EP3580637A1 - Dispositif de détection de mouvements d'une personne utilisant ledit dispositif aux fins de la transformation de mouvements dans un espace virtuel - Google Patents

Dispositif de détection de mouvements d'une personne utilisant ledit dispositif aux fins de la transformation de mouvements dans un espace virtuel

Info

Publication number
EP3580637A1
EP3580637A1 EP18704532.3A EP18704532A EP3580637A1 EP 3580637 A1 EP3580637 A1 EP 3580637A1 EP 18704532 A EP18704532 A EP 18704532A EP 3580637 A1 EP3580637 A1 EP 3580637A1
Authority
EP
European Patent Office
Prior art keywords
seat
person
sole
sensors
movements
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.)
Withdrawn
Application number
EP18704532.3A
Other languages
German (de)
English (en)
Inventor
Michael Bieglmayer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cybershoes GmbH
Original Assignee
Cybershoes GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from DE102017102422.0A external-priority patent/DE102017102422A1/de
Priority claimed from DE102017110186.1A external-priority patent/DE102017110186A1/de
Application filed by Cybershoes GmbH filed Critical Cybershoes GmbH
Publication of EP3580637A1 publication Critical patent/EP3580637A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0334—Foot operated pointing devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/01—Indexing scheme relating to G06F3/01
    • G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment

Definitions

  • the invention relates to a device for detecting movements of a person using the device for the purpose of transforming the movements into a virtual space.
  • the device comprises a seat rotatably formed with respect to a ground on which the person using the device can sit, the seat being shaped such that at least movement of the legs from the knee to the distal end of the legs of the person using the device is possible, and Sensors that detect the movements of the feet of the person using the device.
  • the invention further relates to a system for detecting movements of a person using the system and for transforming the movements into a virtual space.
  • the system contains the
  • Device is adapted to the detected by the sensors movements of the feet in a synchronous, whilsidente and
  • the system is essentially constituted by a substructure with a concave base, which is known as a
  • Footprint for a person using the system and a frame for fixing and stabilizing the person using the system
  • Pelvic area formed.
  • the pelvic area is fixed with a strap that surrounds the pelvis. This can give the person a high sense of security.
  • Position information and display a virtual space based on the position information comprises a computer, a base and a chair, whereby parts of the chair can be changed in position by the user of the system with respect to the base. These changes are detected by a measuring device. Furthermore, the system has a monitor which is attached to the chair and moves with the chair. Joysticks are attached to the chair or monitor. The joysticks and the
  • Position measuring device detected signals are evaluated by the processor and converted into the virtual space displayed on the monitor.
  • the utility model DE 20 2007 01 1 704 U1 discloses a device for controlling flat or three-dimensional objects which can be displayed on a display by means of a sensor device which exerts movements or loads exerted on a seating surface by a user and / or the movement or loads captured by one foot of the user.
  • the sensor device is formed a movement, position, height, acceleration and / or inclination of the seat and / or different positions or
  • the sensor device for detecting the positions and orientations of the foot is formed by a three-dimensional resilient rocker, which is changed by changing the pressure on the foot in its position.
  • the present invention is based on the object, a device for detecting movements of a person using the device
  • wrap around fixing means is avoided and still given a great freedom of movement of all limbs of the person using the device.
  • the device comprises a seat with a support member, wherein the support member is adapted to that a seat member on which the person using the device can be attached to an upper part of the support member, and that the load of the seat member in the
  • the device further comprises sensors which detect the movements of the feet of the person using the device and cyberfoot covers for receiving at least one of the sensors, the cyberfoot covers each having a sole and attachment means with which the cyberfoot covers are applied to the legs of the person using the device are attachable, and wherein the Sole of Cyberfußschreibzieher is curved so that during the movement of the legs of the person using the device a continuous sliding rolling movement of the feet of the person using the device is possible.
  • the invention also relates to a system comprising the device according to the invention, wherein the system is adapted to the movements of the feet detected by the sensors in a synchronous, whilsidente and
  • the invention further relates to a method for producing the device according to the invention, comprising the steps of: providing the seat with the support element, which is adapted so that a seat element can be fastened to the upper part of the support element, providing the sensors, and providing the Cyberfußüberzieher.
