CN112827153A - Active self-adaptive system for human body function training and control method thereof - Google Patents
Active self-adaptive system for human body function training and control method thereof Download PDFInfo
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- CN112827153A CN112827153A CN202011568441.3A CN202011568441A CN112827153A CN 112827153 A CN112827153 A CN 112827153A CN 202011568441 A CN202011568441 A CN 202011568441A CN 112827153 A CN112827153 A CN 112827153A
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
- A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
- A63B2071/0638—Displaying moving images of recorded environment, e.g. virtual environment
Abstract
The invention discloses an active self-adaptive system for human body function training, which comprises: the system comprises an action acquisition module, an interactive data processing module, an action platform and interactive display equipment; the motion acquisition module is selected from one or more of an image recognition module, an infrared sensing module or a posture sensor group; the interactive data processing module generates a virtual scene and a virtual character representing the user in the virtual scene, and meanwhile, the received real-time action data of each part of the body of the user are processed and then assigned to the virtual character, so that the virtual character generates an action corresponding to the user; and send the virtual scene and virtual character motion information to the motion platform. The invention also provides a control method and application of the active self-adaptive system. The active self-adaptive system can provide more accurate evaluation results and generate a training effect of richer multivariate and real body feeling.
Description
Technical Field
The invention relates to mechanical science and medical science, and particularly provides an active self-adaptive system for human body function training and a control method thereof.
Background
Virtual Reality (VR) is a computer simulation system that can create and experience a virtual world, and in the prior art, a user usually wears special equipment to seal his sense organs such as vision, hearing and the like, and meanwhile, the computer utilizes data in real life, and electronic signals generated by computer technology are combined with various output equipment to convert the electronic signals into phenomena that can be felt by people, wherein the phenomena can be real objects in reality or substances which cannot be seen in normal times and are expressed by a three-dimensional model, so as to generate a simulated environment, and the user can be immersed in the simulated environment.
Virtual reality technology has a great deal of development and application in various fields, and also has a plurality of related devices and technologies in the fields of sports training and rehabilitation training to assist in enhancing the training effect. Common immersive systems are: a projection virtual reality system and a head-mounted display based system. Both of these immersive systems are usually implemented on the ground, and since there are differences in weight, gait, stride, angle, speed, etc. between people, the systems cannot be dynamically adjusted according to the above factors, and thus, injuries are easily caused during training. The Chinese patent application with the application number of 201810793103.6 discloses an intelligent evaluation method and system based on virtual reality rehabilitation training, wherein the evaluation method comprises the following steps: selecting a motion angle evaluation mode during rehabilitation training; the method comprises the steps that an upper computer program obtains real-time angle data of movement of a patient when the patient interacts with a virtual reality program; the virtual reality program drives the object in the game to move according to the angle data; performing instant evaluation and feedback according to the target completion condition of the patient; uploading target data to an upper computer program after the game is finished; calculating according to a preset weight to obtain a training score; and carrying out graphical processing on the training scores and other training data to generate an evaluation report. The invention also provides a corresponding system. According to the invention, the patient can realize limb rehabilitation training in a game mode in a virtual scene, and meanwhile, the instant evaluation and feedback of the rehabilitation training are realized, and the evaluation report of the field and the automatic analysis report among different training results after the rehabilitation training are realized. However, the system and the method only achieve the purpose of evaluating the rehabilitation state of the limbs of the subject, are not suitable for long-term training, are simple in system configuration, and cannot generate or be suitable for complex scenes. A virtual reality based interaction method is disclosed in chinese patent application No. 201810993247.6, which obtains a virtual reality environment; generating corresponding interaction information according to the virtual reality environment; and constructing a virtual reality scene corresponding to the real environment through the interaction information. It provides an environment in which to complete the virtualization, where the user interacts according to the virtual environment, making corresponding actions. Above-mentioned technical scheme who combines virtual reality all can only produce interdynamic and virtual environment on the level ground, if produce the environment of types such as slope, step in the virtual environment then can lead to the user to unbalance or even be injured because of the dislocation with real environment easily, therefore, the use scene of above-mentioned technique all has obvious restriction.
