Proxy controller suit with optional dual range kinematics

A proxy controller suit for enabling an operator to control an actual or virtual proxy within an actual or virtual remote space, the proxy controller suit comprising:

• a central tracking unit located on the operator's torso, wherein the central tracking unit is configured to provide the position of the operator in a tracked space;
• a plurality of sensor clusters, wherein each of the plurality of sensor clusters corresponds to an appendage or portion of the operator's body, and wherein each of the sensor clusters comprises a plurality of motion sensors;
• and
• wherein the movement of each of the plurality of motion sensors is determined as a function of the measurements of movement made by other motion sensors in the applicable sensor cluster and with reference to the position of the central tracking unit.

A proxy controller suit for enabling an operator to control a robot proxy in a remote space, the proxy controller suit comprising:

• a central tracking unit located on the operator's torso, wherein the central tracking unit is configured to provide the position of the operator in a tracked space;
• a plurality of sensor clusters, wherein each of the plurality of sensor clusters corresponds to an appendage or portion of the operator's body, and wherein each of the sensor clusters comprises a plurality of motion sensors;
• a suit controller that translates output from the plurality of sensors into command signals delivered to the proxy, wherein the suit controller is configured to shift between a conventional kinematic model and an inverse kinematic model;
• and
• a proxy controller that is configured to accept the command signals from the suit controller and apply those command signals to the proxy.