Inertial-force feedback for the treadport locomotion interface

The inertial force due to the acceleration of a locomotion interface is ide ntified as a difference between virtual and real-world locomotion. To count er the inertial force, inertial-force feedback was implemented for the Trea dport, a locomotion interface. A force controller was designed for a mechan ical tether to apply the feedback force to the user. For the case of the us er accelerating forward from rest, psychophysical experiments showed that s ubjects preferred inertial-force feedback to a spring-feedback force propor tional to position or to position control, where the force feedback maintai ned a force of zero on the subject.