CN113058208A - Omnidirectional virtual reality treadmill control method - Google Patents
Omnidirectional virtual reality treadmill control method Download PDFInfo
- Publication number
- CN113058208A CN113058208A CN202110377818.5A CN202110377818A CN113058208A CN 113058208 A CN113058208 A CN 113058208A CN 202110377818 A CN202110377818 A CN 202110377818A CN 113058208 A CN113058208 A CN 113058208A
- Authority
- CN
- China
- Prior art keywords
- linear motion
- user
- servo motor
- right steering
- treadmill
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/0048—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with cantilevered support elements pivoting about an axis
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
- A63B22/0242—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation
- A63B22/025—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation electrically, e.g. D.C. motors with variable speed control
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
-
- 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
-
- 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
-
- 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
- A63B2071/0658—Position or arrangement of display
- A63B2071/0661—Position or arrangement of display arranged on the user
- A63B2071/0666—Position or arrangement of display arranged on the user worn on the head or face, e.g. combined with goggles or glasses
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/56—Pressure
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Human Computer Interaction (AREA)
- Rehabilitation Tools (AREA)
Abstract
This patent is a control method of 360 degree qxcomm technology virtual reality treadmill, as shown in fig. 1, the qxcomm technology is the combination of front and back linear motion and left and right steering motion, both need carry out accurate control to front and back linear motion, need carry out accurate control to the left and right steering motion of whole front and back linear motion subassembly including the user again, it is further, just carry out accurate control to front and back linear motion servo motor and left and right steering motion servo motor, and is further, carry out accurate control to two servo motor's output torque, control two servo motor output and user's weight and motion trend assorted torque size and direction promptly, and is further, obtain the signal and process the signal through the sensor, with size and the direction of obtaining two servo motor control module's output torque control signal.
Description
Technical Field
The patent relates to a treadmill control method, which theoretically can realize on-site walking, running, starting, stopping, advancing, backing, steering, accelerating, uniform speed and decelerating which are not different from reality, the process is completely controlled by a user, and the omnidirectional means that the user can advance and back in the direction of 360 degrees, and the technology can be applied to the related fields of fitness, entertainment, virtual reality, intelligent wearing and the like.
Background
In the field of conventional fitness treadmills, there are mainly powered treadmills and unpowered treadmills, both of which do not have any interaction with the user. The power treadmill only outputs power, and a user only passively runs according to the rotating speed of the treadmill. The unpowered treadmill forces a user to run by means of the inertia of the rotation of the flywheel, the running belt of the treadmill is high in front and low in back, the user not only maintains the rotation of the flywheel by outputting power to the flywheel, but also runs under the driving of the inertia of the flywheel, but the inertia of the flywheel is inconsistent with the inertia of a human body, the running experience is greatly different from that in reality, and the technology is only used as a cheap substitute of the power treadmill. Both of these treadmills have poor safety and comfort.
In the emerging field of virtual reality and intelligent wearing, a so-called virtual reality treadmill exists, although various structural forms exist, the basic principle is that a user is fixed in place, the ground is made very smooth, the friction is close to zero as much as possible, the user can wear special shoes to run in place, in fact, the user slides in place, the resistance and inertia of running in reality do not exist, the use experience is still poor, and the level of the virtual reality is far from being achieved. The running machine has no running belt of the traditional running machine, can realize 360-degree omnidirectional running, but still cannot solve essential problems.
Disclosure of Invention
This patent is a control method of 360 degree qxcomm technology virtual reality treadmill, as shown in fig. 1, the qxcomm technology is the combination of front and back linear motion and left and right steering motion, both need carry out accurate control to front and back linear motion, need carry out accurate control to the left and right steering motion of whole front and back linear motion subassembly including the user again, it is further, just carry out accurate control to front and back linear motion servo motor and left and right steering motion servo motor, and is further, carry out accurate control to two servo motor's output torque, control two servo motor output and user's weight and motion trend assorted torque size and direction promptly, and is further, obtain the signal and process the signal through the sensor, with size and the direction of obtaining two servo motor control module's output torque control signal.
