Harness Design and Coupling Stiffness for Two-Axis Torso Haptics

Grow, David; Hollerbacht, J.M.

doi:10.1109/haptic.2006.1627067

Cited by 8 publications

(3 citation statements)

References 10 publications

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“…The Treadport (Fig. 1A) comprises a large tilting treadmill ( [1,2]), a CAVE-like [3] visual display providing a 180º frontal view, a rehabilitation harness worn by the user with vertical support forces [4] , and an active mechanical tether attached to the harness to apply horizontal forces for simulating tilt [1,4] or missing inertial forces [5]. A recirculating-type steerable wind tunnel has been designed around the preexisting Treadport installation (Fig.…”

Section: Introductionmentioning

confidence: 99%

A Full Body Steerable Wind Display for a Locomotion Interface

Kulkarni

Fisher

Lefler³

et al. 2015

IEEE Trans. Visual. Comput. Graphics

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This paper presents the Treadport Active Wind Tunnel (TPAWT)-a full-body immersive virtual environment for the Treadport locomotion interface designed for generating wind on a user from any frontal direction at speeds up to 20 kph. The goal is to simulate the experience of realistic wind while walking in an outdoor virtual environment. A recirculating-type wind tunnel was created around the pre-existing Treadport installation by adding a large fan, ducting, and enclosure walls. Two sheets of air in a non-intrusive design flow along the side screens of the back-projection CAVE-like visual display, where they impinge and mix at the front screen to redirect towards the user in a full-body cross-section. By varying the flow conditions of the air sheets, the direction and speed of wind at the user are controlled. Design challenges to fit the wind tunnel in the pre-existing facility, and to manage turbulence to achieve stable and steerable flow, were overcome. The controller performance for wind speed and direction is demonstrated experimentally.

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Section: Introductionmentioning

confidence: 99%

A Full Body Steerable Wind Display for a Locomotion Interface

Kulkarni

Fisher

Lefler³

et al. 2015

IEEE Trans. Visual. Comput. Graphics

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“…(1) a large belt (10.0 × 6.0 feet); (2) a six-axis mechanical tether, attached to the back of a user by a safety harness, which is used to measure body position and orientation to control belt speed and apply horizontal kinesthetic force feedback to the user as seen in Hejrati et al (2015); Hollerbach et al (2001); and (3) a sixdegree-of-freedom mechanism-based harness with a telescoping spine to accommodate the complex motion of the user's back without slipping as presented by Grow and Hollerbach (2006).…”

Section: Methods Experimental Setupmentioning

confidence: 99%

The Treadport: Natural Gait on a Treadmill

2019

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Objective: To evaluate the differences between walking on an advanced robotic locomotion interface called the Treadport and walking overground with healthy subjects. Background: Previous studies have compared treadmill-based and overground walking in terms of gait parameters. The Treadport’s unique features including self-selected speed capability, large belt, kinesthetic force feedback, and virtual reality environment distinguish it from other locomotion interfaces and could provide a natural walking experience for the users. Method: Young, healthy subjects ( N = 17) walked 10 meters 10 times each for both overground and the Treadport environments. Comparison between walking conditions used spatiotemporal and kinematic parameters. In addition, electromyographic data was collected for five of the 17 subjects to compare muscle activity between the two conditions. Results: Gait on the Treadport was found to have no significant differences ( p > .05) with overground walking in terms of hip and knee joint angles, cadence and stride length and stride speed, and muscle activation of the four muscle groups measured. Differences ( p < .05) were observed in ankle dorsiflexion which was reduced by 2.47 ± 0.01 degrees on the Treadport. Conclusion: Walking overground and on the Treadport is highly correlated and not significantly different in 13 of 14 parameters. Application: This study suggests that the Treadport creates an environment for natural walking experience, where natural gait of users is almost preserved, with great potential to be useful for other applications, such as gait rehabilitation of individuals with walking impairments.

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“…The TPAWT aims to improve the sense of immersion [1] created by the existing TreadPort Virtual Environment [2], Figure 1, by adding wind, olfactory, and radiant heat display. The existing TreadPort provides a rich CAVE-like visual interface [3] and accurate locomotion forces as a user walks through a virtual environment [2,4,5]. The TPAWT modifies this system by turning it into a controllable wind tunnel (the first of its kind) in order to regulate wind velocity (speed and orientation) acting on the user.…”

Section: Introductionmentioning

confidence: 99%

Wind display device for locomotion interface in a virtual environment

Kulkarni

Fisher

Pardyjak

et al. 2009

World Haptics 2009 - Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoper

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This paper describes development of a wind display system for the TreadPort virtual environment locomotion interface, which is cumulatively known as the TreadPort Active Wind Tunnel (TPAWT).Computational Fluid Dynamic simulations and experiments with a scaled model test-bed of the system has resulted in a combination of passive and active controls capable of controlling wind speed and angle acting on a user in the environment. Development of the full scale TPAWT system is then described, which requires consideration of system geometry, integration, packaging, wind loads, and instrumentation.

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Harness Design and Coupling Stiffness for Two-Axis Torso Haptics

Cited by 8 publications

References 10 publications

A Full Body Steerable Wind Display for a Locomotion Interface

A Full Body Steerable Wind Display for a Locomotion Interface

The Treadport: Natural Gait on a Treadmill

Wind display device for locomotion interface in a virtual environment

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