Implementing virtual stairs on treadmills using torso force feedback

Hayward, Rebecca; Hollerbach, John M.

doi:10.1109/robot.2002.1013422

Cited by 9 publications

(5 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In many of them, locomotion is restricted to a 1D motion on a linear treadmill, like in the Treadport platform [5] with possible slope inclusion [6]. The user is constrained by a harness to apply stabilizing forces and other virtual effects [7].…”

Section: Introductionmentioning

confidence: 99%

Motion Control of the CyberCarpet Platform

Luca

Mattone

Giordano

et al. 2013

IEEE Trans. Contr. Syst. Technol.

View full text Add to dashboard Cite

Abstract-The CyberCarpet is an actuated platform that allows unconstrained locomotion of a walking user for Virtual Reality exploration. The platform consists of a linear treadmill covered by a ball-array carpet and mounted on a turntable, and is equipped with two actuating devices for linear and angular motion. The main control objective is to keep the walker close to the platform center in the most natural way, counteracting his/her voluntary motion while satisfying perceptual constraints. The motion control problem for this platform is not trivial since the system kinematics is subject to a nonholonomic constraint. In the first part of the paper we describe the kinematic control design devised within the CyberWalk project, where the linear and angular platform velocities are used as input commands and feedback is based only on walker's position measurements obtained by an external visual tracking system. In particular, we present a globally stabilizing control scheme that combines a feedback and a feedforward action, based on a disturbance observer of the walker's intentional velocity. We also discuss possible extensions to acceleration-level control and the related assessment of dynamic issues affecting a walker during his/her motion. The second part of the paper is devoted to the actual implementation of the overall system. As a proof of concept of a final full-scale platform, the mechanical design and realization of a small-scale prototype of the CyberCarpet is presented, as well as the visual localization method used to obtain the human walker's position on the platform by an overhead camera. To validate the proposed motion control design, experimental results are reported and discussed for a series of motion tasks performed using a small tracked vehicle representative of a moving user.

show abstract

Section: Introductionmentioning

confidence: 99%

Motion Control of the CyberCarpet Platform

Luca

Mattone

Giordano

et al. 2013

IEEE Trans. Contr. Syst. Technol.

View full text Add to dashboard Cite

show abstract

“…However, they usually constrain the feet, the body, or the legs of the user. Moreover, locomotion is either restricted to a 1D motion on a linear treadmill, like in the Treadport platform [4] with possible slope effects [5], or is limited in space and speed, like in the case of the moving tiles of the CirculaFloor [6].…”

Section: Introductionmentioning

confidence: 99%

Control design and experimental evaluation of the 2D CyberWalk platform

Luca

Mattone

Giordano

et al. 2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

Abstract-The CyberWalk is a large size 2D omni-directional platform that allows unconstrained locomotion possibilities to a walking user for VR exploration. In this paper we present the motion control design for the platform, which has been developed within the homonymous European research project. The objective is to compensate the intentional motion of the user, so as to keep her/him always close to the platform center while limiting the perceptual effects due to actuation commands. The controller acts at the acceleration level, using suitable observers to estimate the unmeasurable intentional walker's velocity and acceleration. A moving reference position is used to limit the accelerations felt by the user in critical transients, e.g., when the walker suddenly stops motion. Experimental results are reported that show the benefit of designing separate control gains in the two orthogonal directions (lateral and sagittal) of a frame attached to the walker.

show abstract

“…exercise machine that provides resistance or assistance to the user to achieve some goal workout based on an "expert model" [46]. Hayward and Hollerbach used a harness around the torso of subjects walking on an inclined treadmill to simulate the feeling of walking on stairs [47]. Finally, Minetti et al developed a feedbackcontrolled treadmill that automatically adjusted its speed to the desired speed of the user [48].…”

Section: Introductionmentioning

confidence: 99%

Using Kinesthetic and Tactile Cues to Maintain Exercise Intensity

Ferber

Peshkin

Colgate

2009

IEEE Trans. Haptics

View full text Add to dashboard Cite

Haptic cues may be able to assist an individual who is engaged in a manual control task, freeing visual and auditory attention for other mental tasks. We describe an experiment in which subjects attempted to step at a consistent pace on a stair climber exercise machine which was modified for haptic cuing through the legs. Subjects' visual attention was engaged by a video game. Five different haptic cues for consistent pacing were investigated, two of them more kinesthetic in nature and three that were more tactile. Results showed that haptic cues could indeed improve the manual control task performance without diminishing the visual attention task performance. The tactile cues generally outperformed the kinesthetic ones.

show abstract

Implementing virtual stairs on treadmills using torso force feedback

Cited by 9 publications

References 15 publications

Motion Control of the CyberCarpet Platform

Motion Control of the CyberCarpet Platform

Control design and experimental evaluation of the 2D CyberWalk platform

Using Kinesthetic and Tactile Cues to Maintain Exercise Intensity

Contact Info

Product

Resources

About