# US 11,908,089 B2 · Ambulation simulating apparatus

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- Number: US 11,908,089 B2
- Document ID: US11908089B2
- Status: Granted
- Kind: B2
- Application number: 17/618,527
- Filed: 2020-06-11
- Published: 2022-08-04
- Granted: 2024-02-20
- Earliest claimed: 2019-06-13
- Assignees: InerticX M.D.T LTD
- Applicants: InerticX M.D.T LTD
- Inventors: Gal Maliach; Roi Doitch
- Web page: https://patentgrep.com/patent/US11908089B2

## CPC

- G06T 19/006: {Mixed reality (object pose determination, tracking or camera calibration for mixed reality G06T7/00)}
- A63B 21/0059: {using a frequency controlled AC motor}
- A63B 21/4045: {Reciprocating movement along, in or on a guide (weights moving along or in guiding means A63B21/06; for cardio-training A63B22/201)}
- A63B 21/4049: {Rotational movement}
- A63B 22/203: {in a horizontal plane}
- A63B 23/03508: {For a single arm or leg, (A63B21/0726 takes precedence)}
- A63B 23/03516: {For both arms together or both legs together; Aspects related to the co-ordination between right and left side limbs of a user}
- A63B 71/0622: {Visual, audio or audio-visual systems for entertaining, instructing or motivating the user}
- A63F 13/211: using inertial sensors, e.g. accelerometers or gyroscopes
- A63F 13/212: using sensors worn by the player, e.g. for measuring heart beat or leg activity
- A63F 13/218: using pressure sensors, e.g. generating a signal proportional to the pressure applied by the player
- G06F 3/011: {Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00)}
- G06F 3/016: {Input arrangements with force or tactile feedback as computer generated output to the user}
- G06F 3/0334: {Foot operated pointing devices}
- G06F 3/0346: with detection of the device orientation or free movement in a three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
- A63B 2220/52: Weight, e.g. weight distribution
- G06F 2203/012: Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- A63B: APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT (apparatus for passive exercising, massage A61H)
- A63F: CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)

## Abstract

An ambulation simulating apparatus, including: a user feet interface comprising foot rests; a dynamic inertia mechanism configured to provide an inertial load when a downwardly force is applied due to the foot and a kinematic connection configured to enable transmission of motion from the feet interface to the dynamic inertia and backwards as the dynamic inertia mechanism resists said downwardly applied force by the foot.

## Claims

### Claim 1

An ambulation simulating apparatus, comprising:
a user feet interface;
a dynamic inertia mechanism; and
a kinematic connection configured to enable transmission of motion between the dynamic inertia mechanism and the user feet interface;
wherein the dynamic inertia mechanism is configured to:
in response to an active motion of a leg of a user on the user feet interface, rotate to store kinetic energy and provide an inertial load; and
via the kinematic connection and the user interface, release the stored kinetic energy associated with the inertial load to counteract accelerating or decelerating leg of the user during each phase of an ambulatory cycle to provide the user with a sensation of stability.

### Claim 2 (depends on 1)

The ambulation simulating apparatus of claim 1, comprising:
a first and a second independently movable foot rests, wherein each of the first and second foot rests is coupled to the dynamic inertia mechanism by a corresponding kinematic connection to provide an inertial load; and
a first and a second releasable coupling members couplable and decouplable with respect to the corresponding kinematic connection of the first and second foot rests, respectively;
wherein the first and second coupling members are set to a coupled position with respect to the corresponding kinematic connection when a downwardly directed foot applied force is transmitted thereto to enable transmission of motion to the dynamic inertia mechanism in response to leg motion, and are set to a decoupled position with respect to the corresponding kinematic connection when the downwardly directed foot applied force is released.

### Claim 3 (depends on 2)

The ambulation simulating apparatus according to claim 2, wherein the dynamic inertia mechanism is configured to at least one store kinematic energy and release the stored kinematic energy via the corresponding kinematic connection to a resting or decelerated foot rest of the first and second foot rests.

### Claim 4 (depends on 2)

The ambulation simulating apparatus according to claim 2, wherein the dynamic inertia mechanism is responsive to at least one of:
transversal motion of each of the first and second foot rests;
longitudinal foot rest motion of each of the first and second foot rests; and
yaw foot rest motion of each of the first and second foot rests.

### Claim 5 (depends on 2)

The ambulation simulating apparatus according to claim 2, wherein a measure of engagement of each of the first and second coupling members with corresponding kinematic connection of the first and second foot rests is defined by a pressure applied by corresponding foot of a user on corresponding foot rest of the first and second foot rests.