  • the device comprises a seat with a seat element which is fastened to the upper part of the support element.
  • the person sits at least partially on the seat, depending on the shape of the seat member of the seat at least a movement of the legs from the knee to the distal end of the legs of the person is possible.
  • a seat element with a flat seat surface for example a normal chair or an office chair, in the
  • a seat element in saddle shape for example, the legs of the person already given a greater freedom of movement, the freedom of movement can be maximized in a seat element in Wegsattelform.
  • the thighs The person lie while sitting only slightly or not at all on the seat and the sitting position is upright many times more than when sitting on a flat seat.
  • the legs can be moved substantially holistically, with the legs of the person in rest position are only slightly angled.
  • the seat starting from a bicycle saddle shape, can be made even smaller, which further increases the freedom of movement of the legs, but no longer provides seating comfort.
  • the seat member is formed so that the thighs of the person substantially or not predominantly rest on the seat member.
  • the person can achieve this result by changing the sitting position on a flat seat, so that the thighs can be moved as freely as possible.
  • the seat is provided with a backrest and / or an armrest.
  • the support element is arranged along its longitudinal axis substantially below the center of gravity of the seat element.
  • the support element allows the rotation of the seat relative to the ground.
  • the upper part of the support element is rotatably formed relative to a lower part of the support element.
  • the support member can be made adjustable in length to regulate the seat height.
  • the support element comprises a gas spring.
  • the gas spring is rotatable about its longitudinal axis and is designed to be adjustable in length.
  • the device according to the invention comprises a stand, which receives the support element and connects to the substrate.
  • the stand may be a part of the support element.
  • the device according to the invention is designed so that the stand does not restrict the granted by the seat legroom of the person.
  • the device is configured such that a pedestal portion of the pedestal that provides stability to the device is positioned below a person's tread surface disposed about the seat.
  • Tread surface be formed as a base portion of the stand.
  • the device according to the invention comprises a formwork with which at least one base portion of the stator is clad.
  • the formwork has a recess for the implementation of the support element and a means for fixing the stator.
  • the tread surface is at the top of the
  • Formwork arranged so that the formwork acts as a pedestal whose areal extent is determined at least by the required range of motion for the legs of the person.
  • a swivel chair is used as the seat, such as an office swivel chair, with the stand corresponding to the base of the swivel chair.
  • the foot of the swivel chair is preferably clad with the formwork and fixed within the formwork. The fixation is particularly advantageous when the base of the swivel chair is provided with rollers.
  • the device includes
  • the device may be provided that the existing
  • Supporting element can be replaced by a support element deviating length.
  • the device is at least one more
  • Support element for example, a longer gas (pressure) spring, attached to the exchange.
  • a longer gas (pressure) spring attached to the exchange.
  • the curvature of the sole is adapted to the shape of the seat and thus to the freedom of movement of the legs of the person.
  • the Cyberfußauerzieher are advantageously formed by any kind of shoes, Sandelen or socks. These can either be pulled directly over one foot of the person or pulled over an already put on sock and / or tightened shoe.
  • the device comprises a tread surface which is arranged around the seat so that the person's feet can roll over the tread surface.
  • the surface can rest on the ground.
  • the tread surface is placed on a pedestal, such as a formwork for covering those parts of the device which provide stability to the device and otherwise restrict freedom of movement if located above the tread surface.
  • the soles of the Cyberfoot covers are advantageously covered with a textile in the form of a carpet.
  • the substrate or the tread surface has a surface formed by a textile, for example a carpet, the sole is advantageously designed to be particularly smooth and formed from metal and / or plastic, in particular from PE, PEHD, POM or PA. This has the advantage that despite physical contact Cyberfußüberzieher with the ground movement of the legs or the feet of the person without much effort is possible and that the system is very quiet.
  • the movements of the person, in particular the legs or the feet, are detected by sensors which are arranged in the operating position decentralized to the person, and / or sensors, which carries the person in operating position on the body.