The first problem to be solved for achieving the virtual reality control of the front and rear linear motion is to make the friction of the transmission system of the front and rear linear motion assembly zero, and further to make the servo motor output a torque which just can offset the torque formed by the friction, the torque is determined by the transmission system of the front and rear linear motion assembly, is a fixed and unchangeable quantitative value, can be accurately measured, and is set as t 1.
The second problem to be solved is to make the friction between the running belt and the bearing bottom plate of the front and back linear motion assembly return to zero, and further to make the servo motor output a torque which just can offset the torque generated by the friction. The torque is a product of four parameters of a transmission ratio s between the roller of the running belt and the servo motor, a radius r of the roller of the running belt, a friction coefficient k, a gravitational acceleration g, and a weight m of the user, and is set to t2, i.e., t2= srkgm. As shown in fig. 2, a weight sensor is installed inside the front and rear linear motion units to measure the downward weight m of the user applied to the treadmill in real time. It should be further noted that the weight m of the user is variable, because although the weight of the user is fixed, the weight m measured by the weight sensor varies instantaneously with the running posture of the user, so that the torque is proportional to the downward weight m applied to the treadmill by the user.
To achieve the virtual reality control of the front and rear linear motion, the third problem to be solved is how to determine the motion direction of the user and adjust the directions of the output torques t1 and t2 of the servo motors in real time to make the directions of t1 and t2 always consistent with the motion direction of the user, and to solve the problem, the treadmill has a speed measuring function, and when the speed value is zero, the motion direction of the user is determined according to the directions of the traveling forces f1+ f2 measured by two pull pressure sensors installed at the left and right sides of the rear of the waist of the user and connected with the treadmill, and the servo motors are controlled to output torques t1 and t2 in the corresponding directions. The sensor is called a tension and pressure sensor because the sensor can measure tension and pressure, and the signal values of the tension and the pressure are in positive and negative directions.
The fourth problem to be solved is how to realize virtual inertia control of the front-back linear motion, namely how to enable the front-back linear motion servo motor to sense the motion trend of a user and output torque with corresponding magnitude and direction in real time without delay. The physical law followed by inertia in the forward and backward rectilinear motion is that the product of the body weight m and the acceleration a is equal to the travel force f, i.e. ma = f. As shown in fig. 2, the weight sensors are installed inside the front and rear linear motion units to measure the weight m applied to the treadmill by the user, the left and right sides of the rear waist of the user are connected to the treadmill by two tension and compression sensors to measure the running force f1+ f2 applied to the treadmill by the user, and the acceleration sensor is installed inside the roller of the running belt to measure the acceleration a of the running belt. For a heavier user, having an inertia greater than the inertia of the forward and rearward linear motion assembly drive train, a relatively small travel force f1+ f2 may produce a relatively large acceleration a, meanwhile, the weight m, the acceleration a and the traveling force f1+ f2 have the same trend of change, the product ma of the weight m and the acceleration a is larger than the traveling force f1+ f2, that is, ma > f1+ f2, and the virtual inertia control is performed by making ma = f1+ f2, by introducing the radius r of the roller of the running belt and the transmission ratio s between the roller of the running belt and the servo motor, that is, by making the torque mars equal to the torque (f1+ f2) rs, and by further making the difference between the torque mars and the torque (f1+ f2) rs a part of the output torque of the servo motor, the virtual inertia control of the front-back linear motion, that is, the virtual inertia control torque t3= sr ((f1+ f2) -ma) of the front-back linear motion can be realized. For a light user, although the inertia is smaller than that of the transmission system of the front and rear linear motion assembly, the front and rear linear motion servo motor is required to output power during acceleration, and the front and rear linear motion servo motor is required to output resistance during deceleration, so that the virtual inertia control torque of the front and rear linear motion is still t3= sr ((f1+ f2) -ma). It should be further noted that the direction of the virtual inertia control torque t3 moving linearly back and forth varies with the acceleration or deceleration of the user.
Therefore, the output torque t = t1+ t2+ t3= t1+ srkgm + sr ((f1+ f2) -ma) of the front-rear linear motion servo motor.
