CN105892626A - Lower limb movement simulation control device used in virtual reality environment - Google Patents
Lower limb movement simulation control device used in virtual reality environment Download PDFInfo
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Abstract
The present invention develops a lower limb movement simulation control device used in a virtual reality environment. The device is capable of analyzing and calculating a force that is applied to a lower limb of a user in a virtual reality environment and applying the force to the lower limb of the user, so as to implement natural lower limb action simulation; and a human lower limb movement simulation control device with an interactive force feedback is provided for a virtual reality system. The device is not restricted by space, and is capable of realizing force feedback interactive experience of human lower limbs in a virtual scenario with any area and any terrain, and making the user feel a full sense of immersion in a three-dimensional virtual reality environment. The device is capable of providing all movement freedom degrees and movement amplitudes that are required by human lower limbs and providing unlimited lower limb movement simulation experience for the user. Compared with the existing interactive virtual reality device, the device provided by the present invention greatly improves experience of the sense of immersion of lower limbs of the user, and realizes full interactive experience of virtual reality of the human lower limbs.
Description
Technical field
The present invention relates in virtual reality system, human action can be caught, and with human action, mutual fortune occurs
Dynamic emulator, specifically the present invention be directed to the interactive simulation equipment of human body lower limbs motion.
Background technology
Virtual reality technology be utilize computer simulation produce a three-dimensional virtual world, it is provided that user about vision, listen
The simulation of the sense organs such as feel, sense of touch, allows user as being personally on the scene, can observe in three-dimensional space in time, without limitation
Things.User carries out position when moving, and computer can carry out the computing of complexity immediately, passes accurate 3D world picture back product
Raw telepresenc.Along with the development of virtual reality technology is ripe, in the immersion virtual environment of virtual reality system is experienced,
Need to use outside human motion control equipment to manipulate the action of human body lower limbs in virtual environment, it is achieved walking, run, squat
Inferior lower limb movement.
The at present virtual reality system human motion of main flow controls equipment and includes following several: handle or control bar, omnidirectional's treadmill,
Hollow ball shape spatial simulation equipment and realistic operation catch equipment.The following is the specific descriptions about the said equipment:
Handle or control bar: handle is a manipulator that can take, and typically designs for electronic game, interrogates with electronics
Number as its input.Controlling bar is a kind of input equipment, is made up of pedestal and the main control bar pivotally that is fixed in the above, makees
With being to its equipment controlled transmission angle or direction signal, may be used for the purposes such as manipulation, flight management, apparatus control of playing.
In virtual reality system, handle and control bar can serve as the control equipment of human motion, manipulate human body in virtual environment
All kinds of actions, but due to the limitation of equipment itself, it is impossible to allow user produce and immersing that reality environment matches
Sense is experienced, and needs user hand-held control equipment in actual use and uses finger to manipulate the human body that could control in virtual environment
Motion.Additionally when using handle or controlling lever operation lower limb movement, human body lower limbs all can be only in resting state, completely disengages from
The motion of human normal is experienced, and is not that a preferable human action controls solution for virtual reality system.
Omnidirectional's treadmill: omnidirectional's treadmill is adapted to different running directions, user can move with the arbitrary direction of purpose,
Treadmill senses the direction of human motion by sensor and lower extremity movement action is sent to virtual display system, thus in void
Intend that reality system obtains the immersion motion mated with user action to experience.Relative to handle or control in actual use
For bar apparatus, omnidirectional's treadmill can realize effectively simulating without the virtual reality scenario of significant change for landform, but multiple
In miscellaneous virtual reality scenario, usually having the terrain environment of fluctuations, omnidirectional's treadmill cannot be to the change in this kind of environment
Terrain environment carries out effective analog simulation.
Hollow ball shape spatial simulation equipment: hollow ball shape spatial simulation equipment is that user provides a diameter of Spherical Volume, makes user
Can move in a spherical space, spheroid can be freely rotatable according to the step direction arbitrary orientation of user, allows user
Can walk, run, fully be immersed in virtual environment.The athletic performance of user can reappear in reality environment.Hollow
Diameter of Spherical Volume simulator is made up of Mechanics of Machinery, electronic device and software, complicated structure, and the space simultaneously taken is relatively big,
All have higher requirements to installing and using.In use need specific fixing device to limit the range of movement of user, in advance
The rolling of anti-user, also cannot simulate the hypsography change in virtual environment simultaneously.
