Locomotion Interfaces

Types of Motion Interfaces

Features of Motion Interfaces

Proposed Applications

Types of Locomotion Interfaces

Slide 6

Room-Size Environments

Room Instrumentation

Slide 9

Programmable Foot Platforms

Linear Treadmill Devices

Planar Treadmill Devices

Slide 13

Treadport II Specifications

Locomotion Display Issues

Active Mechanical Tether Uses

Unilateral Constraints

Linear Motion Display

Missing Inertial Force

Inertial Force Feedback

Evaluation of Tether Force Strategies

Treadport Tilt Capability

Slope Display

Slope Walking

Gravity Feedback

Slide 26

Psychological Slope Experiments

Slide 28

Biomechanical Measurements

Hip-Knee Cyclograms during Slope Walking

Hip-Knee Cyclograms with Tether Force

Properties during Slope Walking

Tether Force Walking

Derived Force versus Slope

Force/slope normalized by mass

Tether Force Realistically Simulates Slope

Partial Force Preference

Belt Motor Sizing

Tether Force Requirements

Running model:  x = (v /k) (exp(-kt) + kt - 1)
(Hill’s equation)

Simulation of Required Tether Force

Harness Version 1

Harness Design Issues

Harness Version 2

Harness Version 3

Visual Display

CAVE Layout

System Safety

System Safety (cont)

What are the Design Tradeoffs?

The Next Steps

Possible Future Steps