Publication
We conducted a comparative user study of the Infinadeck [1] omnidirectional treadmill native control algorithm alongside an approach based on a state observer control scheme combining a kinematic model with error dynamics that allows users to change their walk freely. Based on the results from 22 participants, we observed that the alternative approach outperformed the native algorithm on trajectories involving a left or right turn (with radii of curvature of 0.5m, lm, and 2m). However, there was no significant difference for straight-line trajectories, and the native approach yielded the best scores for in-place rotations.