PemRAM-Based Locomotion for Dismounted Troop

SYSTRAN proposes a new approach to a locomotion simulator (LocoSim) for dismounted troops that utilizes dual-PemRAM (Precision electromagnetic RAM) direct drive actuators and a new articulated split treadmill (ASTM) concept. Used individually, or in combination the PemRAM and ASTM subsystems will meet the need for real world energy expenditure while remaining within a fixed reference frame. Instrumented boots will provide six-degree-of-freedom inputs into the LocoSim controller (PC workstation). Environmental (i.e. terrain and obstacle) inputs to the LocoSim will be obtained from currently existing DIS-compatible virtual environment systems. The controller will then issue control signals to each PemRAM actuator, thus insuring that real-world motion and energy expenditure is achieved. If the trainee moves correctly, he/she will traverse the simulated terrain; if not, they will become stuck! The ASTM subsystem provides crawling and climbing additions to the basic walking/running PemRAM-supported actions. Our design permits the utilization of either Helmet Mounted Display (HMD) or CAVE (Cave Audio Visual Environment) visual immersion system. Our LocoSim is designed to be DIS-compatible. Phase I will include a computer demonstration of the algorithms and top-level mechanical design. A prototype will be demonstrated in Phase II.