Realistic operation catches equipment: motion capture refers to use sensor record and process human body action in three dimensions, and
Sending data to computer, can be used for multiple field after computer disposal, it is widely used in military affairs, amusement, physical culture,
Medical applications, the numerous areas such as computer vision, robotics.According to the sensor type used, motion capture equipment can
To be divided into mechanical type, acoustics formula, electromagnetic type, optical profile type.For virtual reality, common virtual reality system human body fortune
Dynamic control equipment generally uses optical profile type motion capture equipment, and this kind of system is by coming the supervision of luminous point specific in target and tracking
Carry out motion-captured, the action data of user is transmitted the motion of the personage that can control virtual scene to computer.Action
The advantage of seizure equipment is in use, and user can freely make action, uses relatively easy convenience.But this
Anthropoid motion control apparatus is limited by the restriction of real space, if virtual scene area is far longer than user in reality
The spatial area used, then cannot play corresponding usefulness.Simultaneously for the terrain environment of change in virtual scene, use dynamic
Make seizure equipment also cannot obtain intending really feeding back, simulate the fluctuations on ground in virtual environment.
In sum, current most of virtual reality system human motion control equipment can only realize incomplete virtual environment
Middle human body lower limbs Interactive control is experienced, and these equipment all cannot realize for terrain environment complicated in reality environment
Simulation, and it is directed to the force feedback of human body lower limbs, human body freedom of motion of lower limb during using the said equipment is relatively low.
Summary of the invention
The lower extremity movement Simulation Control equipment that present patent application is disclosed that in reality environment, invents the purpose of this equipment
It is to provide a kind of human body lower limbs motion simulation with interactive force feedback to control equipment for virtual reality system, manipulates virtual ring
The action of human body lower limbs in border, and make human body lower limbs obtain the feedback force that virtual environment gives, the motion of human body lower limbs also can affect
Object in virtual environment, it is achieved the interactive simulation between human body lower limbs fortune merit and reality environment.Just permissible with this equipment
Allow user naturally carry out standing, walking, run, squat down, the lower limb movement such as jump, for controlling personage in virtual scene
Lower limb movement.This equipment can the virtual scene of adaptive unlimited area, user can be obtained in the virtual scene of arbitrary area
Immersion is experienced.It addition, this equipment can also realize the simulation to virtual scene mesorelief and feedback, human body lower limbs is allowed to perceive
Real hypsography, finally realizes real lower limb feeling of immersion in reality environment and experiences.
In order to achieve the above object, present invention employs following technical scheme:
(1) composition of system
As shown in Figure 1, lower extremity movement Simulation Control equipment of the present invention, its system comprises hardware components, software section external
Third party's 3D virtual reality software platform.The machinery knot bound together with human body lower limbs is comprised in the platform hardware structure of the present invention
Structure, the drive system that corresponding force feedback effects is provided and the sensor-based system of acquisition human body lower limbs attitude data.The software kit of the present invention
Include algorithm and control system.The algorithm of platform includes physical engine and force feedback algorithm.Physical engine is used for calculating virtual reality field
The stress of all key elements in scape and motion conditions, force feedback algorithm is for analyzing and calculate human body lower limbs being subject in virtual environment
Power, stress decomposes in the respective nodes of drive system the most at last.Control system and hardware configuration realize data cube computation, control system
Virtual reality software that system can built-in carry or data interaction can be carried out with other 3D virtual reality software platform.Control system
The related data of user lower extremity movement is affected, so in obtaining the virtual scene that virtual reality software platform is rendered, and scene
The above-mentioned algorithm of rear use, the attitude data obtained according to platform hardware calculates the personage's kinestate in virtual scene with corresponding
Lower limb force feedback parameter, is then sent to result of calculation virtual reality software platform and carries out scene rendering, the most also calculating tied
Fruit is sent to platform hardware and carries out motion simulation output, allows user experience the three-dimension virtual reality scene feedback force to it.On
The 3D virtual reality software platform stated reality environment needed for providing system to run, receives the three-dimensional scenic of control system
Related data, and in software platform, carry out rendering and showing of three-dimensional scenic.
