US 11,995,225 B2
System and method of robotic virtual reality footwear
Bradley Factor, Pittsburgh, PA (US); Robert Li, Pittsbrgh, PA (US); and Antonio Garcia-Smith, Pittsburgh, PA (US)
Assigned to Ekto VR, Inc., Pittsburgh, PA (US)
Filed by EKTO VR, Inc., Pittsburgh, PA (US)
Filed on Sep. 14, 2021, as Appl. No. 17/474,302.
Claims priority of provisional application 63/077,839, filed on Sep. 14, 2020.
Prior Publication US 2022/0083129 A1, Mar. 17, 2022
Int. Cl. G08B 21/00 (2006.01); B25J 9/00 (2006.01); B25J 13/00 (2006.01); G06F 3/01 (2006.01)
CPC G06F 3/011 (2013.01) [B25J 9/0006 (2013.01); B25J 13/006 (2013.01); G06F 2203/012 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A method for controlling a pair of robotic boots worn by a user in a virtual reality (VR) 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 an 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 drive module motion commands from the boot motion command and 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.