Currently, there are some technical schemes for adaptive adjustment based on the real-time status of the user, for example, in chinese patent application No. 201810128493.5, an adaptive treadmill is disclosed, which includes a six-dimensional dynamic platform; the six-dimensional dynamic platform can realize six-dimensional compound motion so as to be suitable for various people's motion forms. The six-dimensional dynamic platform comprises six motors and a motion platform arranged above the six motors, and the six motors can drive the motion platform to realize the motion of inclination, distortion, rotation and translation in any direction. However, this solution only provides an adaptive function based on the gait of the user. In the prior art, a trainer passively adjusts the body posture for keeping a balanced state by adjusting the real state of a training platform in the training process, and simultaneously, the control parameters such as the gravity center position, the symmetry, the coordination, the supporting surface and the like of a patient are calculated in real time through a sole pressure sensor to evaluate and guide the training effect of the balance ability.
The technical scheme provided by the prior art has the following defects: 1) the training effect measurement index is single. The training mechanism and the training effect evaluation mechanism in the prior art both use the relevant indexes of center of gravity shift and are single. The center of gravity shift index may indicate the state of balance of the human body to some extent, but other indexes such as: the posture change and the coordination work of the upper limb, the lower limb, the ankle joint, the hip joint and the knee joint in the process of maintaining the stable gravity center are also very key indexes with medical diagnosis value; 2) the external interference function is simple. In the prior art, a two-degree-of-freedom (front-back and left-right rotation) platform is mostly used for simulating external interference, and the two-degree-of-freedom platform is greatly different from a real falling scene; 3) the feedback unit is none or very crude. Two systems which work independently are arranged between the training effect measuring system and the two systems of the training mechanism execution unit, a real-time feedback system is not provided or adjustable parameters are fed back simply during testing, and rich and diversified training effects and strength can not be achieved according to the current state of a trainee.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention provides a virtual reality scenario unit constructed by a virtual reality simulation technique on a training mechanism and a training evaluation unit, so as to perform more effective training mechanism control and training effect evaluation on the basis of the scenario. The active self-adaptive system for human body function training and the control method thereof can provide more accurate evaluation results and generate a training effect of richer and more real body feeling.
The invention provides an active adaptive system for human body function training, which comprises:
the system comprises an action acquisition module, an interactive data processing module, an action platform and interactive display equipment;
the motion acquisition module is selected from one or more of an image recognition module, an infrared sensing module or a posture sensor group;
the interactive data processing module generates a virtual scene and a virtual character representing the user in the virtual scene, and meanwhile, the received real-time action data of each part of the body of the user are processed and then assigned to the virtual character, so that the virtual character generates an action corresponding to the user; and sending the virtual scene and the virtual character action information to an action platform;
the action platform responds to the action instruction of the interactive data processing module and forms a real scene corresponding to the action elements of the virtual scene; the action elements are selected from one or more of up-down fluctuation, vibration, front-back shaking, left-right shaking, gradient formation and ladder formation;
and the interactive display equipment receives the audio and video information sent by the interactive data processing module and presents virtual characters and virtual scenes to a user.
In an embodiment of the present invention, the motion acquisition module is an attitude sensor group, the attitude sensor group is composed of a plurality of miniature attitude sensors respectively fixed at different positions of the body of the user, and the miniature attitude sensors are used for acquiring real-time motion data of corresponding body parts and sending the real-time motion data to the interactive data processing module.
In one embodiment of the invention, the attitude sensor comprises a micro power supply module, a gyroscope, a data storage module and a body data wireless transceiver module; the gyroscope, the data storage module and the wireless data transceiver module are respectively electrically connected with the micro power supply module, and the gyroscope, the storage module and the body data wireless transceiver module are sequentially in data connection; preferably, the motion data comprises angular velocity and acceleration data.
In an embodiment according to the invention, the motion platform is a six-degree-of-freedom motion platform, and comprises a reality simulation module, six motors and a motion platform arranged above the six motors, wherein the six motors respectively drive the motion platform to generate corresponding motions under motion commands of the reality simulation module.
In one embodiment according to the invention, the interactive display device is a virtual reality display device; preferably, the virtual reality display device comprises an audio and video module and an audio and video data receiving module.
In one embodiment according to the invention, the part of the body to which the posture sensor is fixed comprises limbs and a trunk; preferably, the number of the posture sensors is 12, and the posture sensors are respectively fixed on the left big arm, the left small arm, the right big arm, the right small arm, the chest, the waist, the left thigh, the left calf, the left foot, the right thigh, the right calf and the right foot.