(2) hardware configuration
The hardware configuration of lower extremity movement Simulation Control equipment of the present invention includes: frame for movement, drive system and sensor-based system.
Frame for movement:
As shown in Figure 2, the frame for movement of the present invention is a force feedback ectoskeleton structure being made up of multiple bars and drive mechanism.
It is connected by hinge between bar with bar, with corresponding motor and decelerator on each hinge, for controlling the running of hinge.
Whole frame for movement hangs and is fixed on support, fixing by with several nodes of equipment of user, including crotch, thigh,
Shank, sole, toe are fixing with equipment, thus realize the fixing of human body lower limbs key position.This frame for movement can be simulated
16 degree of freedom that human body lower limbs motion is possessed, human body can obtain step by the mechanical linkage system of bar and hinge composition simultaneously
Go, run, the feedback force of the lower limb movement such as squat down.
As shown in Figure 3, in this frame for movement, it is designed with height between crotch and thigh and compensates bar (in accompanying drawing 3 3),
For adapting to the change of different user thigh length.Toe hinge (in accompanying drawing 3 14) between toe and sole is protected
Demonstrate,prove the degree of freedom that user toe portion is movable.
Drive system:
Drive system is formed by with the chaindriven motor of hinge, and the function that drive system can realize includes: brakes and drives.Pass through
The braking of drive system, can realize to human body lower limbs output braking torque according to the scene requirement of virtual reality system, thus mould
Anthropomorphic body lower extremity movement contacts the resistance suffered by each type objects.Drive system, by actively exporting driving moment, can allow and make
User's lower limb are experienced from the specific driving force in virtual scene, and then simulation human body lower limbs is by acceleration of gravity or other motions
The various stress caused.
Sensor-based system:
The sensor-based system of the present invention is made up of a series of motion capture sensor, for catching and measure the action number of frame for movement
According to.Sensor in the present invention can be made up of displacement coder, and these displacement coders are arranged on each degree of freedom of system
In corresponding drive system, in order to catch the athletic posture of human body lower limbs.By measuring each movable joint of human body lower limbs
Motion conditions, be transmitted back to data in virtual reality system carry out force analysis and Attitude Calculation.
(3) input/output of system
The input of system: system receives virtual scene the crash data centered by user from control system, and adhesion is fed back
Algorithm calculates user stress in virtual scene.
Detailed process is centered by user, as shown in Figure 4, sets up the polar coordinate system of point on the basis of human body waist, should
Coordinate system comprises longitude, latitude, distance parameter, and when receiving around after virtual scene data, control system will be used in combination
The attitude that person is current, uses above-mentioned coordinate data to calculate the virtual scene lower limb exoskeleton structural feedback power to user, afterwards
Act on the lower limb of user by ectoskeleton frame for movement, allow the lower limb of user experience in virtual scene for user
The feedback force of lower limb.Meanwhile, control system also can calculate in three-dimensional virtual scene by wanting that user lower limb movement is affected
Element, and these key elements are rendered in 3D virtual reality software platform and represents.
In order to promote computational efficiency, the present invention needs to arrange monitoring half in virtual scene with above-mentioned polar coordinate system datum mark for the center of circle
Footpath, within this radius, when the key element in virtual environment is within monitoring radius, as shown in Figure 5, be
The system automatic survey calculation of meeting all virtual reality key elements within monitoring radius, these key elements are carried out with the form of the point of impingement
Metering, control system is analyzed the point of impingement in virtual scene and the stressing conditions of user lower limb by utilizing an algorithm to, will be subject to
The state of the key element of human body lower limbs collision is showed by rendering of 3D virtual reality software platform, and force feedback result of calculation is real
Time feed back to, with frame for movement, the Position of collision point that user lower limb are corresponding by drive system, allow user perceive virtual scene
The force feedback brought.
Output: after user lower limb experience the feedback force that frame for movement is brought, its natural reaction made can change machinery accordingly
The attitude of structure, these data are uploaded to control system by system, rendering for virtual image.
