WO1996008785A1

WO1996008785A1 - Body movement machine for personal multimedia systems

Info

Publication number: WO1996008785A1
Application number: PCT/US1995/009699
Authority: WO
Inventors: Bernardo Raul Rosenfeld
Original assignee: Wisco Development Inc.
Priority date: 1994-09-12
Filing date: 1995-07-27
Publication date: 1996-03-21
Also published as: AU3207795A

Abstract

A body movement machine for personal multimedia systems that transmits to the body of at least one person a sequence of physical movement stimulus correlated with multimedia events such as, for exemple, video games or audiovisual reproductions, comprising movement actuators (1) able to support the direct or indirect moving rest of a human body; a power module (2); and a programmable control module (4) connected to and capable to process incoming signals generated by personal multimedia systems intended for home use, to execute movement sequences for enjoyment, relaxation, and instruction, among other purposes.

Description

BODY MOVEMENT MACHINE FOR PERSONAL MULTIMEDIA SYSTEMS

DESCRIPTION OF THE INVENTION

I. BACKGROUND OF THE INVENTION

1.1. FIELD OF THE INVENTION

This invention relates in general with producing human perceptions correlated with other sensations brought by a multimedia system; particularly with producing physical movement sensations; and specifically with moving a human body by an interactive and programable apparatus intended for home use as an independent or peripheral device of a centralized personal multimedia system; acting for enjoyment, relax, stimulation or education among other purposes.

1.2. DESCRIPTION OF THE PRIOR ART

Thanks to the increasing diffusion and decreasing costs of the computarized apparatus intended for personal and home use, many applications involving entertainment or interactive enjoyment became possible from a market and industrial point of view.

Those smart machines related with the more traditional audiovisual program reproducers gave birth to the so called multimedia systems for personal use that indoubtely constitute a new culture paradigm. This electronic, comunication and human knowledge associations bring great possibilities to creating new efficient and enjoyable forms of entertaine ent. relax and istruction. At present, the state of the art in the area described in the previous paragraphs involves at least the following intents, all of them Registered U.S. Patents.

A first group of body movement machines designed for different objectives produces repeatedly the same fixed sequence of movements, generated by mechanical means. as Schults et al (5.228.155), Wadman (5.099.528), Mc Mahon (5.002.144). Zeeb (4.881.285), inge (4.768.497), Robinson (4.620.334), Graham et al (4.483.327), Laureti (3.802.003). Holme (2.311.542) or Vitullo (1.241.171). A second type of body movement apparatus includes adjustements that modify fixedly some parameters of the yet repeating sequences as for example their speed; is the case of Grove (5.249.640). Nafti (4.987.624), Manahan (4.586.492) or Rubin (2.808.828) .

A third group of machines includes the user but not only as commander but bringing the moving energy. For that reason, the authors of these designs had generally defined them as exercising or training apparatus, as happens with Seith Jr.

(5.242.354),Mansfield (4.711.447), or Christians (3.830.491).

Is opportune to remark that these class of machines makes use of interactivity, feedback and smart control of movements

-principally in the case of Mansfield-, but as is a lack of intelligent control of movements in the apparatus itself, it must be solved by the user^'s physical effort.

A fourth class of body movement machines includes that for individual use in which the moving sequence is not determined by their structure but for some kind of program. In this case, the smart power control of movements is already provided for the apparatus itself, through increasing complexity, size and power drain. So that designs are originally intended for public entertainment places as for example amusement parks. in which coin operated machines can justify its cost. Examples are those of Newman et al (4.710.129) or Bowers et al (4.418.911).

Finally, a fifth group that also belongs to the defined area includes those complex and great sized apparatus, having ample programability and responsiveness to external signals, using important ammounts of mechanical and/or hidraulic power to move generally a plurality of persons. So, Watkinε et al (5.015.933), Hollingsworth et al (4.879.849), Trumbull (4.066.256), Tanus (3.923.300) or Adams (3.826.250) had dedicated their developments to public multi-person entertainment as for example special theater or cinema rooms. From the previous description of prior art in the matter of the present invention, it can be concluded that: 1. Already exist body movement machines that bring esentially fixed sequences of movement, being those sequences determined exclusively by its hardware;

2. Already exist training or exercising machines in which the physical work is principally provided by the user;

3. Already exist body movement machines that are programable and responsive, intended for individual or group use in public- sites; but

4. DO NOT EXIST programable and interactive body movement machines, intended for personal home use.

Is precisely that lack what comes to fulfill the present invention, providing a human body movement machine having ample programability and responsiveness to external multimedia signals, designed specially to satisfy the needs of the home market. To achieve that goal, the invention combines in a newer way some already knowed mechanical and electronic means in order to obtain a drastic reduction in power drain, size and final cost to the user, as it will be summarized in the following paragraph.

