Omnidirectional treadmill system

Abstract

The invention provides an omnidirectional treadmill system that uses an inner core which is inflated within a tread membrane. On the outside surface of the inflated inner core are ball casters which push outward against the interior of the membrane, resulting in a low friction barrier between the inner core and the inside surface of the tread membrane. The tread membrane rests on a sphere directly below the user in the center of the device. When the sphere is rotated it drives the tread around the stationary inner core. The sphere rotation is accomplished using a holonomic drive system such as motorized omni wheels. The device uses an enclosure which encircles the tread area. The enclosure serves two purposes: to enhance safety of the user and to provide a surface for image projection to the user in virtual reality applications.

Claims

1. An omnidirectional treadmill system, comprising: a tread membrane stretched around a torus-shaped inflated inner core, wherein the inflated inner core applies tension to the tread membrane, forming a taut, flat surface optimized for user locomotion; a plurality of ball casters symmetrically attached to an outer surface of the inflated inner core forming a continuous low-friction barrier by pushing outward against the interior of the tread membrane to add tension, thereby enabling smooth and seamless omnidirectional movement of the tread membrane relative to the inner core; wherein the tread membrane and the torus-shaped inflated inner core rest on a rigid, rotational sphere, slightly raised relative to a surrounding structure, wherein the sphere applies additional tension to the tread membrane by interacting with its underside, thereby enhancing stability, reducing slippage, and improving weight distribution; and wherein the sphere is driven by a holonomic drive system comprising a plurality of independently controllable motors enabling precise and independent movement of the tread membrane in multiple directions.

2. The system of claim 1, further comprising an outer frame for maintaining the tread membrane centered on the sphere.

3. The system of claim 2, wherein the outer frame further comprising an attached barrier encircling the tread membrane.

4. The system of claim 2, further comprising a plurality of linear actuating motors attached to the outer frame for altering the horizontal slope of the tread.

5. The system of claim 1, further comprising a dome barrier fully enclosing the tread membrane.

6. The system of claim 1, further comprising a projected virtual environment system having one or more projectors on a perimeter of a dome barrier; wherein projected light emitted by the virtual environment system is used to provide a virtual environment to a user.

7. The system of claim 1, further comprising an inner frame for providing structural integrity of the inflated inner core.

8. The system of claim 1, further comprising a tread deck attached to the inner frame below the tread which contains a mechanism for vertically actuating the deck.

9. The system of claim 1, further comprising one or more motion cameras configured to determine a user's bone positions on the surface of the tread membrane, wherein the determined positions are used by the system to control the mechanical aspects of the treadmill and to map the user's actions to corresponding actions in a virtual reality environment.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The preceding summary, as well as the following detailed description of the disclosed system and method, will be better understood when read in conjunction with the attached drawings. It should be understood, however, that neither the system nor the method is limited to the precise arrangements and instrumentalities shown.

(2) FIG. 1 is a schematic cross-sectional view of a disclosed omnidirectional treadmill system embodying the invention.

(3) FIG. 2 is a schematic cross-sectional view of a disclosed omnidirectional treadmill system embodying the invention with a fully enclosing inflatable with a projected virtual environment system and actuating gears to alter the tread slope.

(4) FIG. 3 is a perspective view of the disclosed omnidirectional treadmill system.

(5) FIG. 4 is a perspective view of the inflatable inner core with ball caster barrier.

(6) FIG. 5 is an illustration of the holonomic drive system incorporating a plurality of omni wheels coupled to the motors.

(7) FIG. 6 is a perspective view of the inflatable inner core with a hard tread deck.

DETAILED DESCRIPTION OF SPECIFIC EMBODIMENTS

(8) Referring now to the drawings in detail, FIG. 1 shows a cross-sectional view of an omnidirectional treadmill system 100 that includes a tread membrane 160 which has been stretched around an inflated inner core 120. The inflated inner core 120 has attached ball casters 140 which provide a low friction barrier between the tread and the inner core. The tread and inner core rests on a sphere 110 which allows omnidirectional movement of the tread around the inner core 120. The sphere is driven by a holonomic drive system 130 which in this preferred embodiment uses motorized omni wheels 134 coupled to a corresponding motor 132 and shaft 133 (as shown in more detail in FIG. 5). In a preferred embodiment of the present invention, the holonomic drive system includes four omni wheels, which are wheels with small discs (rollers) around the circumference which are perpendicular to the turning direction.