The four problems are solved, and the virtual reality control purpose of front and back linear motion can be realized.
The first problem to be solved is to make the friction force of the transmission system of the left and right steering movement components return to zero, and further to make the servo motor of the left and right steering movement output a torque which just can offset the torque formed by the friction force, the torque is determined by the transmission system of the left and right steering movement components, is a fixed and unchangeable quantitative value, can be accurately measured, and is set as T1.
The second problem to be solved is to make the friction force generated by the downward gravity applied by the weight m of the user to the bearings at each position of the transmission system of the left-right steering movement component return to zero, and further to make the servo motor of the left-right steering movement output a torque which just can offset the torque generated by the friction force. The torque is the product of transmission ratios S1, S2, Sn between each bearing and the left and right steering mechanism, distances R1, R2, Rn between each bearing and the left and right steering center, friction coefficients K1, K2, Kn of each bearing, gravity acceleration g and the weight m of a user, and is set as T2, namely T2= (S1R1K1+ S2R2K2+, + SnRnKn) gm. It should be further noted that the weight m of the user is variable, because although the weight of the user is fixed, the weight m measured by the weight sensor varies instantaneously with the running posture of the user, so that the torque is proportional to the downward weight m applied to the treadmill by the user.
To achieve the virtual reality control of the left and right steering motions, the third problem to be solved is how to determine the steering direction of the user and adjust the directions of the output torques T1 and T2 of the left and right steering motion servo motors in real time to make the directions of T1 and T2 always consistent with the steering direction of the user, and to solve the problem, the treadmill is required to have a steering speed measuring function, and whenever the steering speed value is zero, the steering direction of the user is determined according to the directions of the traveling forces f1-f2 measured by two pull pressure sensors installed at the left and right sides behind the waist of the user and connected with the treadmill, and the servo motors are controlled to output torques T1 and T2 in the corresponding directions. The sensor is called a tension and pressure sensor because the sensor can measure tension and pressure, and the signal values of the tension and the pressure are in positive and negative directions.
The fourth problem to be solved is how to realize virtual inertia control of left and right steering movement, i.e. how to enable a servo motor of the left and right steering movement to sense the steering trend of a user and output torque with corresponding magnitude and direction in real time without delay, so that the angular acceleration of the user is equal to the angular acceleration of the whole front and back linear motion assembly including the user. The physical law followed by inertia in left and right steering motion is that the product of the moment of inertia M and the angular acceleration a is equal to the steering torque T3, i.e. MA = T3. The moment of inertia M1 of the front-rear linear motion assembly mounted above the left-right steering motion assembly is determined by its own weight and structural dimensions, and is a fixed constant, and the moment of inertia M2 of the user is also a fixed constant, i.e. (M1+ M2) a = T3. The difference f1-f2 between the measured values of the two tension and pressure sensors which are arranged behind the waist of the user and connected with the treadmill and the product c (f1-f2) of half c of the distance between the two tension and pressure sensors are the steering torque output by the user. The steering angular acceleration a = c (f1-f2)/M2 of the user himself, that is, the steering angular acceleration of the entire front-rear linear motion assembly including the user, further considering the transmission ratio S between the right-left steering motion transmission system and the servo motor, so the virtual inertia control moment T3= S (M1+ M2) c (f1-f2)/M2 of the right-left steering motion servo motor.
The servomotor output torque for left-right steering motion T = T1+ T2+ T3= T1+ (S1R1K1+ S2R2K2+, SnRnKn) gm + S (M1+ M2) c (f1-f 2)/M2.
The four problems are solved, the virtual inertia control purpose of left-right steering motion can be realized, and the virtual inertia control purpose of front-back linear motion and left-right steering motion is realized at the same time, namely the control purpose of the omnidirectional virtual reality treadmill is realized.
Drawings
Fig. 1 is a three-dimensional force analysis diagram of the present patent.
Fig. 2 is a force analysis diagram of the front and back linear motion of the patent.
Fig. 3 is a left-right steering motion force analysis diagram of the patent.