Detailed process is after user lower limb experience the feedback force of system mechanics structure output, may make corresponding force at any time anti-
Feedback.The power applied due to user and frame for movement interacts, and the comprehensive function result of these power can make the appearance of frame for movement
State produces respective change, exports data to control system, be converted to virtual after the attitude data of sensor-based system seizure frame for movement
The kinestate of the human body in scene and limb action, then export and render virtual three-dimensional scene to 3D virtual reality software platform.
Compared with prior art, present invention have an advantage that
1, in virtual three-dimensional scene, achieve complete human body lower limbs and control operation, allow the people using this equipment can make any
Lower limb movement controls virtual portrait action corresponding in virtual scene, is greatly improved under user relative to existing technology
The limb degree of freedom of motion；
2, user is allowed to obtain the virtual environment feedback force for human body lower limbs action, and by this feedback force exactly by sensing
Systemic effect is on the node that human body lower limbs is fixing, it is achieved that accurate quantification simulation；
3, the terrain environment of fluctuating can be simulated in systems, the fluctuations of virtual three-dimensional scene mesorelief is sensed with machinery
Form feeds back to human body lower limbs, and human body lower limbs can make corresponding action change naturally after perceiving topography variation this to adapt to
Topography variation, the now action of human body will be recognized by the system and carry out the mechanics feedback of a new round again, define one complete
Human body lower limbs force feedback circulates, and for current body mechanics's feedback device, practicality is greatly promoted, and allows user body
Test real lower limb feeling of immersion；
4, the use of native system does not has the restriction in region, and user can simulate the void of arbitrary area and terrain environment by system
Intend scene, and whole system can be built a fixing position, it is not necessary to take additional space, relative to conventional void
Intend the interactive peripheral apparatus of reality and improve the motility that system deployment uses.
Accompanying drawing explanation
Fig. 1 is the system composition structured flowchart of the present invention
Fig. 2 is the machine construction principle figure of the present invention
Fig. 3 is the frame for movement schematic diagram of the present invention
Fig. 4 is the Force Calculation scope solid demonstration graph in the virtual scene of the present invention
Fig. 5 be the present invention virtual scene in human body stress's computer capacity profile
Fig. 6 is the force feedback algorithm flow chart of the present invention
Fig. 7 is the operational process schematic diagram of the present invention
Detailed description of the invention
The detailed description of the invention of the present invention is described in detail below in conjunction with the accompanying drawings with specific embodiment.
Accompanying drawing 1 is the composition schematic diagram of the embodiment of the present invention, and described content includes:
The composition of present invention lower extremity movement Simulation Control equipment in reality environment includes: platform software, 3D are virtual existing
Real software platform and platform hardware.
Platform software is made up of algorithm and control system.
Algorithm includes physical engine and force feedback algorithm.Physical engine is for calculating in virtual scene each key element in different feelings
Physical attribute under condition, determines stress and the kinestate of key element by physical attribute.Force feedback algorithm is used for analyzing resolving people
The stress of body lower limb, and by the feedback force result of calculation of lower limb being decomposed each motor of drive system, determine system pair
Feedback force in human body.
Control system realizes data cube computation with the sensor-based system in platform hardware, can also carry built-in 3D virtual reality soft simultaneously
Part platform or use the scene data that other 3D virtual reality software platform provides.Control system uses aforementioned algorism,
The three-dimensional virtual scene provided in conjunction with 3D virtual reality software platform, can be carried out for human body lower limbs stress in virtual scene
Analyze, solve the personage's kinestate obtained in virtual reality scenario and corresponding lower limb force feedback parameter through calculating.Final control
The calculation result data that system processed obtains, by the drive system being supplied in frame for movement and 3D virtual reality software platform, is used respectively
Render in drive system force feedback and three-dimensional virtual scene.In the actual enforcement of the present invention, control system can use include but
It is not limited to personal computer, network computer, embedded system, smart mobile phone before interior computer software and hardware system realizes
Technical purpose described in literary composition.In the actual enforcement of the present invention, control system includes but does not limits physically may be mounted at
Previously described technical purpose is realized at interior physical location in aforesaid frame for movement, drive system, sensor-based system.
3D virtual reality software platform can provide the three-dimension virtual reality scene needed for system operation, receives the data of control system
Result of calculation, and render in three-dimensional scenic and show.