(9) The outer frame 170 maintains the tread centered on the sphere. The outer frame 170 has an attached barrier 150 which encircles the tread membrane 160. Situated around the outer frame are motion cameras 190 which provide kinematic analysis of the user. The outer frame 170 can be made of a stiff material such as aluminum tube.

(10) FIG. 2 is a cross-sectional view with similar features to FIG. 1 with the following additional features. The FIG. 2 omnidirectional treadmill system 100 includes linear actuating motors 180 attached to the outer frame 170 to alter the horizontal slope of the tread. A dome barrier 150 fully encloses the tread membrane 160; and the system further incorporates a projected light virtual environment system 175 that includes one or more projectors 176 affixed around the perimeter of the dome to project light 176 on surfaces on the enclosed interior.

(11) FIG. 3 is a perspective view of an omnidirectional treadmill with tread membrane 160, inflated enclosure 150, outer frame 170, and user motion cameras 190.

(12) FIG. 4 is a perspective view of the inflated inner core 120, the tread sphere 110, and the holonomic drive system 130. The inflated inner core 120 includes a plurality of ball casters 140 disposed on a plurality of corresponding rings 142 encircling the inflated inner core 120 for providing the contact points with the tread membrane. The system further includes an inner frame 171 made from a stiff material such as aluminum pipe to provide for the structural integrity of the inflated inner core 120 and to support a tread deck 172 under the tread surface.

(13) The system of the present invention may include safety and trampoline features which minimize injuries associated with falling while utilizing the device. The system may include a hard tread deck 172 below the tread surface to support the user's weight while on the device, as shown in FIG. 6, for example. Below the tread deck 172 the device may provide a means for the tread deck to quickly be vertically lowered and raised using an actuating device such as pneumatic actuators. The system can further include one or more motion cameras 190 configured to determine the user's bone positions on the surface of the treadmill in three dimensional space. Using the motion camera(s), the device may determine that the user is in the process of falling and lower the tread deck vertically at a high rate of speed. When the tread deck is vertically lowered, the falling user impacts the taut tread surface, but their impact no longer reaches the hard tread deck. The result is the user's weight falls only upon the flexible tread, similar to a trampoline, resulting in a softened landing and minimizing injury risk. Similarly, the device may vary the vertical distance of the tread deck from the tread to support trampoline effects for user movement.

(14) While at least one exemplary embodiment has been presented in the foregoing detailed description of the invention, it should be appreciated that a vast number of variations exists. It should also be appreciated that the exemplary embodiment or exemplary embodiments are only examples, and are not intended to limit the scope, applicability, or configuration of the invention in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient road map for implementing an exemplary embodiment of the invention, it being understood that various changes may be made in the function and arrangement of elements described in an exemplary embodiment without departing from the scope of the invention as set forth in the appended claims and their legal equivalents.

(15) Although the invention is described herein with reference to specific embodiments, various modifications and changes can be made without departing from the scope of the present invention as set forth in the claims below. Accordingly, the specification and figures are to be regarded in an illustrative rather than a restrictive sense, and all such modifications are intended to be included within the scope of the present invention. Any benefits, advantages, or solutions to problems that are described herein with regard to specific embodiments are not intended to be construed as a critical, required, or essential feature or element of any or all the claims.

(16) Unless stated otherwise, terms such as first and second are used to arbitrarily distinguish between the elements such terms describe. Thus, these terms are not necessarily intended to indicate temporal or other prioritization of such elements.

(17) The foregoing detailed description is merely exemplary in nature and is not intended to limit the invention or application and uses of the invention. Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, brief summary, or the following detailed description.