II. SUMMARY OF THE INVENTION In order to satisfy the previously remarked needs with a new industrial product, the present invention makes use of the following technologycal resources:

1. A plurality of low profile movement actuators, acting as movable support points that sustain the user^'s body, directly or through a not included suitable resting structure as for example a chair;

2. A suitable power module able to provide to each movement actuator the necessary regulated energy required by th programed dynamics to be executed, being fed said power modul with an adequate power source; and

3. An electronic control disposition analogous to the wel knowed sintetizers and/or sequencers used in the creation an execution of music, specially in those ones employing th comunicational standard called M.I.D.I. (forward named MIDI), able to open or closed loop control the movements of the user^' body in response to a fixed or responsive program.

Said resources permit the implementation of a newer bod movement machine capable to perform as a peripheral devic conected -for example- to a personal computer, a video gam computer or an audiovisual reproducer, providing not ye attainable reduced size, weight, electrical power drain an cost; so being adequate to the characteristics of the hom market but providing ample programable and responsive action, what itself constitutes a principal object of the invention.

Another object of the present invention is to provide a bod movement machine capable to induce physical movement sensation useful to an unlimited range of applications includin enjoyment, relax, learning, stimulating. massage and man others.

Another object of the present invention is to open a new broa field of creativity and artistical enjoyment, as adds the ne dimension of programable movement to the well experienced one that are normally included in an original artistic masterwor in the audiovisual area.

Still another object of the invention is to open new softwar products markets including said new dimension of performin creativity and enjoyment. Preceding and aditional objects of the present invention will be clearly fulfilled and explained by the detailed descriptio of its prefered embody ents, with aid of the accompanyin drawings.

III. BRIEF DESCRIPTION OF THE DRAWINGS — ^ρ. — Figure 1 represents a scheme of the invention as a functional block diagram related with external means, comprising what is included inside the dashed line polygon;

Figure 2 represents in side view, a prefered embodyment of a movement actuator comprised by the present invention, with some opens ilustrating the functioning mechanism and the forces involved in its action;

Figure 3 represents a scheme of a prefered geometric and circuital disposition of the power module that forms part of the invention, conected with two pairs of movement actuators, aplying movement to a chair; and

Figure 4 represents a scheme of the control module that forms part of the invention, showed as a functional block diagram.

IV. DETAILED DESCRIPTION OF THE PREFERED EMBODYMENTS In order to clearly detail the present invention to be well understood in its structure and in the way it functions, the following detailed description will center in a prefered embodyment, with the aid of accompanying drawings.

Figure 1 ilustrates the general structure of the invention comprising what is incltided in the dashed line polygon, in relation with external ilustrative elements as a resting chair 8 and aplurality of devices 10 integrating an external multimedia system as for example a personal computer. audiovisual reproducer, an electronic musical instrument, a computarized video game or similar equipment. It can be seen that the invention comprises a plurality of movement actuators 1, each one receiving energy from a power module 2 that is fed from mains or similar principal source by the power circuit 3. The actuators 1 present not only the power conductions 5 but also feedback conections 6 transporting position related signals to the control module 4 and the power module 2, so permiting the establishment of closed loop control of movement. In said control module 4 takes place the processing and generation of control information that accesses and command the power module 2 -and through it- the actuators 1. That processing takes input from the signals 9 coming fro external means 10 that are part of a multimedia system. Thos signals enter through the input ports 7 generally in code serial form protocolized according to a recognized standard a MIDI. The control module 4 operates over said input information belo supervission of a software constituted by an executing progra 11 that comprises at least a fixed part 12, a second changeabl part 13 and a a third replaceable part 14 contained i non-volatile memory means capable to be inserted and retaine by the conecting receptacle 15. A program information input 16 permits to modify the content of said part 13 of program fo an external programmin apparatus, for example a computer. It also permits to comman the execution of a previously memorized movement sequence fro an external device as for example a MIDI sequencer. A group 17 of control elements accessible to the user a buttons, switches, panel indicators and so are provided t admit user commandable operations of the invention, as fo example creating new styles of movement, altering those alread programmed, setting parameters of current movement sequence and similar required by flexibility of the inventio performance.