Claims (4)
1. A control method of an omnidirectional virtual reality treadmill is characterized by comprising a front-back linear motion component and a left-right steering motion, wherein the front-back linear motion component drives two rollers to rotate by a servo motor and drives a running belt to move front and back, a bearing bottom plate is arranged below an upper running belt, the left side and the right side of the waist of a user are connected with the treadmill through two pull pressure sensors, the servo motor for the front-back linear motion outputs torque t = t1+ srkgm + sr ((f1+ f2) -ma), wherein t1 is torque generated by friction force of a transmission system inside the front-back linear motion component, s is transmission ratio between a rolling shaft of the running belt and the servo motor, r is radius of the rolling shaft of the running belt, k is friction coefficient between the running belt and the bearing bottom plate, g is gravity acceleration, m is vertically downward body weight applied to the bearing bottom plate by the user, and f1+ f2 is horizontal advancing force applied to the treadmill and measured by the two pull pressure sensors A is the acceleration of the front and back linear motion, the left and right steering motion component is positioned below the front and back linear motion component to drive the whole front and back linear motion component to steer left and right, the output torque of the left and right steering motion servo motor T = T1+ (S1R1K1+ S2R2K2+, + SnRnKn) gm + S (M1+ M2) c (f1-f2)/M2, wherein T1 is the torque generated by the friction force of the transmission system in the left and right steering motion component, S1, S2, Sn are the transmission ratio between the bearings in the left and right steering motion component and the servo motor influenced by the vertical downward body weight M applied by the user to the running machine, R1, R2, Rn are the distance between the bearings and the left and right steering center, K1, K2, Kn are the friction coefficients of the bearings, g is the acceleration of the gravity applied by the user to the running machine, s is the transmission ratio between the transmission system of the left-right steering motion assembly and the servo motor, M1 is the rotational inertia of the whole front-back linear motion assembly, M2 is the rotational inertia of a user, c is half of the center distance between two pull pressure sensors, and f1-f2 are the steering forces applied to the treadmill by the user and measured by the two pull pressure sensors.
2. The method of controlling an omnidirectional virtual reality treadmill according to one of the preceding claims, further characterized in that the directions of the output torques t1 and srkgm of the back and forth linear motion servo motors are determined in the direction of f1+ f2 when the back and forth linear motion speed is zero.
3. An omnidirectional virtual reality treadmill control method as recited in any preceding claim, further comprising the step of determining the direction of the output torques T1 and (S1R1K1+ S2R2K2+, + SnRnKn) gm of the right and left steering motion servo motors in the direction f1-f2 when the right and left steering motion speed is zero.
4. An omnidirectional virtual reality treadmill control method as recited in the preceding claim, further characterized in that the output torque (S1R1K1+ S2R2K2+, + SnRnKn) gm of the left and right steering motion servo motor, wherein S1R1K1+ S2R2K2+, + SnRnKn is a fixed constant quantity that can be simplified to a constant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110377818.5A CN113058208B (en) | 2021-04-08 | 2021-04-08 | Control method of omnidirectional virtual reality running machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110377818.5A CN113058208B (en) | 2021-04-08 | 2021-04-08 | Control method of omnidirectional virtual reality running machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113058208A true CN113058208A (en) | 2021-07-02 |