Platform hardware is made up of frame for movement, drive system, sensor-based system.
Accompanying drawing 2 is the principle schematic of embodiment of the present invention frame for movement, and described content includes:
Previously described frame for movement is the lower limb exoskeleton of a band force feedback, and frame for movement is by multiple bars and drive mechanism structure
Become.It is connected by hinge between bar with bar, each hinge drives motor and decelerator with corresponding, is used for controlling hinge
Running.Whole frame for movement hangs and is fixed on a support, user by the binding with multiple nodes of equipment, including
The binding of crotch, thigh, shank, sole, toe and equipment, thus realize human body lower limbs key position and force feedback ectoskeleton
Fixing.Frame for movement itself possesses the freedom of motion identical with human body lower limbs, and human body is when using this force feedback ectoskeleton
Lower limb can realize freely buying, the mechanical linkage system formed by bar and hinge obtain walking, run, the lower main drive such as squat down
The feedback force made, the terrain environment not limiting area and shape being adapted in reality environment.
Accompanying drawing 3 is the detailed maps of embodiment of the present invention frame for movement, and described content includes:
Previously described frame for movement includes a series of bar structure and the hinge arrangement of connecting rod, specifically includes following structure:
1 crotch's connecting rod: be fixed on a shelf by suspension, the crotch with user is fixed together simultaneously
2 heights compensate hinge: connect crotch and the hinge of height compensation bar
3 heights compensation bars: the adaptive equalization bar designed to compensate the different size change of user thigh, mechanical system
The Leg length of different users can be automatically adapted to by this design
4 thigh pitching hinges: the hinge designed for the pitching motion up and down of thigh, this structure makes human thigh in pitching certainly
By degree is upper can freely activity
5 abduction of the hip joint hinges: the hinge designed for the arms sideward lift of thigh, this structure makes human thigh in lateral abduction certainly
By degree is upper can freely activity
6 thigh swing hinges: the hinge designed for the revolution action of thigh, this structure makes human thigh at revolution degree of freedom
On can be freely movable
7 thick link: the bar linkage structure being fixed together with user lower limb thigh, movable together with the thigh of user
8 knee hinges: the hinge designed for the pitching motion up and down of knee, this structure makes human knee position bowing
Facing upward can be freely movable on degree of freedom
9 shank swing hinges: the hinge designed for the revolution action of shank, this structure makes human calf at revolution degree of freedom
On can be freely movable
10 shank link: the bar linkage structure being fixed together with user lower limb shank, movable together with the shank of user
11 ankle pitching hinges: the hinge designed for the pitching motion up and down of ankle, this structure makes human body ankle in pitching certainly
By degree is upper can freely activity
12 ankle abduction hinges: the hinge designed for the left and right arms sideward lift of ankle, this structure makes human body ankle outside lateral
Can be freely movable on exhibition degree of freedom
13 sole connecting rods: the bar linkage structure contacted with user lower limb sole, for supporting hind paw and the rear heel of human body
14 toe hinges: the hinge designed for the pitching motion of toe, this structure makes the person's toe can on pitch freedom
With free activity
15 toe connecting rods: the bar linkage structure being fixed together with user lower limb toe, for supporting the toe of human body
16 bases: be used for supporting and suspend in midair whole frame for movement
Previously described drive system is fixed on inside the hinge arrangement of ectoskeleton structure described previously in the present embodiment, is one to be
Arrange and cut with scissors chaindriven driving motor and corresponding decelerator with these, can be real according to the command request of control system in accompanying drawing 1
In the existing present invention, ectoskeleton is to the braking of human body lower limbs action and driving.In the actual enforcement of the present invention, drive system can use
Include but not limited to motor, servomotor, motor, hydraulic pressure, pneumatic interior device realize braking and drive.
Previously described sensor-based system is responsible for measuring the angular displacement of each motor in drive system, in this example in the present embodiment
It is multiple displacement coders on middle sensor hardware, each movable joint hinge active force shadow by human body can be measured
The angular displacement rung and produce, realizes the metering to human action.In the actual enforcement of the present invention, sensor-based system can be adopted
With including but not limited to that mechanical pick-up device, changing sensor, pressure transducer measure human body stress at interior sensor.At angle
Degree measure embodiment in, sensor-based system can use include but not limited to photoelectric encoder, current encoded device, mechanical encoder,
Electromagnetic encoder, goniometer, magnetometer measure angle at interior sensor.