The invention also provides a control method of the active adaptive system for human body function training, which comprises the following steps:
1) the interactive data processing module generates a virtual scene and a virtual character, sends the virtual scene and the virtual character to the interactive display equipment, and simultaneously generates action instructions for action elements in the virtual scene through a wash-out algorithm and sends the action instructions to the action platform in real time;
2) the action platform receives an action instruction and simulates action elements in the virtual scene to carry out corresponding actions according to the action instruction;
3) the gesture sensor group collects and sends real-time body motion data, the interactive data processing module receives the real-time body motion data and obtains virtual motion data through a washout algorithm, and then the virtual motion data is assigned to the virtual character and sent to the interactive display device, so that the presented virtual character generates real-time corresponding motion.
In an embodiment according to the present invention, the motion platform is a six-degree-of-freedom motion platform, and the six-degree-of-freedom motion platform receives the motion command and controls the corresponding one or more motors to respond to the command, and the corresponding crank is driven by the motor and drives the motion platform to generate the corresponding motion, so that the six-degree-of-freedom motion platform forms a real scene corresponding to the motion element in the virtual scene.
In one embodiment according to the invention, the wash-out algorithm of step 1) is obtained by a method comprising the steps of:
a) acquiring acceleration and angular velocity data information of elements; the element is selected from a virtual character or a body part of a user;
b) carrying out high-pass filtering on the acceleration data, carrying out double integral calculation on a value obtained by the high-pass filtering, and converting the value obtained by the integral calculation into a displacement direction, a displacement speed and a displacement distance of a corresponding assignment module;
c) respectively carrying out low-pass filtering on the acceleration data and the angular velocity data, then respectively carrying out strategy component conversion, respectively converting the converted values into angles, and adding the two angles to obtain the motion angle of the corresponding assignment module;
d) forming the numerical values obtained in the steps b) and c) into assignment instructions, and enabling the corresponding assignment modules to execute corresponding actions according to the assignment instructions;
when the element is a virtual character, the corresponding assignment module is an action platform; when the element is the body part of the user, the corresponding assignment module is the body part corresponding to the virtual character.
The invention also provides the application of the active adaptive system for the human body function training in balance ability training and/or evaluation.
Compared with the prior art, the invention has at least the following beneficial effects:
1) the active self-adaptive system and the method for human body function training completely control the self-selection training scene and difficulty degree by the user in the using process, and are different from the existing situation that the user needs to complete the designated action in the environment designated by the system.
2) The active self-adaptive system and the method for human body function training make up the defect that the current training only can simply simulate flat ground, can simulate more complex scenes such as mountainous regions, sea surfaces and the like, increase the interestingness of the training and the selectivity of users, and increase the training effect.
3) The active self-adaptive system and the method for human body function training solve the problem that the current system and the training method implemented on the basis of the ground have different aspects of weight, gait, stride, angle, speed and the like compared with people, and the system cannot be dynamically adjusted according to the factors, so that a user is easily injured during training.
4) The active self-adaptive system and the method for human body function training provided by the invention have wide application scenes, and can be used for medical rehabilitation and special training of sports, military and the like.
Drawings
FIG. 1 is a schematic flow diagram of a prior art arrangement;
FIG. 2 is a schematic diagram of an interaction process between a user and an active training system according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of a motion platform control unit according to one embodiment of the present invention;
FIG. 4 is a schematic logic flow diagram of a wash-out algorithm in accordance with one embodiment of the present invention;
figure 5 is a logic flow diagram illustrating a surfing scenario in accordance with one embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. The examples, in which specific conditions are not specified, were conducted under conventional conditions or conditions recommended by the manufacturer.
A technique commonly used in prior art balance ability training and evaluating systems is to allow a trainer to passively adjust the body posture in order to maintain a balanced state by using a small platform that can be flipped at an angle in the left-right and front-back directions. As shown in figure 1, in the process, the plantar pressure sensors are used for calculating control parameters such as the gravity center position, the symmetry degree, the coordination, the supporting surface and the like of the patient in real time, so that the balance ability training effect is evaluated and guided. Because the training mechanism and the training effect evaluation mechanism both use the relevant indexes of gravity center shift, which are single, although the indexes of gravity center shift can represent the human body balance state to a certain extent, the posture change, the coordination action and the like of the upper limbs, the lower limbs, the ankles, the hip joints and the knee joints in the process of maintaining the stable gravity center are lack of monitoring and evaluation, so that the training and the evaluation are incomplete and scientific.
