A Short Description of an Ankle-Actuated Seated VR Locomotion Interface

We present an overview of the interface that allows users to perform foot-tapping movements in a seated posture to emulate walking sensation in virtual reality (VR). The interface comprises an impedance controlled robotic foot platform that moves while resisting the user's foot-tapping movements. The platform's angular movement is used to recognize the walking intention of the user and animate the VR avatar accordingly. The impedance characteristics of the platform are controlled to emulate different VR walking terrains.