Walking with body-sense in virtual space using the nonlinear oscillator

Kenri Kodaka*, Tetsuya Ogata, Hiroshi G. Okuno

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review


This paper presents a novel construction of a locomotion system that compensates for walking-sense with simple interfaces using hands or fingers. The realization of moving with body-sense in virtual space has required high-quality system designs including walking cancellations, haptic feedback, and high-resolution displays. However, such approaches result in increasing costs of calculation and space, which obstruct the spread of VR technology. We therefore propose a new framework of locomotion systems with simple interfaces that give users "passivity and restraint", which are essential components of walking-sense. They are realized with mutual entrainment between a nonlinear oscillator and users' input. Two experiments were conducted for evaluation. The first one showed that our system gives users sense of distance based on a body standard and sense of rhythm with stable input. The second one demonstrated that the users of our system can experience a subjective body-sense and a sense of velocity.

Original languageEnglish
Pages (from-to)324-329
Number of pages6
JournalConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Publication statusPublished - 2005 Dec 1
Externally publishedYes
EventIEEE Systems, Man and Cybernetics Society, Proceedings - 2005 International Conference on Systems, Man and Cybernetics - Waikoloa, HI, United States
Duration: 2005 Oct 102005 Oct 12


  • Body-sense
  • Entrainment
  • Locomotion system
  • Nonlinear oscillator
  • Sense of distance

ASJC Scopus subject areas

  • Engineering(all)


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