  • the decentralized to the person arranged sensors can, for example, by at least one optical sensor, in particular at least one based on infrared optical Sensor be formed. It is expedient in this context to attach active and / or passive motion capture markers to a person's clothing and / or to the cyberfoot covers. With active motion capture markers, there is also the possibility that only at least one light laser unit is mounted externally to the person, this being designed to emit different light pulses. The light pulses are detected by the active motion capture markers, and based on this, the person's movements can be calculated.
  • Sensors worn by the person on the body may include, for example, magnetic sensors, acceleration sensors, proximity sensors, and / or optical sensors. Advantageous are magnetic sensors,
  • the sitting posture allows a secure sitting on the seat and a substantially free mobility of the legs and free movement of the hands.
  • a support of the person on the hands and a body parts wrap around additional fixation to stabilize the person is not necessary in the device according to the invention.
  • the comfort of getting in and out of the device is also very high and the person can move his hands freely.
  • the person must be in the system according to the invention in
  • At least one rolling element is formed in the sole of Cyberfußüberzieher.
  • the at least one rolling element is advantageously formed by a roller or a ball and is mounted by means of bearings in the Cyberfußüberziehern.
  • a rotation angle of the at least one rolling element is detected by means of a rotation angle sensor, in particular a Hall sensor.
  • a flow time of the at least one rolling element is adapted to a position of the at least one rolling element on the sole. The greater the distance between the toe of the person and the rolling element, the longer the flow time.
  • the rolling element is preferably about 2
  • the rounding of the sole of Cyberfußüberzieher is tailored to the design of the seat.
  • the slightly elevated sitting position of the person over a conventional chair causes a walking sensation when the legs are moved, even though the person is sitting.
  • the weight of the person is thereby derived as when sitting predominantly over the seat, in contrast to a conventional chair only a slight bending of the legs of the person and thus a broad mobility of the thighs as when walking is given.
  • the Cyberfußauerzieher can be set to a particularly smooth rolling, because the executed walking motion does not have to support the stability of the person.
  • This cyberfoot cover and seat work in a synergistic way together and allow the use of the device without the use of
  • Body parts wrap around fixatives.
  • the advantages of the system according to the invention additionally consist in that a forward and / or backward movement in the virtual space can be triggered by the person in a direct manner by forward and / or backward movement of the feet. Wherein the forward and / or backward movement of an avatar in the virtual space is accomplished only with ground contact of a real executed foot movement.
  • the device according to the invention is designed as a kit that can be assembled by a fitter.
  • the fitter can integrate a provided seat element into the device.
  • the method according to the invention for producing a device for detecting movements of a person using the device can therefore be extended by the following preparatory steps: providing the seat element, and mounting the seat element on the upper part of the support element.
  • the seat element represents a seat that the installer of an existing
  • the inventive method for producing a device for detecting movements of a person using the device can be extended by the following preparatory steps: Providing a seating opportunity with the seating element, and disassembling the seating element from the seating area.
  • the kit may be assembled using a provided seat.
  • the seat provided may be a swivel chair with a base, with the base of the seat provided corresponding to the stand of the device.
  • the kit intended for incorporation of a provided seat includes a formwork with which any elements restricting the user's legroom are provided below the seat
  • Performance surface such as the base, be disguised.
  • the tread surface is arranged at the top of the formwork, so that the formwork acts as a pedestal whose areal extent at least through the required
  • the formwork has a recess for the implementation of the support element and a means for fixing the stator.
  • the inventive method for producing a device for detecting movements of a person using the device involving a provided seat comprises the following steps: Provision of the seat, which can be designed as a swivel chair with a base, and placing the formwork on the stand so that the Formwork at least a base portion of the stand, for example, the base of the seat, dressed, wherein the support member of the seat is guided through the recess of the formwork.
  • Figure 1 shows a perspective view of a first embodiment of the system according to the invention in the installed position during use by a person, wherein a seat member of a seat of the system takes the form of a
  • Bicycle saddle has.
  • Figures 2a, 2b and 2c show in perspective view steps in the assembly of parts of the embodiment of the system according to Figure 1.
  • Figure 3 shows a perspective view of another embodiment of the system according to the invention in the installed position during use by a person, wherein a seat member of a seat of the system has the shape of a saddle.
  • Figures 4a to 4c show in various perspective views a
  • Figure 5 shows a side view of the Cyberfußüberziehers according to Figures 4a to 4c.