### Claim 6 (depends on 5)

The ambulation simulating apparatus according to claim 5, wherein each of the first and second foot rests comprises a pressure sensor configured to measure a pressure applied by the corresponding foot on the corresponding foot rest of the first and second foot rests, and wherein ambulation simulating apparatus comprises a processor configured to:
receive readings from the pressure sensor of each of the first and second foot rests;
determine the measure of engagement of each of the first and second coupling members with the corresponding kinematic connection of the first and second foot rests based on the readings of the corresponding pressure sensor; and
control the first and second coupling members to engage with the corresponding coupling member of the first and second coupling members according the corresponding determined measure of engagement.

### Claim 7 (depends on 2)

The ambulation simulating apparatus according to claim 2, further comprising at least one position sensor and at least one pressure sensor which are provided with each of the first and second foot rests, and a processor configured to receive and process a position indicating signal from each of the position sensors and a force indicating signal from each of the pressure sensors to determine characteristics of associated real-time leg motion.

### Claim 8 (depends on 7)

The ambulation simulating apparatus according to claim 7, further comprising an immersed reality generating apparatus which is configured to generate images representative of an immersed reality environment that correspond to a real-time position of first and second legs of the user engaged with the first and second foot rests, respectively.

### Claim 9 (depends on 1)

The ambulation simulating apparatus according to claim 1, wherein the dynamic inertia mechanism is reconfigurable in order to define a mechanism-specific moment of inertia.

### Claim 10 (depends on 1)

The ambulation simulating apparatus according to claim 1, wherein each of the first and second foot rests comprises a vertically displaceable plate with which a corresponding foot is engageable throughout an ambulatory cycle.

### Claim 11 (depends on 1)

The ambulation simulating apparatus according to claim 1, comprising a feet tracking and foot rests moving mechanism and a processor, and wherein:
the feet tracking and foot rests moving mechanism comprises:
a first and a second motor assemblies configured to move the first and the second foot rests, respectively, in at least one of a longitudinal direction, a transverse direction in a foot rests plane and about a yaw axis of the respective foot rest;
feet tracking sensors configured to track movement of the feet of the user and to generate feet motion data indicative of the feet movement thereof; and
the processor is configured to:
detect, based on the feet motion data, that at least one foot of the user is not in contact with the respective at least one foot rest of the first and second foot rests;
couple at least one coupling member of the first and second coupling members corresponding to the at least one foot rest with corresponding at least one motor assembly of the first and second motor assemblies;
control the at least one motor assembly to move the respective at least one foot rest based on the feet motion data;
detect, based on the feet motion data, that the at least one foot rest is in contact with the respective at least one foot rest; and
decouple the at least one motor assembly from the respective at least one foot rest.

### Claim 12 (depends on 1)

The ambulation simulating apparatus according to claim 1, comprising a backrest configured to constrain at least one of longitudinal, transversal and rotational movement of the user, the backrest is adjustable according to a height of the user and is configured to move in at least one of longitudinal, vertical, transversal, yaw, pitch and roll directions relative to a floor surface.

### Claim 13 (depends on 1)

The ambulation simulating apparatus of claim 1, wherein the dynamic inertia mechanism comprises:
a rotatable shaft;
two oppositely directed bars connected to the rotatable shaft; and
two weights, each of the two weights being connected to one of the two bars.

### Claim 14 (depends on 13)

The ambulation simulating apparatus of claim 13, wherein at least one of a mass of the two weights, a distance of the two weights from the rotatable shaft, a rotational speed of the rotatable shaft and a rotational speed of the two weights is defined to provide the inertial load.

### Claim 15 (depends on 1)

The ambulation simulating apparatus of claim 1, wherein a moment of inertia of the dynamic inertia mechanism is set such that the inertial load associated with the stored kinetic energy is equal to a foot applied force resulting from an actual moving body of the user.

### Claim 16

A foot powered immersed reality system, comprising:
an ambulation simulating apparatus, comprising:
a user feet interface;
a dynamic inertia mechanism; and
a kinematic connection configured to enable transmission of motion between the dynamic inertia mechanism and the user feet interface;
wherein the dynamic inertia mechanism is configured to:
in response to an active motion of a leg of a user on the user feet interface, rotate to store kinetic energy and provide an inertial load; and
via the kinematic connection and the user interface, release the stored kinetic energy associated with the inertial load to counteract accelerating or decelerating leg of the user during each phase of an ambulatory cycle to provide the user with a sensation of stability;
at least one position sensor and at least one pressure sensor which are provided for each of a first and a second foots of the user; and
a processor configured to:
receive and process a position indicating signal from each of the position sensors and a force indicating signal from each of the pressure sensors to determine characteristics of associated real-time leg motion; and
generate images representative of an immersed reality environment that correspond to a real-time position of the first and second foots of the user.

