System and method of robotic virtual reality footwear

{
  "publication_number": "US2022083129A1",
  "country": "US",
  "kind": "A1",
  "title": "System and method of robotic virtual reality footwear",
  "abstract": "A system, method and device for a robotic boot for wireless control in a virtual reality system. The robotic boot includes a power electronics module, controller, radio, and trackers. The robotic boot has a front drive module and a rear drive module; a boot chassis and a battery. The boot controller controls velocity and position based on virtual reality tracking data to maintain the user inside a predetermined operating space while the user is wearing the robotic boot. The method includes measuring pose data; determining if the user is outside of an area, and calculating an intended velocity of the user; calculating a motion command in response to the measured pose data and the total desired motion, and controlling drive module motors to move the user in virtual reality with the intended velocity.",
  "claims": [
    "1. A method for controlling a pair of robotic boots worn by a user in a virtual reality system, comprising: measuring a pose data of the user and the pair of robotic boots; determining if the user is outside of an exit area, and in response to determining that the user is outside of the exit area: calculating an intended velocity of the user; calculating a motion of the boots to counteract the intended velocity of the user; calculating the motion of the boots to move the user into the entry area; calculating a total desired motion of the pair of robotic boots; calculating a motion command in response to the measured pose data and the total desired motion; sending a boot motion command to the pair of robotic boots; calculating a drive module motion commands from boot motion commands and a drive module data; sending the drive module motion commands to a drive module; controlling a plurality of drive module motors in response to the drive module motion commands; and moving the user in virtual reality with the intended velocity. 2. The method of claim 1, further comprising: determining if the user requested a system stop command; and transmitting a signal to the user that the system is ramping to a stop state in response to a user requested system stop command. 3. The method of claim 2, further comprising: in response to not determining a system stop command request, detecting if a stop Condition is detected; and in response to detecting a stop condition, transmitting a signal to the User that the system is ramping to a stop state. 4. The method of claim 3, further comprising determining if the User is positioned in an entry area; and in response to determining that the user is positioned in the entry area, transmitting a command signal to the pair of robotic boots to apply brakes. 5. The method of claim 4, further comprising returning to the step of measuring pose data. 6. The method of claim 1, further comprising: starting from an idle state, actively braking the pair of boots; requesting a start signal; determining if the VR system is ready; and in response to determining that the system is ready transmitting a signal to the user that the system is ready; and initializing the system parameters. 7. The method of claim 1, further comprising: commanding the system to apply a braking signal to the pair of robotic boots in response to determining that the user is standing still in the entry area; and returning to the step of measuring the pose data. 8. The method of claim 1, further comprising: in response to measuring the pose data and determining that the user is inside the exit area before the boots have been commanded to move, commanding the system to apply a braking signal to the pair of robotic boots. 9. The method of claim 1, further comprising: in response to transmitting a signal to the User that the system is ramping to a stop state: ramping the system to a stopped state; and transmitting a braking signal to the pair of robotic boots. 10. The method of claim 1, wherein the step of measuring the pose data is based on a virtual reality tracking data. 11. A robotic boot for wireless control in a virtual reality system, comprising: a power electronics module, a boot controller, a radio, and at least one tracker; the boot controller in data communication with the power electronics module and the radio; a front drive module and a rear drive module; a boot chassis and a battery; wherein the boot controller is programmed to control a velocity and a position of the robotic boot based on a virtual reality tracking data; and maintain a user inside a predetermined operating space while the user is wearing the robotic boot. 12. The robotic boot of claim 11, wherein the boot chassis comprises a front part and a rear part; the front part comprising an upper front portion and a lower front portion; and the rear part comprising an upper rear portion and a lower rear portion; a front portion positioning system, a rear portion positioning system; and a size adjustable mechanism for adjusting a length of the boot chassis. 