A prefered embodyment of a movement actuator -in this exampl limited to only vertical displacements- comprises in referenc to Figure 2, a fixed structure composed by a tube 18 generall cilyndrical, closed at its bottom by the base 19 firmely fixe in place.

A moving part 20 elaborated from solid cilynder stock havin slightly lower diameter than the internal one of the tube 18 is inserted and able to displace smoothly inside said tube.

Said moving part 20 presents a top surface 20 having a wid angle conycal recess to admit the moving and auto-centered res of a supporting part of a suitable human body supportin structure as for example a chair^'s leg. At its bottom. th moving part 20 is truncated by an inclined plane forming an angle 22 in reference to the normal section of said part 20, said normal section being perpendicular to the central axis 23, the intersection between said cilyndrical part 20 and the inclined plane determining an oblique plane surface 24 generally presenting an elliptic form.

A rectangular section slot 25 is bored perpendicularly to the axis 23 along the bigger axis of the elliptic bottom surface 24.

A third part, also moving, consists in the rolling mechanism 26 that intermediates in the rest of the moving part 20 against said base 19. Said rolling mechanism 26 comprises a pulley wheel 27 having a slightly lower thickness than said slot 25, having said pulley wheel 25 centrally inserted a ball bearing 28. The free central part of said bearing 28 is fir ely joined to a pair of identical wheels 29 having a lower diameter than said pulley wheel 27. Said wheels 29 are symetrical and coaxially fixed facing both sides of said pulley wheel 27, being able to freely rotate in reference to said wheel 27 but fixed between them. It can be seen that the pulley wheel 27 is able to move along said slot 25 of said part 20, rolling against the base 19, while both sections of said obliquous surface 24 divided by said slot 25 roll against each one of said wheels 29.

Finally, it can be observed a flexing rope 30, of the type used in certain movement transmissions employed in vehicles as for example brake activation, having one end firmely fixed in the fixing screw 31 inserted in a hole practicated in said tube 18, turning around said pulley wheel 27 and after an "U" routed shape, crosses the wall of the tube WW exiting through the holed screw 32. Said screw 32 also retains the compression resistant flexing hose 33 that slidely conducts said rope 30 to be push-pulled by the moving impulsor 46, said impulsor belonging to the power module 3.

From the described Figure 2 it can be understood that if a load weight 34 is applied as a force acting on the surface 21 of said moving part 20, it tends to descend vertically with the obliquous surface 24 tending to displace laterally said rolling mechanism 26. Against those tendencys fights a tension force 35 applied to said flexing rope 30, tending to induce the lateral displacement of said rolling mechanism 26 in an opposite direction, in turn tending to raise said moving part 20 and so compensate the action of said weight load 34. Is in that explained way that functions the present embodyment of the moving actuator 1 that is clearly capable to convert a sliding displacement of the flexible pulled rope 30 into a vertical displacement of said part 20 and consequently to move the weight supported by the top surface 21.

From a static equilibrium point of view, Figure 20 also ilustrates that the load weight originated force 34 applied to the moving part 20 is transmitted to the rolling support comprising the obliquous surface 24 resting against the wheels 29, aplying a projected intermediate force 36 acting perpendicularly to the surface 24, into the rolling mechanism 26. As said mechanism 26 rolls horizontally against the base 19, transmits to it -and consequently to the earth- the vertical component 37 of the intermediate force 36, resulting the magnitude of said vertical component 37 equal to the supported load 34.

In turn, the horizontal component 38 of said intermediate force 36, can only be compensated by each one of the equal tensional forces acting along the two parallel branches of the "U" shape in which is conformed the flexing rope 30 after and before half-turning around the pulley wheel 27, in order to obtain a static equilibrium condition. The bottom branch of said rope 30 transmits its tension force 39 to said tube 13 by the retention screw 31, while the top branch transmits the remaining component as the tension force 40 acting along the exiting rope 40.

The described embodyment presents a remarking feature in that it decreases the active tension force 40 required to equilibrate and move said load weight 34. In order to quantify said decrement, if it is called:

F: the tension force 40 acting along the rope 30;

P: the load weight 34; and

A: the angle 22 that forms said obliquous surface 24 with respect to the transversal section of the cilyndrical moving part 20; it results that

F = 1/2 x (P x tan( A ))

So, if for example A = 45°, the magnitude of the force required to equilibrate F amounts to only P/2.

Established an equilibrium condition, a pulling force 35 equal in magnitude and opposite to 40 is applied to said rope 30 in reference to the flexing hose 33, stabilizing the rolling mechanism 26, wich applies a reaction force 41 to said moving part 20. The vertical component 42 of said reaction force 41 has same value and opposite direction with respect to said load weight 34, sustaining it.

The horizontal component 43 is finally transmitted perpendicularly to the wall of said tube 18 trough the sliding contact of the cilyndric surfaces of said moving part 20 and the internal one of said tube 18, being resisted by the reaction force 44.

Being of minimum efect the friction forces involved, through a proper design and selection of materials and roughness principally of the vertical sliding surfaces of the moving part 20 and the tube 18, it is clearly concluded that the described embodyment of the actuator 1 transduces proportionally, in a reversal way and with effort reduction, the load weight 34 into a tension force 40 pulling the flexing rope 30, while a sliding movement of said rope with respect to the flexing hose 33 is converted analogously into a vertical displacement of said moving part 20 and consequently of the supported weight. It must be remarked in this point a general feature of the present invention -not belonging exclusively to the described embodyment-, which is the fact that as the active pulling force 35 is being applied with reference to its conducting flexing hose 33 and not respect a fixed earth point, the described moving action of the actuator iε floating and fully no dependent of its spacial site inside a radious equal to the longitude of said hose. This fact is what ables an array of such actuators to b spacially located in any convenient form -not necessary a plan one- in reference to the requirements of the human body or of structure that could support it.

Given the broadness of the application fields of the presen invention, an extended spectrum of other e bodyments of sai actuator 1 could be specifically designed in order to satisfy determined industrial purpose, without apparting of th principle of floating action applied clearly in the describe embodyment of Figure 2.

In reference to Figure 3, it can be seen that said power modul 2 comprises mechanic, electric and electronic parts generall situated into a single gabinet 45, as follows: powe conections 5 with said actuators 1, impulsor mechanisms 46, feedback sensors 47, power amplifiers 48, electronic control circuits 49, input signal conections 50; and power source 3. The referenced embodyment, applied to move a human body (not showed) via a common four legs chair 8, is configured b situating the actuators 1-1, 1-2, 1-3 and 1-4 of the type previously described sustaining each one a correspondin chair^'s leg. Said actuators are specially grouped in pairs, each pair excited differentially by the same impulsor mechanism, and each member of said pair is put sustaining each leg of a diagonal pair of the chair. So, said actuators 1-1 and 1-3 excited by the mechanism 46-1, are situated below the legs of one of the diagonals, while the remaining actuators 1-2 and 1-4 excited by the mechanism 46-2 sustain the legs belonging to the other diagonal. Each one of said impulsor mechanisms 46-1 and 46-2 comprises an electric reversal motor 51, a reduction gear mechanism 52 and an impulsing pulley 53.

The flexing ropes contained in its corresponding flexing hoses coming from said actuators 1 arrive to the power module 3 as follows: the ropes coming from one of so defined pairs enter the gabinet 45 in line and through opposite sides of said gabinet. To enter, the respective flexing hoses are firmly attached to the rigid side walls of said gabinet by the fixing screws 54. while the ropes continue their way inside the gabinet until arriving to said impulsor mechanisms 46. For example, the ropes coming from said actuators 1-1 and 1-3 arrive to said gabinet 45 respectively to the right and left side walls. While the respective flexing hoses 33-1 and 33-3 attach firmly to said walls by the fixing screws 54, the ropes 30-1 and 30-3 continue their way inside said gabinet up to join one to each other at the fixing point 55 of the impulsing pulley 53, after some turns around it, in such way that a turn of said pulley in one direction pulls one of the ropes while looses the other and reciprocally. Said pulley 53 is also where the opposite tension forces 40-1 and 40-2 already mentioned equilibrate one against the other. So, as said forces transmit the net effect of the load weight supported by each actuator and they null, it can be understood that the static forces that the impulsor mechanisms must compensate to achieve movement is only the remaining differential of the algebraic substract of both forces 40-1 and 40-3, esentially of similar value if the center of gravity of the chair is aproximately coincident through its vertical projection with the intersection point of said diagonals.