In addition, the training and evaluating system is not provided with a feedback unit, or some systems are provided with simple and crude feedback units, and because the training effect measuring system and the training mechanism executing unit work relatively independently, a real-time feedback system or feedback adjustable parameters are not provided in the testing period, so that richer and more diversified training effects and strengths can not be realized according to the real-time state of the trainee.
In view of the above-mentioned drawbacks of the prior art, the present invention provides an active adaptive system for human body function training, comprising:
the system comprises an action acquisition module, an interactive data processing module, an action platform and interactive display equipment;
the motion acquisition module is selected from one or more of an image recognition module, an infrared sensing module or a posture sensor group;
the interactive data processing module generates a virtual scene and a virtual character representing the user in the virtual scene, and meanwhile, the received real-time action data of each part of the body of the user are processed and then assigned to the virtual character, so that the virtual character generates an action corresponding to the user; and sending the virtual scene and the virtual character action information to an action platform;
the action platform responds to the action instruction of the interactive data processing module and forms a real scene corresponding to the action elements of the virtual scene; the action elements are selected from one or more of up-down fluctuation, vibration, front-back shaking, left-right shaking, gradient formation and ladder formation;
and the interactive display equipment receives the audio and video information sent by the interactive data processing module and presents virtual characters and virtual scenes to a user.
In an embodiment of the present invention, the motion acquisition module is an attitude sensor group, the attitude sensor group is composed of a plurality of miniature attitude sensors respectively fixed at different positions of the body of the user, and the miniature attitude sensors are used for acquiring real-time motion data of corresponding body parts and sending the real-time motion data to the interactive data processing module.
In one embodiment of the invention, the attitude sensor comprises a micro power supply module, a gyroscope, a data storage module and a body data wireless transceiver module; the gyroscope, the data storage module and the wireless data transceiver module are respectively electrically connected with the micro power supply module, and the gyroscope, the storage module and the body data wireless transceiver module are sequentially in data connection; preferably, the motion data comprises angular velocity and acceleration data.
In an embodiment according to the invention, the motion platform is a six-degree-of-freedom motion platform, and comprises a reality simulation module, six motors and a motion platform arranged above the six motors, wherein the six motors respectively drive the motion platform to generate corresponding motions under motion commands of the reality simulation module.
In one embodiment according to the invention, the interactive display device is a virtual reality display device; preferably, the virtual reality display device comprises an audio and video module and an audio and video data receiving module.
In one embodiment according to the invention, the part of the body to which the posture sensor is fixed comprises limbs and a trunk; preferably, the number of the posture sensors is 12, and the posture sensors are respectively fixed on the left big arm, the left small arm, the right big arm, the right small arm, the chest, the waist, the left thigh, the left calf, the left foot, the right thigh, the right calf and the right foot.
The present invention also provides a control method of the active adaptive system for human body function training, as shown in fig. 2, in one embodiment, the interaction process between the user and the active training system includes: 1) the interactive data processing module generates a virtual scene and a virtual character, sends the virtual scene and the virtual character to the interactive display equipment, and simultaneously generates action instructions for action elements in the virtual scene through a wash-out algorithm and sends the action instructions to the action platform in real time; 2) the action platform receives an action instruction and simulates action elements in the virtual scene to carry out corresponding actions according to the action instruction; 3) the gesture sensor group collects and sends real-time body motion data, the interactive data processing module receives the real-time body motion data and obtains virtual motion data through a washout algorithm, and then the virtual motion data is assigned to the virtual character and sent to the interactive display device, so that the presented virtual character generates real-time corresponding motion.
In one embodiment according to the present invention, the control process is as shown in fig. 3, the mechanical system is a Stewart six-degree-of-freedom platform; the electric control system is characterized in that a servo motor is connected to the inner side of the crank, the control box is an electric control unit and consists of a power module, an industrial personal computer, a motion control card, a servo driver, a wire arrangement board, a circuit breaker, an isolation transformer and a cooling fan. The motion platform is a six-degree-of-freedom motion platform, the six-degree-of-freedom motion platform receives motion instructions and controls one or more corresponding motors to respond to the instructions, the corresponding cranks are driven by the motors, and the cranks drive the motion platform to generate corresponding motions, so that the six-degree-of-freedom motion platform forms a real scene corresponding to motion elements in a virtual scene.