| CN113058208B CN113058208B (en) | 2023-05-26 |
Family
ID=76566277
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110377818.5A Active CN113058208B (en) | 2021-04-08 | 2021-04-08 | Control method of omnidirectional virtual reality running machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113058208B (en) |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0394146A1 (en) * | 1989-04-14 | 1990-10-24 | GIP EXERCICE -, LABORATOIRE DE PHYSIOLOGIE , (Groupement d'Intérêt Public Loi No 82610, du 15/07/1982) | Improved ergometric treadmill |
| WO1997042590A1 (en) * | 1996-05-06 | 1997-11-13 | Latypov Nurakhmed Nurislamovic | Method for placing a user in virtual reality and device for realising the same |
| EP0948377A1 (en) * | 1996-08-27 | 1999-10-13 | David E. E. Carmein | Omni-directional treadmill |
| GB0001334D0 (en) * | 1999-01-20 | 2000-03-08 | Mitchell Andrew J | Omni-directional treadmill |
| US20080032871A1 (en) * | 2006-08-02 | 2008-02-07 | Sing Lin Technology Co., Ltd. | Multifunctional exercise treadmill with sensor for activating motor driven tread belt or not in response to force exerted upon the tread belt for additionally exercising either foot muscles or both foot and hand muscles |
| US20090215588A1 (en) * | 2005-10-05 | 2009-08-27 | Eidgenössische Technische Hochschule Zürich | Device and Method for an Automatic Treadmill Therapy |
| CN102614624A (en) * | 2012-04-10 | 2012-08-01 | 山东汇祥健身器材有限公司 | Electric runner provided with automatic weight measuring system and running method thereof |
| CN102961847A (en) * | 2012-11-27 | 2013-03-13 | 上海大学 | Speed following self-adaptive control method and device for treadmill |
| CN104288966A (en) * | 2014-10-24 | 2015-01-21 | 河北工程大学 | Running machine speed change device |
| US20160193497A1 (en) * | 2010-02-03 | 2016-07-07 | Isoped, Llc | Isoped exercise device and method of use |
| WO2016153442A1 (en) * | 2015-03-26 | 2016-09-29 | KELES, Hamit | Virtual reality walking simulator and safe treadmill |
| CN106924932A (en) * | 2017-03-28 | 2017-07-07 | 北京小米移动软件有限公司 | For the speed regulating method and device of treadmill |
| US20180001134A1 (en) * | 2016-07-01 | 2018-01-04 | Woodway Usa, Inc. | Motorized treadmill with motor braking mechanism and methods of operating same |
| CN108245380A (en) * | 2018-03-13 | 2018-07-06 | 西安交通大学 | A kind of human body lower limbs recovery exercising robot |
| CN110270051A (en) * | 2019-05-29 | 2019-09-24 | 北京七鑫易维信息技术有限公司 | Balance control method, device, omnidirectional's treadmill and the medium of omnidirectional's treadmill |
| CN110755807A (en) * | 2019-11-18 | 2020-02-07 | 广州卓远虚拟现实科技有限公司 | Gait adaptive universal treadmill based on intelligent algorithm |
| WO2020053711A1 (en) * | 2018-09-13 | 2020-03-19 | Tecnobody S.R.L. | Integrated method and system for the dynamic control of the speed of a treadmill |
| CN210583486U (en) * | 2019-03-28 | 2020-05-22 | 天津运筹天下科技有限公司 | VR human-computer interaction all-purpose exercise and universal treadmill |
-
2021
- 2021-04-08 CN CN202110377818.5A patent/CN113058208B/en active Active
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0394146A1 (en) * | 1989-04-14 | 1990-10-24 | GIP EXERCICE -, LABORATOIRE DE PHYSIOLOGIE , (Groupement d'Intérêt Public Loi No 82610, du 15/07/1982) | Improved ergometric treadmill |
| WO1997042590A1 (en) * | 1996-05-06 | 1997-11-13 | Latypov Nurakhmed Nurislamovic | Method for placing a user in virtual reality and device for realising the same |
| EP0948377A1 (en) * | 1996-08-27 | 1999-10-13 | David E. E. Carmein | Omni-directional treadmill |
| GB0001334D0 (en) * | 1999-01-20 | 2000-03-08 | Mitchell Andrew J | Omni-directional treadmill |
| US20090215588A1 (en) * | 2005-10-05 | 2009-08-27 | Eidgenössische Technische Hochschule Zürich | Device and Method for an Automatic Treadmill Therapy |
| US20080032871A1 (en) * | 2006-08-02 | 2008-02-07 | Sing Lin Technology Co., Ltd. | Multifunctional exercise treadmill with sensor for activating motor driven tread belt or not in response to force exerted upon the tread belt for additionally exercising either foot muscles or both foot and hand muscles |
