Omni-directional treadmill system

Author

Wang, Zheng ; Bauernfeind, Kurt ; Sugar, Thomas

Author_Institution

Mech. & Aerosp. Eng., Arizona State Univ., Tempe, AZ, USA

fYear

2003

fDate

22-23 March 2003

Firstpage

367

Lastpage

373

Abstract

Our problem definition for a locomotion haptic treadmill is a device that allows a user to walk normally in place in any direction by insuring that the reaction force that is felt remains consistent in all planar directions. A novel omni-directional treadmill is presented in this paper which focuses on modulating the compliance in the plane. Powered offset casters are used as the transmission system to adjust the compliance between the user and the treadmill. The control system is developed using a rapid embedded programming method. A large cloth material or board can be used as the walking surface for the treadmill. A prototype system has been constructed.

Keywords

force feedback; haptic interfaces; interactive devices; legged locomotion; motion control; virtual reality; locomotion haptic treadmill; omni-directional treadmill system; powered offset casters; prototype system; rapid embedded programming method; reaction force; virtual reality; walking surface; Aerospace engineering; Belts; Control systems; Haptic interfaces; Humans; Legged locomotion; Prototypes; Psychology; Rails; Virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings. 11th Symposium on

Print_ISBN

0-7695-1890-7

Type

conf

DOI

10.1109/HAPTIC.2003.1191314

Filename

1191314