Virtual reality exercise machine and computer controlled video system

An interactive computer controlled exercise system adapted to apply multiple forces with motion to the body of the user corresponding with the computer generated visual images of an environment presented on a display, said system comprising:

• a movable powered structure means having movable components connected to a fixed support frame means adapted to apply forces to the body of the user in conjunction with forces applied by the user to the movable components of said movable powered structure means, so as to provide health benefit to the user during exercise with said movable components of said movable powered structure means;
• means for sensing the force and position of said movable components of said movable powered structure means and forces applied thereto by the user and to provide the sensed signals to a computer means;
• means for detecting and measuring the position and orientation of the user's head and to provide the detected signals to said computer means;
• powered actuator means for altering the three dimensional configuration and motion of said movable powered structure means and for applying forces of variable magnitude and direction to the body of the user in conjunction with corresponding forces applied by the user to said movable components of said movable powered structure means;
• visual display means for presenting virtual images superimposed over the position of said movable powered structure means in real time maintained in visual perspective from the vantage point of the user when the user moves, said virtual images comprise a pictorial representation of a virtual environment with virtual objects oriented and movable relative to the user such that if real objects existed in place of said virtual environment, contract between said virtual objects and the user would apply forces to the user's body similar to the forces applied to the user's body by said movable components of said movable powered structure means;
• and
• said computer means, responsive to the sensed signals from said sensing means and the detected signals from said detecting means, for calculating said three dimensional configuration and motion of said movable powered structure means and forces applied thereto by the user and the position of the user's head in relation to said fixed support frame means, thereby to control said powered actuator means and said visual display means.