotary treadle; periodic adjustment of the initial assembly of the device and assembly of the swing pedals is useful. Each section may be extended by a hydraulic system that may be activated by remote control and powered by a wireless charging mechanism.

Fig. 29 illustrates an injection system according to various embodiments of the present invention. A substance is injected into a spherical sports tread that solidifies and is capable of forming a sports surface.

FIG. 30 illustrates an internal moving tread drive system according to various embodiments of the invention. xx internal motion pedal drive systems, in which the auxiliary or drive motor will be controlled wirelessly and powered by inductive charging.

FIG. 31 illustrates a cross-sectional view of a drive system according to various embodiments of the invention.

Figure 32 illustrates omni-wheel adaptation according to various embodiments of the invention. The adjustment of the omni-wheels, or mecanum wheels, is intermittently fixed around the fixed base of the device, similar to the support base, where the wheels simultaneously support the surface of the rotating circular treadle while still allowing the rotating treadle to move in any direction.

Fig. 33 shows a cross-sectional view of the system of fig. xx, in accordance with various embodiments of the invention.

Figure 34 illustrates an omni-directional motor according to various embodiments of the present invention. An example of an omni-directional motor, which would be part of a series of similar motors that make up a motor drive system. The omnidirectional motor is intermittently arranged around the equipment base and drives and/or assists the surface of the rotary treading piece to move; based on real-time data describing the user's location on the device and in the virtual environment.

Figure 35 illustrates the use of an omni-directional motor in a drive system according to various embodiments of the present invention.

Fig. xx illustrates a cross-sectional view of the system of fig. xx, in accordance with various embodiments of the present invention.

FIG. 37 illustrates a motor drive option according to various embodiments of the invention. An option for a motor-driven system, wherein two motors drive a ball, which in turn contacts the surface of a rotating treadle to assist and/or drive the rotation of the treadle. This option can be used in conjunction with the motor drive option described in fig. 6.4.

FIG. 38 illustrates a ball drive motor configuration according to various embodiments of the present invention.

FIG. 39 illustrates a view of an omnidirectional tread unit according to various embodiments of the present invention. A graphical representation of motion tracking system placement and configuration options that communicate the user's motion data to the VR environment and motor drive system (and to (8.2, 8.3) the tilt and change surface robotic platform) in real-time. This combination of systems would enable predictive artificial intelligence where the device would attempt to predict the user's motion based on biodynamic analysis and the motor drive system would respond by keeping the user centered on the circular motion surface. Other uses of predictive analysis and motion tracking include enhancing the user's interface with the virtual environment.

Figures 40 and 41 show various views of a tilting omnidirectional tread unit according to various embodiments of the present invention. xx side views show the uninstalled tilt robot platform option, which will respond in real time to the user's position in the VR environment, where when the user encounters a tilt in the VR environment, the platform and the moving surface will tilt up to any direction of the user's motion to simulate walking or climbing. The same is true for simulating backset in a VR environment. Side view of the variable surface platform option which can work with the tilt mechanism described in figure 8.2. This option will simulate the rise, rise and fall in the VR environment.

Detailed Description

Refer to FIGS. 1-A and 1-B and 1-C.

Tread-member the treadle will be made of a highly flexible and extremely durable rubber-like material, such as silicone, EPDM, or natural rubber, which can be driven by a person walking or running. The tread is made in such a way that it is an embodiment resembling a single sphere, which is then wound on a mandrel (spindle), completely surrounding the mandrel and the support (bearing). This material is flexible enough to be redirected 360 degrees around the mandrel.

Mandrel-walking platform the mandrel is about 200 mm thick and about 1-2 m in diameter. The top surface is designed to support a user during operation.

Rim support reduces friction when the tread (bladder) rotates around the mandrel. The support allows the bladder 360 degrees of freedom of movement.

Rolling frame (bobbin): see fig. 2. The roll cage assembly is a combination of tread (bladder), mandrel, edge support and lubrication as follows. The roller-shelf assembly allows the user to be in a virtual environment and move as they would in nature. The assembly is supported by a support bearing seat.

Support bearing block (see fig. 3). The bearing support system allows the roller frame assembly to move with little or no friction, as shown below. The system supports the roll cage during operation and transfers the load to the base system.

