Motion generator

Abstract

This invention relates to motion generators comprising: an end effector, a stationary support, a first set of elastic elements interconnecting the end effector and the stationary support; a set of tensile members; in which the end effector is supported within the stationary support by the elastic elements; and a set of actuators in which the motion generator further comprises at least six rockers each rocker being pivotally mounted at one end thereof on the stationary support, and each rocker having a free end; the set of tensile members comprising: at least six elongate tensile members, each elongate tensile member having one end connected to a rocker and the other end connected to one of a second set of elastic elements which are fixed; a set of connecting elements connecting each rocker to the end effector and in which each one of the set of tensile members is independently adjustably tensioned by an associated actuator to move the free end of the rocker, which rocker movement causes movement of a connected connecting element leading to movement of the end effector.

1 - 20 . (canceled) 
     
     
         21 . A backdriveable motion generator comprising:
 a moveable end effector;   a frame;   a first set of elastic elements interconnecting the end effector and the frame;   a set of tensile members, in which the end effector is supported within the frame by the elastic elements;   a set of actuators; and   at least six rockers each being pivotally mounted at one end thereof on the frame, and each having a free end,   wherein:
 the set of tensile members comprises:
 at least six elongate tensile members, each elongate tensile member having one end connected to a rocker and the other end connected to one of a second set of elastic elements, the second set of elastic elements being fixed to one of the frame or a base; and 
 a set of connecting elements connecting each rocker to the end effector; and 
 
 each one of the set of tensile members is independently adjustably tensioned by an associated actuator to move the free end of the rocker, which rocker movement causes movement of a connected connecting element leading to movement of the end effector. 
   
     
     
         22 . The backdriveable motion generator according to  claim 21  in which the effector includes or supports a platform, vehicle chassis, monocoque, or seat. 
     
     
         23 . The backdriveable motion generator according to  claim 21  in which motion of the effector may be controlled to produce high frequency motion of the effector of more than 50 Hz in six degrees of freedom. 
     
     
         24 . The backdriveable motion generator according to  claim 23  in which motion of the effector may be controlled to produce high frequency motion of the effector of up to 100 Hz. 
     
     
         25 . The backdriveable motion generator according to  claim 23  in which motion of the effector may be controlled to produce high frequency motion of the effector of more than 100 Hz. 
     
     
         26 . A method of operating the backdriveable motion generator according to  claim 21 , and in which the actuators of the motion generator comprise rotary electric motors, the method of operating being such that when a user supported by the end effector moves, then forces applied by the user to the effector cause one or more of the electric motors to rotate. 
     
     
         27 . The method according to  claim 26  in which the rotation of the motors is measured and used to infer the user's position and movement. 
     
     
         28 . A game apparatus for domestic or commercial use in a game or simulation, the game apparatus comprising the backdriveable motion generator according to  claim 21 , and in which a movement of a user on the effector is used as an input to the game or simulation.