13. The robotic boot of claim 12, wherein the drive module comprises a top portion, a middle portion, and a bottom portion; at least one of the middle and the top portion comprising a motive means of rotational motion when the drive module is not in contact with the ground; and at least one of the bottom and middle portion comprising a motive means for translation and rotation when the drive module is in contact with the ground. 14. The robotic boot of claim 11, wherein the controller is further configured to determine whether the user is outside of the exit area and commanding the robotic boot to align in the desired direction of motion. 15. The robotic boot of claim 14, wherein the controller is further configured to determine if the user has returned into the entry area and commanding the robotic boot to brake. 16. The robotic boot of claim 15, wherein the controller is further configured to determine if the drive modules are aligned with a second robotic boot in the desired direction of motion, and in response to determining that the robotic boot and the second robotic boot are aligned, ramping both of the boots to a predetermined velocity. 17. The robotic boot of claim 16, wherein the controller is further configured to control the robotic boot and the second robotic boot with a specific maximum acceleration. 18. The robotic boot of claim 17, wherein the controller is further configured to determine if the user is standing still inside the entry area and transmit a signal to the robotic boots to ramp to a stop. 19. A system for controlling movement of a user via a pair of robotic boots, the system comprising: a virtual reality system in data communication with a computing device and a pair of robotic boots; a base station in data communication with the computing device and with the pair of robotic boots; measure a pose data of the user and the pair of robotic boots; and a processor configured to: determine if the user is outside of an exit area, and in response to the user being outside of the exit area: calculate an intended velocity of the user; calculate a motion of the boots to counteract the intended velocity of the user; calculate the motion of the boots to move the user into the entry area; calculate a total desired motion of the pair of robotic boots; calculate a motion command in response to the measured pose data and the total desired motion; send a boot motion command to the pair of robotic boots; calculate a drive module motion commands from boot motion commands and a drive module data; send the drive module motion commands to a drive module; control a plurality of drive module motors in response to the drive module motion commands; and move the user in virtual reality with the intended velocity. 20. The system of claim 19, further comprising: a tracking harness, the tracking harness adapted to be worn by the user; the tracking harness in wireless communication with the VR System and configured to provide the user pose data to constrain the user location within a VR workspace; and wherein the base station being configured to receive data from the computing device, and communicate commands to the robotic boots, receive data from the robotic boots, and communicate VR motion commands to the computing device."
  ],
  "description_excerpt": "Continuity of virtual reality (VR) experiences and the associated immersion is limited by the physically available space, or VR workspace, which tends to be around 10 feet by 10 feet. The most immersive experiences do not require the user to virtually move outside of the VR workspace, but this necessarily limits the size of the explorable virtual environment. The most common current software-based VR locomotion technique is teleportation, where the user points at a virtual location and upon confirmation is instantaneously virtually moved to this new location. While this technique is unlikely to cause motion sickness, it is not intuitive and can be very disorienting, substantially decreasing immersion at each activation.\n\nThe next most common current software-based VR locomotion technique is smooth locomotion, where the user virtually glides in a direction and at a speed that they indicate. This locomotion technique is fairly intuitive, but has a very high incidence of motion sickness for users. Many variations of this technique include walking in place and arm swinging.\n\nIf a large physical space like a gymnasium or warehouse is available, one current technique is to expand the VR workspace, but this incurs additional costs for tracking hardware, computing hardware, and the space itself. In addition, the physical space limitation, and associated discontinuities, still exist, they're just encountered with a lower frequency.",
  "cpc": [
    "G06F 3/011",
    "A43B 3/34",
    "A63F 13/211",
    "A63F 13/212",
    "A63F 13/25",
    "A63F 13/428",
    "A63F 13/65",
    "A63F 13/98",
    "B25J 13/006",
    "B25J 9/0006",
    "G06F 2203/012",
    "G06F 3/0334"
  ],
  "ipc": [
    "B25J 13/00",
    "B25J 9/00",
    "G06F 3/01"
  ],
  "assignees": [
    "Ekto Vr Inc"
  ],
  "inventors": [
    "Bradley Factor",
    "Robert Li",
    "Antonio Garcia-Smith"
  ],
  "filing_date": "2021-09-14",
  "publication_date": "2022-03-17",
  "priority_date": "2020-09-14",
  "application_number": "US-202117474302-A",
  "family_id": "80626550",
  "cited_by_count": 13,
  "citations": [
    "US6106397A",
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    "US20200253320A1"
  ]
}