Motor drive system see figure 4. The motor drive system is used to assist the natural motion of the user and relay the motion gestures to the virtual environment, which will be updated in real time as shown below.

Tread member Material the tread member will be made of a highly flexible and extremely durable rubber-like material, such as silicone, EPDM, or natural rubber, which can be driven by a person walking or running. The tread element is made in such a way that it is an embodiment resembling a single sphere, which is then wound on the mandrel, completely surrounding the mandrel and the support element. This material is flexible enough to be redirected 360 degrees around the mandrel. The tread element will be manufactured in such a way that it is a continuous surface which is subsequently wound on the mandrel so as to completely surround the mandrel and the support.

The intelligent self-adaptive treading piece material changes the property of the material in real time when voltage, electric field, current or magnetic field is applied. When a voltage, current, or electric field is applied to a particular region of a surface, the material properties of that region change. For example, when an electric current or field is applied to the material, the material will become softer or harder only in localized areas. See fig. 5. Region 1 is a walking region, a driving or support region, a rigid region that limits material sliding or flexing. Region 2 is a flexible region.

Iron (ferrous) tread material rolling stand support see fig. 6 and 7. Currently, magnetic bearings are commonly used in industrial applications, such as turbomolecular pumps, and even magnetic levitation trains. The ferrous tread member material allows the omnidirectional moving surface to be magnetically polarized, thereby attracting or repelling magnetic or electromagnetic forces. This allows the treadles to magnetically levitate the roller assembly. In fig. 7, region 1 is a magnetically polarized treadle. Region 2 is the magnetic suspension support base.

Friction reduction referring to fig. 8, another use for the ferrous tread material is to hang away from the spindle, thereby reducing friction. By using the magnetic repulsion force and the elasticity of the tread itself, the tread will be separated from the spindle, providing a small gap, thereby reducing the friction between the spindle and the tread. In fig. 8, region 1 is the negatively charged outer surface; region 2 is the positively charged inner tread surface; region 3 is the positively charged outer mandrel surface.

Goldberg polyhedron (Goldberg polyhedra) tread material with reference to FIG. 9-A, another embodiment of the bladder comprises discrete segments. These segments are generally in the shape of hexagonal or pentagonal polyhedrons, connected at their edges to form a sphere.

The polygonal segments used in any Goldeberg polyhedron sphere will be made of a flexible material. A single polyhedral element needs to extend in any planar direction at least 150% of its original dimension in any direction. The class of materials that may accomplish this task are stretchable fabrics such as thermoplastic rubbers, or elastic fibers (spandex).

The Goldeberg configuration uses hexagons and pentagons. There are other geometries available, such as a parallelogram. These alternative structures are not Goldeberg polyhedrons.

Referring to fig. 9-B and 10, another modification of the goldberg section is the inclusion of a hole pattern. The inclusion of pores may allow the structure to stretch with lower material stress at the same strain. These patterns are composed of hexagons and pentagons, shaped like a soccer ball. The elastomeric shape stretches to fill the gap. The spring hinge pin allows bending on the hinge line.

Multiple layer tread referring to FIGS. 11-A and 11-B, multiple layer treads use thin layers of different tread materials, coatings, and textures to have specific properties on the different layers. The inner layer requires very low friction, such as a teflon (PTFE) coating, as it slides over the mandrel surface. The outer layer preferably needs to have a high friction or traction capability so that the user's foot surface and motor drive will be able to move the tread surface in any direction. The inner and outer surfaces of each layer may or may not be bonded together. When working with multiple layers, the multiple thin layers will create a stronger tread and will also contribute to the overall assembly of the entire rolling stand unit.

See fig. 12. In various embodiments, the layers may or may not be joined together, the layers may or may not have the same materials or material properties, and optionally, the inner layers need not be joined or sealed (zones 1-4 below). The outer layer may be selected based on friction with the user's foot or foot wear. The inner layer may be selected to reduce friction of the tread surface against movement of the support structure. The outer layer (e.g., layer 5) may have a greater coefficient of friction than the inner layer 1.

Friction reducing system the surface between the spindle and the treadle is a very high friction area. To alleviate these friction forces, we have devised different alternatives. Although the main method for solving the high friction is to makeWith a low-friction layer, e.g. Teflon^TM(or PTFE), but other solutions are possible.

Air bearing referring to fig. 13, the air bearing mandrel uses a concept similar to an air hockey table. Air hockey tables use small air jets to levitate the puck on the surface. The air bearing mandrel has a porous mandrel surface or air jets are used to separate the tread material from the mandrel surface. This will minimize or eliminate friction. The arrows in the lower figures represent the air flow that applies force to the treadles/bladders. This driving force causes the tread elements to expand away from the mandrel like a balloon, thereby reducing the friction between the two elements.

Magnetic levitation, by utilizing magnetically polarized treadle material and permanent magnets or electromagnets, the treadle material can be suspended above the mandrel surface such that contact of the treadle with the mandrel is minimized or eliminated, thereby reducing or eliminating friction.

See FIGS. 14-A and 14-B. Region 1 is a magnetically polarized treadle; region 2 is a permanent or electromagnetic mandrel; region 3 is the inductive power provided to the electric core axial mandrel; the outer surface of the treadle has a magnetic charge opposite to the inner surface 4. The region 5 is polarized differently from the mandrel on the inner surface of the tread element, so that the tread element is separated from the mandrel. This is to eliminate (or minimize) friction between the spindle and the treadle. The region 6 may be a permanent magnet or an electromagnet. The electromagnet may be powered by an inductive power coil (similar to wireless cell phone charging). The control of the electromagnet is done by wireless communication.

Dry or wet lubrication dry or wet lubricants are used to reduce friction between the tread and the spindle. These lubricants also serve to dissipate some of the heat energy generated by friction.

Ball Transfer Bearing referring to fig. 15 and 16, this is the most direct method of reducing edge friction as it transfers motion to the rolling contact of the Bearing. The ball, the rolling body or the rolling body + the outer ball accomplishes this task. On the top side, this can be achieved by using a bed of omnidirectional rolling elements (bed of omni-rollers) arranged as a surface. The size of the omnidirectional rolling elements needs to be small enough to form a surface with a large number of foot contact points, but large enough to use bearings of reasonable size.

See fig. 17, region 1 is an edge ball bearing; region 2 is a magnet embedded inside the edge support; region 3 is a magnet embedded within the ball drive base unit; zone 4 is an endless support.

Referring to fig. 18, region 1 is an edge ball support, similar to a roller ball drive unit, with a smaller ball support behind the main ball, in contact with the capsule (the treadle). Region 2 is a bearing holder (which may not be required). Area 3 is the mandrel.

Rolling element-ball-socket unit referring to fig. 19, the motion along the OmniPad periphery is continuously varied. The motion vector combines vertical and horizontal motion. This is the most straightforward way to provide a rotating surface for vertical motion. Horizontal movement along the sides requires rolling bodies that rely on low sliding friction or bearings for support.

From the cross-section of fig. 20 we can see the repeating support elements surrounding the active surface. In this example we see a central rolling body with a rolling ball. A closer examination shows that the rolling bodies are mounted on a central ball support, which efficiently transmits vertical bladder forces. The ball is mounted in a cup which is also mounted on the support.

When the units are stacked together around the periphery of OmniPad, each ball fits snugly into an adjacent socket. Furthermore, we see that each ball is supported by two sockets, each with its own bearing. The roller ball will rotate relatively freely and, due to the angle of installation, will cause some friction against the bearing cup. The independent segments allow for different varying motion vectors to maximize the motion supported by the support rather than maximizing the motion supported by friction. This type of repeating unit is driven from the outside of OmniPad.

See fig. 20. In order to maintain a reliable ball mounting and avoid interference of the roller segments, the above design employs straight roller segments and curved roller segments. This design can be driven internally or externally as before. The advantages are fewer parts, larger driving surface (for internal driving), and smaller stress of the capsule due to larger diameter of the rolling body.

In fig. 19, region 1 is the rolling body surface; region 2 is a ball bearing, allowing free movement between the rolling elements; zone 3 is an optional motor drive system; region 4 is the rolling element mounting bracket.

In fig. 20, region 4 is a ball bearing; region 5 is an outer ball rolling cup; zone 6 is the inner rolling body; region 7 is a bearing; zone 8 is an optional motor driven belt.

Treadle support system, see figure 3. The bearing support system allows the roller frame assembly to move with little or no friction. The system supports the roll cage during operation and transfers the load to the base system.