| US20160193497A1 (en) * | 2010-02-03 | 2016-07-07 | Isoped, Llc | Isoped exercise device and method of use |
| CN102614624A (en) * | 2012-04-10 | 2012-08-01 | 山东汇祥健身器材有限公司 | Electric runner provided with automatic weight measuring system and running method thereof |
| CN102961847A (en) * | 2012-11-27 | 2013-03-13 | 上海大学 | Speed following self-adaptive control method and device for treadmill |
| CN104288966A (en) * | 2014-10-24 | 2015-01-21 | 河北工程大学 | Running machine speed change device |
| WO2016153442A1 (en) * | 2015-03-26 | 2016-09-29 | KELES, Hamit | Virtual reality walking simulator and safe treadmill |
| US20180001134A1 (en) * | 2016-07-01 | 2018-01-04 | Woodway Usa, Inc. | Motorized treadmill with motor braking mechanism and methods of operating same |
| CN106924932A (en) * | 2017-03-28 | 2017-07-07 | 北京小米移动软件有限公司 | For the speed regulating method and device of treadmill |
| CN108245380A (en) * | 2018-03-13 | 2018-07-06 | 西安交通大学 | A kind of human body lower limbs recovery exercising robot |
| WO2020053711A1 (en) * | 2018-09-13 | 2020-03-19 | Tecnobody S.R.L. | Integrated method and system for the dynamic control of the speed of a treadmill |
| CN210583486U (en) * | 2019-03-28 | 2020-05-22 | 天津运筹天下科技有限公司 | VR human-computer interaction all-purpose exercise and universal treadmill |
| CN110270051A (en) * | 2019-05-29 | 2019-09-24 | 北京七鑫易维信息技术有限公司 | Balance control method, device, omnidirectional's treadmill and the medium of omnidirectional's treadmill |
| CN110755807A (en) * | 2019-11-18 | 2020-02-07 | 广州卓远虚拟现实科技有限公司 | Gait adaptive universal treadmill based on intelligent algorithm |
Non-Patent Citations (3)
| Title |
|---|
| 万晨晖: "基于计算机视觉的全向运动平台测量与控制研究" * |
| 刘林: "全向运动平台的控制技术研究" * |
| 王洲洲: "全方向康复步行器的最优跟踪控制方法研究" * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113058208B (en) | 2023-05-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11565149B2 (en) | Stationary ergometric exercise device | |
| CN203244743U (en) | Electric self-balancing one-wheel scooter | |
| US5209662A (en) | Riding simulation system of motorcycle | |
| US20060094569A1 (en) | Exercise machine and method for use in training selected muscle groups | |
| CN203244742U (en) | Electric self-balancing double-wheel scooter | |
| CN102424075B (en) | Rigid flexible coupled wirewalking robot based on balance beam | |
| CN103191558A (en) | Motor-driven self-balancing single-wheel scooter | |
| CN105539663B (en) | Wearable double single wheel self balancing devices | |
| CN110237493A (en) | A kind of riding simulation platform with bicycle gesture stability function | |
| CN111558198A (en) | Running training machine with virtual reality system and working mode thereof | |
| CN113058208A (en) | Omnidirectional virtual reality treadmill control method | |
| CN113058207B (en) | Control method of omni-directional virtual reality running machine with virtual steering | |
| Schwaiger et al. | A 2d-motion platform: The cybercarpet | |
| EP3849675B1 (en) | Integrated method and system for the dynamic control of the speed of a treadmill | |
| CN106741262A (en) | A kind of ball shape robot | |
| CN101294871B (en) | Apparatus and method for inspecting motorcycle | |
| JP6161023B2 (en) | Passenger motorcycle | |
| CN112973042A (en) | Man-machine integrated treadmill control method | |
| KR101894530B1 (en) | device for bicycles trainer having accelerator and decelerator with non-contacting | |
| WO2012160523A2 (en) | Dynamic apparatus for gymnastic equipement and method for controlling the apparatus, as training system using the apparatus | |
| JP2010227491A (en) | Individual moving implement | |
| Nihei et al. | Development of a new mobility system" tread-walk"-Design of a control algorithm for slope movement | |
| CN216684710U (en) | Rudder type balancing instrument for vehicle | |
| Kikuchi et al. | Development of virtual reality bike with cylindrical MR fluid brake | |
| GB2610224A (en) | An exercise bike system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |