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This paper describes a system that provides a full body, digitally programmed, kinesthetic display for virtual reality applications. This design begins by providing a full six axis motion platform for each foot of the operator. From this base design, kneeling boards are added to support rolling, kneeling and prone postures; and a vertical feature presentation mechanism is appended which allows the operator to interact with realistic walls, windows, doors and other vertical obstacles features indoi:10.1109/robot.1997.606744 dblp:conf/icra/RostonP97 fatcat:obmttcfmnzalzfajodttar5hlq