### Claim 17 (depends on 16)

The foot powered immersed reality system according to claim 16, wherein the ambulation simulating apparatus comprises:
a first and a second independently movable foot rests, wherein each of the first and second foot rests is coupled to the dynamic inertia mechanism by a corresponding kinematic connection to provide an inertial load; and
a first and a second releasable coupling members couplable and decouplable with respect to the corresponding kinematic connection of the first and second foot rests, respectively;
wherein the first and second coupling members are set to a coupled position with respect to the corresponding kinematic connection when a downwardly directed foot applied force is transmitted thereto to enable transmission of motion to the dynamic inertia mechanism in response to leg motion, and are set to a decoupled position with respect to the corresponding kinematic connection when the downwardly directed foot applied force is released.

### Claim 18 (depends on 17)

The foot powered immersed reality system according to claim 17, wherein the dynamic inertia mechanism is configured to at least one store kinematic energy and release the stored kinematic energy via the corresponding kinematic connection to a resting or decelerated foot rest of the first and second foot rests.

### Claim 19 (depends on 17)

The foot powered immersed reality system according to claim 17, wherein the dynamic inertia mechanism is responsive to at least one of:
transversal motion of each of the first and second foot rests;
longitudinal foot rest motion of each of the first and second foot rests; and
yaw foot rest motion of each of the first and second foot rests.

### Claim 20 (depends on 17)

The foot powered immersed reality system according to claim 17, wherein each of the first and second foot rests comprises a vertically displaceable plate with which a corresponding foot is engageable throughout an ambulatory cycle.

### Claim 21 (depends on 17)

The foot powered immersed reality system according to claim 17, wherein the ambulation simulating apparatus comprising a feet tracking and foot rests moving mechanism, the feet tracking and foot rests moving mechanism comprises:
a first and a second motor assemblies configured to move the first and the second foot rests, respectively, in at least one of a longitudinal direction, a transverse direction in a foot rests plane and about a yaw axis of the respective foot rest;
feet tracking sensors configured to track movement of the feet of the user and to generate feet motion data indicative of the feet movement thereof; and
wherein the processor is configured to:
detect, based on the feet motion data, that at least one foot of the user is not in contact with the respective at least one foot rest of the first and second foot rests;
couple at least one coupling member of the first and second coupling members corresponding to the at least one foot rest with corresponding at least one motor assembly of the first and second motor assemblies;
control the at least one motor assembly to move the respective at least one foot rest based on the feet motion data;
detect, based on the feet motion data, that the at least one foot rest is in contact with the respective at least one foot rest; and
decouple the at least one motor assembly from the respective at least one foot rest.

### Claim 22 (depends on 17)

The foot powered immersed reality system according to claim 17, wherein a measure of engagement of each of the first and second coupling members with corresponding kinematic connection of the first and second foot rests is defined by a pressure applied by corresponding foot of a user on corresponding foot rest of the first and second foot rests.

### Claim 23 (depends on 22)

The foot powered immersed reality system according to claim 22, wherein each of the first and second foot rests comprises a pressure sensor configured to measure a pressure applied by the corresponding foot on the corresponding foot rest of the first and second foot rests, and wherein the processor configured to:
receive readings from the pressure sensor of each of the first and second foot rests;
determine the measure of engagement of each of the first and second coupling members with the corresponding kinematic connection of the first and second foot rests based on the readings of the corresponding pressure sensor; and
control the first and second coupling members to engage with the corresponding coupling member of the first and second coupling members according the corresponding determined measure of engagement.

### Claim 24 (depends on 16)

The foot powered immersed reality system according to claim 16, wherein the dynamic inertia mechanism is reconfigurable in order to define a mechanism-specific moment of inertia.

### Claim 25 (depends on 16)

The foot powered immersed reality system according to claim 16, wherein the ambulation simulating apparatus comprises a backrest configured to constrain at least one of longitudinal, transversal and rotational movement of the user, the backrest is adjustable according to a height of the user and is configured to move in at least one of longitudinal, vertical, transversal, yaw, pitch and roll directions relative to a floor surface.