Magnetic levitation spindle currently, magnetic levitation bearings are commonly used in industrial applications such as turbomolecular pumps, and even magnetic levitation trains. Magnetic levitation supports take advantage of the technology used in other products to create a non-contact support system that uses permanent and/or electromagnets to magnetically levitate the rolling cage assembly without any physical contact. Referring to fig. 21, 22, 23-a and 23-B, magnetic bearing support eliminates any mechanical wear from contacting the bearing and eliminates friction. OmniPad uses permanent magnets inside the roller frame assembly and electromagnets in the bearing seats.

In fig. 23-a, region 1 is a permanent magnet embedded in the mandrel. Area 2 is a permanent magnet or an electromagnet. In fig. 23-B, region 1 is a magnetically polarized treadle. Region 2 is the magnetic suspension support base.

Ball drive bearing seat referring to fig. 24, 25 and 26, the ball bearings support the roll cage assembly with a thrust bearing (thrust bearing) to allow low friction to transfer loads. The lower figure shows how the ball bearing block is attached to the roller frame assembly under vertical and axial loads. At least 3 support seats are required and the lower figure shows 4 support seats. In these figures, region 1 is a ball drive configured to support axial and radial loads. The motor drive may be integrated into the ball drive.

Omni Wheel (Omni Wheel): see FIG. 27. Omni wheels of the standard (as shown) or Mecanum wheel (Mecanum wheel) type are used to support and stabilize the spindle assembly. To achieve full stability, at least three contact points are required, but six are depicted. The support nodes require wheel pairs (wheel pair), one for the bottom and one for the top. One or both of the wheels may be powered to control surface movement.

As with other drive mechanisms, the surface velocity vector at the point of rolling element contact determines the drive speed of the rolling element. Omni wheels are unique in that they can only be driven in a wheel plane orthogonal to the drive axis. All other movements are transmitted via the rolling bodies. The driving speed at a given point is achieved by slewing and driving only the motion vectors that the rolling elements can handle.

Referring to fig. 27, the system is supported by 3 to 8 pairs of support wheels at 45 degrees above and below the centerline. These support wheels can be used in series to drive the treadles.

Mandrel the mandrel provides a rigid surface for the user to manipulate while providing a support structure for the edge support. The mandrel has a thickness of about 200 mm and a diameter of about 1-2 meters. The top surface is designed to support a user during operation.

The difficulty in assembling roller frame assemblies in real world manufacturing has led us to develop ways to address this problem. To better understand this, we insert the disc (mandrel) into the treadle (or bladder) while stretching the bladder to a very high load to eliminate any wrinkles or bunching and to distribute the force evenly throughout the process.

Solid or segmented mandrel referring to fig. 28, the segmented mandrel is a rigid solid mandrel and is broken down into pieces that can be assembled into the bladder. Once assembled, the mandrel is expanded (manually or automatically) to the appropriate size and shape. In some embodiments, the original solid mandrel is broken down into smaller pieces to facilitate assembly of the mandrel into the balloon. An optional ratchet device is used to expand the mandrel after assembly inside the balloon.

Alignment feature

Fillable mandrel-the fillable mandrel (see figure 29 area 1) allows the mandrel to be inserted into a small opening in the balloon during assembly. The mandrel is then filled with a medium (gas or liquid) to rigidify the mandrel so that the load (support and user weight) is properly supported and managed. One of the main factors of such materials is the low coefficient of friction.

The driving system can drive the omnibearing trample by an internal or external motor. The drive system is essential to overcome the high friction forces experienced by the pedals. These motors are typically controlled by circuitry responsive to sensors that detect the motion of a user standing on the treadmill. The circuit is configured to keep the user centered on the treadmill as the user moves in different directions by walking or running, etc.

Internal drive see figure 30. This repeat unit places the drive sprocket in the center of the rolling bodies and internally lets the belt run. We see a recurring theme, composed of different parts. As previously mentioned, the ball is mounted on a socket that is free to rotate on itself. Another variation, not shown, is to connect all four central roller body segments into one and place the support member under the ball cup, as shown in the previous design. This variation will drive more edge surface but will have more vertical friction shear.