It constitutes a specially remarkable feature of the described embodyment, as it make possible to move relatively important loads (as generally a person weight is) with relatively low power devices and energy drains. Another important characteristic of the described embodyment of Figure 3 is that as said actuators are esentially similar, if the impulsing pulley 53 turns certain angle in a certain sense, this action will result in a raising of one of the related actuators and a same magnitude descending of the other member of the pair. If a rigid structure is supported by said actuators, it will move as it would be turned around a virtual center point located about the middle point of the segment determined by both actuators; that virtual point remaining esentially fixed. A same thing will ocurr if the number of pairs of said actuators is two or more if the polygon determined by the vertical projection of the supporting points is a figure presenting central symetry. In all of those cases, no matter which movement is executed by each of said pairs of actuators, the center of symetry will remain unmoved. The practical result of this geometrical conclusion is that no matter what configuration would present the supporting scheme of the intermediate resting structure, and no matter what kind of movement it would have been executed, the invention will be capable to make it rotate universally around one virtual point without altering the relative heights of the supporting points, thus remaining stable the contact of the supporting points with the corresponding actuators. In the particular and often encountered four points supporting scheme, the above situation results unconditional if the described embodyment is employed. Axially coupled to said impulsing pulley 53, there is an angular position sensor 47 capable to generate a signal correlated with the amount of angular turn of the moved structure around the virtual center point already mentioned, and is routed as feedback information by the conductors 56 to the control amplifier 49, and/or exits the power module 2 via the conductors 6 toward the control module 4.

Said control amplifier 49 compares said feedback signal with the control information conducted from the control module 4 by the conductors 69 and entered via the input ports 50, giving origin to the corresponding error compensating signal 71, which is brought to the input of the power amplifier 48. Said amplifier 48 excites the motor 51 which actuating through the reduction gear mechanism 52 gives turning movement to the pulley 53 in the amount and direction required to essentially null said error signal 71. The above description clearly remarks some convenient practical principles that can be implemented by a variety of embodyments of the invention without resulting out of its scope. For example, the embodyment of actuators -if mechanical- could be of the lever type again linked with flexing ropes; or of the screw and gear type linked torsionally through a flexing rotating axle, among others.

If hidraulic actuators are to be employed, they could be of the cilynder or diafrag type, energyzed by a differential impulsing pump with double effect, among others. It is also possible to employ as direct actuators simple separate sections builded as integral parts of a mattress, individually fed with a fluid, for muscle massage or relax applications. In those non restrictive mentioned examples of embodyment of the invention, no problems appair in realizing the ilustrated principles of floating and differential compensated action. It could happen, also, that at the moment of manufacturing the invention, new and important advances in electric motor technologies could be developed making a non sense restriction to reduce what has of innovative the invention, to the principles of embodyment yet described. Is for this reason that no so aspected limits are mentioned in the claims, in spite that the above explanation results useful to the clear understanding and realization of the present invention.

According to Figure 4, the control module 4 in a prefered embodyment comprises a computarized processor of the information coming from external multimedia systems whose function is esentially to generate, memorize, convert or execute sequences of movements correlated with multimedia events as for example of the audiovisual type. To achieve its objects, said control module comprises and/or realizes the following processing steps to the multimedia information arrived to the input ports 7 generally in a serial coded form following a recognized standard as for example MIDI: a serial to parallel converter 57, a commands decoder 58, an interpreter 59 of said commands, a calculator 60 of passed parameters belonging to the sequence of movements to be executed, a coder 61 of control instructions corresponding to said sequence, a RAM type memory 62 capable to preserve the coded sequence of control instructions. a controlled pointer 63 of the memory positions of said RAM 62, a plurality of function generators able to be parametrized in aspects as waveform, amplitude, frequency, phase delay and other dynamic characteristics of the desired functions, being dedicated each one of said function generators to implement one spatial component of the desired movement: a calculator and distributor 65 capable of calcule and assign movement action to each actuator to achieve the global movement to be executed; closed loop movement control circuits 66 employing said feedback signals 6 yet arrived b input ports 67 providing feedback signals originated in sai actuators and/or impulsing mechanisms; and finally, outpu buffer amplifiers 68 feeding the output ports 69 by which th already processed control signals exits said control module toward said power module 3.

The central brain of the overall module 4 is the microprocesso based CPU circuit 70 operating below the software program 11 which comprises at least a permanent or resident first part 1 -generally an operative system- a second changeable part 1 contained in permanent installed non-volatile bu re-programable memory means as could be for example batter back-up^'ed RAM or EEROM types; and a third replaceable part 1 contained in insertable by the user non-volatile memory mean as for example ROM magazines, diskettes, CD-ROMS or anothe type of software containers able to be easily distributed i market. A special program input port 16 is provided to permit th re-programability of said program part 13 from externa programmer devices as for example personal computers. control front panel 17 is provided comprising control an indicator means to be interactive user-operated in order t set-up and define current operation parameters of th invention.