Accompanying drawing 6 is the schematic diagram of force feedback algorithm in the embodiment of the present invention, and described content includes:
Previously described force feedback algorithm is divided into three steps: static(al) decomposition computation, obligatory point stress are decomposed and correct and drive
System action force calculates:
A. static(al) decomposition computation based on constraints:
After receiving the crash data of virtual scene, the constraints in conjunction with personage carries out static(al) decomposition computation.The constraint of personage
Point totally four, is the biped of people and double knee joint respectively.First system obtains personage and virtual scene according to personage's attitude and crash data
Collision situation, thus judge the obligatory point possessing feedback force.According to the situation of change of human body attitude, calculate human body and do not examining
Consider the desired acceleration a under obligatory point sliding condition and desirable angle acceleration alpha.According to formula:
With
M in formula is the quality of personage, and v is the instantaneous velocity of personage, and t is the time, and M is the moment that personage receives, and L is people
Thing overall displacements vector, ω is personage's instantaneous angular velocity
Can calculate to try to achieve and respectively constrain in ideally suffered counteracting force.
The stress of the most each obligatory point is decomposed and corrects
After the stress obtaining each obligatory point, its respective constraint vector direction can be calculated according to each point cantact situation.According to formula:
F=FN+Ff, (FNIt is the driving force in constraint vector direction, FfIt is the frictional force in constraint vector direction) by suffered by each obligatory point
Power prolongs its constraint vector direction and the projection of vector method in-plane, can calculate the support force suffered by each obligatory point and preferable friction
Power.By formula:
Ff max=μ × Fn,
Wherein, μ is the coefficient of friction between personage and contact surface, FnIt it is contact surface normal pressure
The maximum static friction force F that constraints can be provided by the case of considering coefficient of friction can be calculatedf max.More satisfactory rub
Wiping power and maximum static friction force, if preferable frictional force is more than maximum static friction force, illustrate that this obligatory point exceeds in practical situations both
The restriction ability that frictional force can be provided by should produce slip.Use formula:
F '=FN+Ff max,
The stress of each obligatory point after considering to slide can be calculated.Pass through formula:
With
Can correct and not consider the coefficient of friction acceleration on human motion and the impact of angular acceleration, obtain actual acceleration a '
With actual angular acceleration α '.The space coordinates forming personage is exported in control system after integration by these data.
C. the Calculation of the force of drive system
After obtaining each obligatory point stressing conditions, according to human body attitude and the physiological bounds of current time, calculate each joint drive system
Brake force and driving force.Its calculating process is: obtain each joint distal link normal on its plane of rotation, by active force
Asking for projection components on these normals successively according to by distal-to-proximal order, this component is divided by the length of respective link
The moment of torsion of the required output of corresponding joint.According to the action effect of output moment of torsion, if needing to overcome gravity acting, produce is to drive
Kinetic moment, if consistent with gravity acting direction, produces braking moment.Remainder after active force Projective decomposition moves the most afterwards,
Recursive calculation goes out the corresponding torsion of the required output in each joint.If recursive procedure runs into the joint that there are other applied external force,
Then applied external force is continued recursive calculation after the residue projection components synthesis in this joint.
Accompanying drawing 7 is the operational process schematic diagram of the embodiment of the present invention, and described content includes:
For the running of system, first several key positions of force feedback ectoskeleton with human body lower limbs are bound by user,
After lower limb setting in motion, system utilizes sensor-based system to carry out motion capture, it is thus achieved that human body lower limbs motion capture data, then
In 3D virtual reality software platform, element in motion capture data combined with virtual scene is carried out virtual reality scenario render.Simultaneously
Control system is combined with system algorithm, the collision element factor calculation in combined with virtual reality scene, calculate in virtual environment for
The active force of the human body lower limbs point of impingement, these result of calculation, is finally made to frame for movement by drive system generation respective action power
For the corresponding point of impingement of human body lower limbs, allow user experience the mechanics feedback that reality environment brings, and naturally make
Corresponding lower limb movement feedback, is the most again transferred to system mechanics structure by the action of human body, initially enters next round force feedback
Calculate the circulation rendered with virtual reality scenario, go round and begin again, the most repeatedly carry out lower limb movement and catch and force feedback calculating,
Realize human body lower limbs force feedback interactive experience in three-dimension virtual reality environment.