As shown in a logic flow diagram of an embodiment of the washout algorithm shown in fig. 4, data information such as acceleration, angle and the like of a virtual human vestibular region receptor is extracted from a virtual scene unit, and a corresponding platform motion is generated through a Stewart six-degree-of-freedom platform washout algorithm, so that a Stewart platform simulates a motion that a trainee vestibule and the virtual human vestibular receptor have the same body feeling.
The implementation method comprises the following steps:
a) acquiring acceleration and angular velocity data information of elements; the element is selected from a virtual character or a body part of a user;
b) carrying out high-pass filtering on the acceleration data, carrying out double integral calculation on a value obtained by the high-pass filtering, and converting the value obtained by the integral calculation into a displacement direction, a displacement speed and a displacement distance of a corresponding assignment module;
c) respectively carrying out low-pass filtering on the acceleration data and the angular velocity data, then respectively carrying out strategy component conversion, respectively converting the converted values into angles, and adding the two angles to obtain the motion angle of the corresponding assignment module;
d) forming the numerical values obtained in the steps b) and c) into assignment instructions, and enabling the corresponding assignment modules to execute corresponding actions according to the assignment instructions;
when the element is a virtual character, the corresponding assignment module is an action platform; when the element is the body part of the user, the corresponding assignment module is the body part corresponding to the virtual character.
The unit is a segment consisting of C++Computer algorithm program (mainly Stewart platform washing out algorithm) written in language can be embedded in virtualAmong character scene programs.
In one embodiment according to the present invention, a scenario is provided in which a trainee simulates sea surfing: the virtual human is used for calculating the traditional gravity center position, a force which is the same as the included angle in direction is applied to a character and a sliding plate in a virtual scene according to the included angle between the virtual gravity center position and the vertical direction in the virtual scene, the force can push the sliding plate and the virtual character to generate displacement, the character needs to control the sliding plate to move and simultaneously obtain a virtual reward on the sea, the training effect depends on the good degree of a trainee in completing tasks, and the partial function is realized by a virtual program of a virtual reality simulation technology part.
Training mechanism function: in the surfing scene in the virtual scene program, the virtual program sends the posture of the sliding plate and the acceleration and the angle sensed by the sensor at the human lobby part to the feedback unit, an action numerical value is obtained through a washing algorithm, the numerical value is fed back to the action platform, and the platform executes the platform motion displacement and the angle fed back by the platform so as to achieve the effect experience of somatosensory simulation.
Specifically, as shown in fig. 5, in the virtual unit, a virtual character and a scene are first established, after a trainer wears an action acquisition module (a sensor group), the gravity center of the virtual character is calculated by a weight method based on the real situation of the trainer, then an included angle between the gravity center direction and the vertical direction is calculated based on the acquired action data (mainly angular velocity and acceleration), then the included angle is converted into an acting force in the same horizontal direction according to the proportion, and after the acting force is assigned to the virtual character, the virtual character takes an action of simulating the trainer; meanwhile, in a virtual scene, due to wave fluctuation of sea waves, the surfboard fluctuates, data such as acceleration and angular velocity of the postures of the virtual character receptors and the skateboard are sent to the feedback unit, a washing algorithm is started to be executed, numerical values such as displacement speed, acceleration, distance and angle which should be generated by the six-freedom-degree action platform are obtained through the washing algorithm, the numerical values are sent to the six-freedom-degree action platform, and the six motors are respectively controlled through servo drivers of the six-freedom-degree action platform, so that the platform generates corresponding actions.
The foregoing shows and describes the general principles, essential features, and advantageous features of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. An active adaptive system for human function training, comprising:
the system comprises an action acquisition module, an interactive data processing module, an action platform and interactive display equipment;
the motion acquisition module is selected from one or more of an image recognition module, an infrared sensing module or a posture sensor group;
the interactive data processing module generates a virtual scene and a virtual character representing the user in the virtual scene, and meanwhile, the received real-time action data of each part of the body of the user are processed and then assigned to the virtual character, so that the virtual character generates an action corresponding to the user; and sending the virtual scene and the virtual character action information to an action platform;
the action platform responds to the action instruction of the interactive data processing module and forms a real scene corresponding to the action elements of the virtual scene; the action elements are selected from one or more of up-down fluctuation, vibration, front-back shaking, left-right shaking, gradient formation and ladder formation;
and the interactive display equipment receives the audio and video information sent by the interactive data processing module and presents virtual characters and virtual scenes to a user.