Finally, a power source circuit 75 is provided to feed suitabl levels of electrical energy to the different parts comprised i said control module 4. It will be obvious for any electronic designer specialyst tha the proposed structure is only one between an ample spectrum o equivalent solutions combining variations about functions an architecture of said control module 4. Particularly, given th well known interchangeability and equivalence between hardwar and software, it only could be well defined the scope of th present invention if only a loose description is done of chain of signal processing steps as a practical ilustration o embodyment of this part, leaving freedom to any other factibl implementations combining suitable hard and soft means. The invention makes use of the known fact that the subjectiv sensations associated with movement are concerned more with its dynamics (i.e. speed & acceleration) than with amplitudes of displacement. Consequently, a type of movement dynamically efficient to achieve the purposes of the invention is in much more degree involved with mainteining fidelity to a designed waveform already experimented as effective, in spite that the displacement induced could be of minimum amplitude. This discussion takes importance as the effectiveness of the invention's performance is not in compromise with any physical risk to the user, specially in case of children users. It is worth to remark at this point of the present description of the invention, that the general structure and functional features of said control module 4 are analogous with that of known circuits obtainable in the market as electronic keyboards or sintetizer moduli, as them are ample used in the creation and live execution of music. The differences -if exists- are only related with the type of waveforms and esentially with the range of frequencies useful for music respect with those useful for inducing body movement. It is explicit that there is no innovation in this part -said control module 4- of the invention, but indeed there is in the innovative use given to the described electronic structure and the combination into which it is a system part. Precisely, the unicity of the present invention resides -as was previously mentioned- in an innovative combination of relatively known elements as movement actuators, servomechanisms, control circuits and waveform sintetizer circuits into a special configuration that gaves origin to a new industrial product and a new industrial field as is that of the body movement machines intended for home used personal multimedia systems as it was clearly described and ilustrated in preceding paragraphs. It is obvious that the industrial manufacturing of the present invention could require many variations in terms of hardware or software which will not appart from the scope of the invention, clearly specified by the following claims.

Follow 7 claims.

Claims

1. A body movement machine for personal multimedia systems that transmits to the body of at least one person a sequence of physical movement stimulus correlated with multimedia events such as for example audiovisual reproductions, CHARACTERIZED IN comprising: at least one movement actuator acting along at least one axis, having said movement actuator at least a moving part, said moving part presenting a supporting surface capable of receiving at least indirectly the rest of at least one part of a human body; a power module conected to said movement actuator to provide to it regulated power equivalent to at least the movement work brought to said human body, said power module being conected to an adequate power source to be energy fed; a control module conected to said power module to provide to it control information signals, being said control module microprocessor based comprising hardware and an operating software, being said control module able to comand in an at least open loop mode, the execution of movements qualified by a predetermined style, as a result of processing certain external signal inputs correlated with multimedia events: and a plurality of conection means able to receive said multimedia signals from external multimedia sources.

2. A body movement machine as claimed in Claim 1.. CHARACTERIZED IN that said supporting surface belonging to said moving part of said movement actuator, comprise means to receive the moving rest of at least one support member integrating an external body rest structure.

3. A body movement machine as claimed in Claims 1. and 2. CHARACTERIZED IN that said moving part integrating said movement actuator comprises at least one surface able to support the moving rest of at least one part of a human body.

4. A body movement machine as claimed in previous claims, CHARACTERIZED IN that said movement actuator comprises at least one displacement sensor capable to provide to said control and power moduli, feedback information signals required to the execution by said moduli, of closed loop movement control.

5. A body movement machine as claimed in previous claims, CHARACTERIZED IN that said operating software included in said control module is at least partially resident in the module, said software comprising at least three parts: a first part that stays unmodified, residing in ROM type of memory means, being that memory means esentially permanent parts of said control module; a second part capable to be modified, residing in reprogramable memory means, being said memory means esentially fixed parts of said control module; said control module comprising conection means capable to bring programing access to said reprogramable memory means, to program information signals originated in external programing devices; and a third part capable to be changed, residing in physically replaceable non-volatile memory means. said control module comprising conection means able to receive the conectable insertion of said replaceable non-volatile memory means.

6. A body movement machine as claimed in previous claims. CHARACTERIZED IN that said control module comprises conection means able to receive feedback signals provided by said diplacement sensor included in said movement actuator.

7. A body movement machine for personal multimedia systems in complete correspondence with all what was described, claimed and ilustrated in the accompanying drawings.