Claims (4)
1. present invention lower extremity movement Simulation Control equipment in reality environment includes:
The hardware configuration of the present invention includes frame for movement, drive system and sensor-based system；
The frame for movement of the present invention uses the force feedback ectoskeleton structure that multiple bars and drive mechanism are constituted, by hinge between bar and bar
Chain is connected, with driving equipment accordingly on each hinge, for controlling the running of hinge；Present device and human body lower limbs
Each key position binds together, and can make identical action together with driving mechanical structure: by machinery during human body lower limbs activity
Structure can simulate 16 degree of freedom that human body lower limbs motion is possessed, it is thus achieved that virtual reality scenario is anti-for human body lower limbs action
Feedback power；
The drive system of the present invention is formed by with the chaindriven driving equipment of hinge, and the function that drive system can realize includes: braking,
Drive: by the braking of drive system, can realize turning round to human body lower limbs output braking according to the scene requirement of virtual reality system
Square, thus simulate in human body lower limbs motion and contact the resistance suffered by each type objects；Drive system is passed through actively to export driving moment,
User lower limb can be allowed to experience from the external motivating force in virtual scene, so simulation human body lower limbs by acceleration of gravity or
Other various stress caused of moving；The drive system of the present invention in actual implementation process, drive system can use include but
Be not limited to motor, servomotor, motor, hydraulic pressure, pneumatic interior device realize braking and drive；
The sensor-based system of the present invention is made up of a series of motion capture sensor, and these sensors are for measuring the fortune of human body lower limbs
Dynamic attitude and stressing conditions: by measuring the motion conditions of human body lower limbs key position, data are transmitted back in virtual reality system
Carry out human body lower limbs force analysis and Attitude Calculation；The sensor-based system of the present invention is in actual implementation process, and sensor-based system can be adopted
With including but not limited to that mechanical pick-up device, changing sensor, pressure transducer, photoelectric encoder measure people at interior sensor
Body stress；
The control system of the present invention and hardware configuration realize data cube computation, control system built-in virtual reality software or virtual with other
Reality software connection realizes data interaction；The present invention obtains, by control system, the scene that virtual reality software is rendered, and by field
The related data that may have influence on user lower extremity movement in scape is supplied to control system；Control system is according to hardware configuration attitude meter
Calculate personage's kinestate and force feedback parameter, be respectively transmitted and carry out scene rendering and fortune respectively to virtual reality software and hardware structure
Dynamic simulation data.
2. the lower extremity movement Simulation Control equipment in reality environment described in claim 1, it is characterised in that:
Can be that virtual reality system provides the human body lower limbs motion simulation of a kind of band force feedback to control equipment, human body lower limbs and power
Profit requires that the ectoskeleton described in 1 binds together, and is suspended on support, and lower limb support people by the ectoskeleton structure of the present invention
Body, and realize the interactive action emulation of lower limb: during the imitative emulation of this action, human body can carry out any lower limb naturally
Action, manipulates the action of human body lower limbs in virtual environment, also can obtain the virtual environment feedback for human body lower limbs action simultaneously
Power.
3. the lower extremity movement Simulation Control equipment in reality environment described in claim 1, it is characterised in that:
The present invention can the three-dimensional virtual scene of adaptive unlimited area, realized at arbitrary area by algorithm in equipment running process
In virtual reality scenario in action emulation；Human body lower limbs can experience arbitrary area three-dimension virtual reality when using the present invention
The scene feedback force to it, it is possible to naturally make corresponding action feedback.
4. the lower extremity movement Simulation Control equipment in reality environment described in claim 1, it is characterised in that:
The present invention can the three-dimensional virtual scene of adaptive arbitrarily landform, realized in any landform by algorithm in equipment running process
Virtual reality scenario in action emulation: human body lower limbs use the present invention time can experience any landform three-dimension virtual reality field
The scape feedback force to it, it is possible to naturally make corresponding action feedback.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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