2. The active adaptive system according to claim 1, wherein the motion acquisition module is an attitude sensor group, the attitude sensor group is composed of a plurality of miniature attitude sensors respectively fixed at different positions of the body of the user, and the miniature attitude sensors are used for acquiring real-time motion data of corresponding body parts and sending the real-time motion data to the interactive data processing module.
3. The active adaptive system of claim 1,
the attitude sensor comprises a micro power module, a gyroscope, a data storage module and a body data wireless transceiving module; the gyroscope, the data storage module and the wireless data transceiver module are respectively electrically connected with the micro power supply module, and the gyroscope, the storage module and the body data wireless transceiver module are sequentially in data connection; preferably, the motion data comprises angular velocity and acceleration data.
4. The active adaptive system according to claim 1, wherein the motion platform is a six-degree-of-freedom motion platform, and comprises a reality simulation module, six motors and a motion platform disposed above the six motors, and the six motors respectively drive the motion platform to generate corresponding motions under motion commands of the reality simulation module.
5. The active adaptation system of claim 1, wherein the interactive display device is a virtual reality display device; preferably, the virtual reality display device comprises an audio and video module and an audio and video data receiving module.
6. The active adaptive system of claim 1, wherein the area of the body that secures the attitude sensor comprises a limb and a torso; preferably, the number of the posture sensors is 12, and the posture sensors are respectively fixed on the left big arm, the left small arm, the right big arm, the right small arm, the chest, the waist, the left thigh, the left calf, the left foot, the right thigh, the right calf and the right foot.
7. The method for controlling an active adaptive system for human body function training according to any one of claims 1 to 6, comprising:
1) the interactive data processing module generates a virtual scene and a virtual character, sends the virtual scene and the virtual character to the interactive display equipment, and simultaneously generates action instructions for action elements in the virtual scene through a wash-out algorithm and sends the action instructions to the action platform in real time;
2) the action platform receives an action instruction and simulates action elements in the virtual scene to carry out corresponding actions according to the action instruction;
3) the gesture sensor group collects and sends real-time body motion data, the interactive data processing module receives the real-time body motion data and obtains virtual motion data through a washout algorithm, and then the virtual motion data is assigned to the virtual character and sent to the interactive display device, so that the presented virtual character generates real-time corresponding motion.
8. The control method according to claim 7, wherein the motion platform is a six-degree-of-freedom motion platform, the six-degree-of-freedom motion platform receives the motion command and controls the corresponding one or more motors to respond to the command, and the corresponding crank is driven by the motor to drive the motion platform to generate corresponding motion, so that the six-degree-of-freedom motion platform forms a real scene corresponding to the motion element in the virtual scene.
9. The control method according to claim 7, wherein the wash-out algorithm of step 1) is obtained by a method comprising the steps of:
a) acquiring acceleration and angular velocity data information of elements; the element is selected from a virtual character or a body part of a user;
b) carrying out high-pass filtering on the acceleration data, carrying out double integral calculation on a value obtained by the high-pass filtering, and converting the value obtained by the integral calculation into a displacement direction, a displacement speed and a displacement distance of a corresponding assignment module;
c) respectively carrying out low-pass filtering on the acceleration data and the angular velocity data, then respectively carrying out strategy component conversion, respectively converting the converted values into angles, and adding the two angles to obtain the motion angle of the corresponding assignment module;
d) forming the numerical values obtained in the steps b) and c) into assignment instructions, and enabling the corresponding assignment modules to execute corresponding actions according to the assignment instructions;
when the element is a virtual character, the corresponding assignment module is an action platform; when the element is the body part of the user, the corresponding assignment module is the body part corresponding to the virtual character.
10. Use of an active adaptive system for human function training according to claims 1-6 for balance ability training and/or assessment.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114783611A (en) * | 2022-06-22 | 2022-07-22 | 新泰市中医医院 | Neural recovered action detecting system based on artificial intelligence |
| CN115920335A (en) * | 2022-11-29 | 2023-04-07 | 深圳信息职业技术学院 | Human body physiological index monitoring and analyzing system and method |
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