Referring to fig. 31, region 1 is a rolling surface; region 2 is a ball bearing, allowing free movement between the rolling elements; zone 3 is the motor drive system; region 4 is the rolling element mounting bracket. Referring to fig. 20-B, zone 4 is a ball bearing; region 5 is an outer ball rolling element cup; zone 6 is the inner rolling body; region 7 is a support; zone 8 is the motor driven belt.

Omni-wheel fig. 32 and 33 show six outer omni-wheels for driving a surface. The omnidirectional rolling body at the bottom is connected with a servo motor. Each omnidirectional rolling element drives only a motion vector tangential to the contact point. Due to the construction of the rolling bodies, movements transverse to the contact points can be transmitted. The top omnidirectional rolling elements are normally used to completely confine OmniPad in 3D space. Furthermore, the upper rolling elements can be used to increase the contact force of the driving rolling elements. Theoretically, only three driven rolling elements are required to handle all top surface motion vectors.

Drive wheels referring to fig. 35, a simple drive system may drive the treadles through a series of motors mounted beneath the roller frame assembly. See isometric view in fig. 36. These motors are mounted on a rotary table and can move in any direction. The lower figure shows a motor system with 4 synchronous motors to move the treadles while minimizing adverse effects on the top user surface. In fig. 34, a drive system with a simple motor and wheel on a rotatable table, area 1 is the motor and encoder for the main drive wheel; region 2 is a motor and encoder for table rotation; zone 3, the main drive wheel, for moving the tread element around the spindle; area 4 is the turntable; area 5 is the motor base.

Ball-drive system referring to fig. 37 and 38, the ball-drive system uses two motors to drive the balls supported by the underlying bearings. This allows the motor to drive the ball in any direction. The motor drive system may be built into the ball drive support housing or as a separate motor system in the center of the roller frame assembly.

Control system referring to fig. 39, the control system is designed to control the speed and direction of the surface of the treadle. It ensures a safe and entertaining experience for the user when using an all-round surface. The control system utilizes user motion feedback provided by the camera, force feedback provided by the harness, and feedback from the drive motor system. These different feedback systems provide verification and confirmation of the operation of the user and the OmniPad system.

Motion feedback referring to fig. 39, the OmniPad control system can determine the user's position, direction, and velocity using a camera or other sensor pointed at the user. When the user changes any or all of the above described motion characteristics, the motion feedback system responds and can predictively adjust the OmniPad tread surface accordingly. The motion feedback system may also identify the position of the user's body part, providing additional feedback to the virtual environment. By identifying the user's body position and velocity, the motion feedback system calculates the user's next step position and center of mass. This functionality will contribute to the overall effect of the immersive experience.

Motor feedback by monitoring the motor direction (forward or backward), speed (via motor encoder or stepping) and angle of attack (rotational direction relative to the ground), we can control the actual position and motion of the pedals. By monitoring the motor current and the encoder position, the system can monitor any system faults on the treadle (i.e., the treadle does not move when we expect it to move).

User force feedback sensors on the user harness, foot wear, and/or treadmills provide the acceleration, direction, and angular force that the user generates when operating OmniPad. These accelerations and forces are processed by the OmniPad pedals and converted into a response to change direction, or increase or decrease speed, as the pedals move.

Rotary table system

Walking or running on a flat ground is sufficient, but there are also inclinations and descents in the real world that can be replicated by the OmniPad system. Can simulate going up a hill, going down a hill or turning over a hill; or even be able to simulate movement over different types of surfaces, such as gravel, sand or mud, which would greatly enhance the virtual experience.

Tilting robot platform referring to fig. 40, the moving surface (coordination surface) can be braked to change the tilt or pitch of the tread surface by using a combination of linear actuators and sensors (load sensors, position indicators). By implementing a tilting robot or Stewart Platform (Stewart Platform), OmniPad can simulate a user moving up and down or across a slope in a virtual environment.

Varied surface simulation referring to fig. 41, the OmniPad control system can make small adjustments to the angle and height of the tread surface to simulate various surfaces, such as gravel, sand, or mud, through vision, hearing, and motion, when the user is immersed in the virtual world.

The OmniPad control system and immersive VR environment manipulate the sensory perception of the user to provide the sensation of walking or running on different types and densities of surfaces. The combination of the linear position indicators and the load sensors allows the control system to calculate the position of each user's foot. Thus, the precise and subtle changes needed to simulate different surface types are defined.