  • Figure 6 shows a perspective view of another embodiment of the system according to the invention in the installed position during use by a person, wherein a seat member of a seat of the system has the shape of a saddle.
  • Figure 7 shows a perspective view of another embodiment of the system according to the invention in the installed position during use by a person, wherein a seat member of a seat of the system has the shape of a saddle.
  • FIGS 8a to 8c show in perspective view steps in the assembly of parts of the embodiment of the system according to Figure 3 or the system of Figure 7.
  • FIG. 9 shows a perspective view of a further embodiment variant of a Cyberfoot cover.
  • Figures 10a and 10b show in a lateral perspective view of the principle of a walking movement on a seat of the system according to Figure 3, Figure 6, or Figure 7.
  • Figure 1 1 shows a general embodiment of the invention
  • Figure 12 shows a perspective view of another embodiment of the system according to the invention in the installed position during use by a peson, wherein a seat member of a seat of the system has the shape of an office seat.
  • FIG. 13 shows another general embodiment of the system according to the invention and a person using the system.
  • FIG. 14 shows a perspective view of a further embodiment variant of the cyberfoot covers.
  • Figure 1 shows a perspective view of a first embodiment of the system 100 according to the invention in the installed position during use by a person, wherein a seat member 105 of a seat 1 10 of the system 100 has the shape of a bicycle saddle.
  • the system 100 further includes an am
  • CyberfußGermanzieher and a central control means 10 for controlling a display of a virtual space display means The display means may be formed by an SD glasses 14, at least one display or at least one projector.
  • the system 100 may further comprise a central control means 10 formed by a computer or game console, the central control means 10 having an input unit 11 shown in simplified form in FIG.
  • the input unit 1 1 can be formed, for example, by a touch display, a mouse, at least one joystick, at least one controller and / or a keyboard.
  • the central control means 10 is located in the system 100 external to a virtual space indicating display means and cyberfoot coversers. But there is also the possibility that the central control means 10 at least in one of the Cyberfußauerzieher and / or is formed in the display means.
  • the display means is preferably designed as 3D glasses 14.
  • Microcontrollers via a radio network 13 to the central control means 10th
  • the central control means 10 converts the received signals into a virtual space and correspondingly changes an indication in the 3D glasses 14.
  • the 3D glasses 14 and the central control means 10 are connected via the radio network 13 for communicating.
  • the seat 1 10 has an armrest and / or a backrest.
  • the armrest and / or the backrest can increase the safety of the person using the system 100.
  • Figures 2a, 2b and 2c show in perspective view steps in
  • the seat 10 includes the seat member 105, the support member 103, and a stand 101.
  • the support member 103 is a gas (pressure) spring.
  • the stand 101 has a bulge 102 and receives the support member 103, preferably at a lower part of the support member 103.
  • the stand 101 serves to stabilize the seat 1 10 and advantageously has a diameter such that the seat 1 10 stable without too Tilting on the ground gets up. It is also possible for the stand 101 to be screwed and / or glued to the substrate and / or for the stand 101 to have suction cups or Velcro strips in order to securely connect the stand 101 to the substrate.
  • the support member 103 is connectable to the seat member 105 by means of a connector not shown.
  • the seat member 105 has the shape of a bicycle saddle and can be displaced via the support member 103 by means of a lever 106 relative to the stator 101. This has the advantage that the seat 1 10 can be adapted to a height of the person.
  • the support member 103 allows a rotation of the seat member 105 relative to the stator 101, wherein in the support member 103 a not
  • rotation angle sensor can be formed, which measures the rotation.
  • rotational angle sensor may also be coupled via the radio network 13 to the central control means 10.
  • the tread surface 104 of the system 100 according to FIG. 1 is slipped over the support element 103, wherein the support element 103 is guided through a hole formed in the tread surface 104.
  • the tread surface 104 is provided on its surface with a fabric in the form of fabric or a carpet. In a further embodiment, the tread surface 104 is provided on its surface with a foam.
  • the use of a bicycle saddle as a seat member 105 has the advantage that the person sitting on the seat member 105 has a very good legroom.
  • Seat element 105 is formed very narrow in this embodiment, wherein the narrower the seat member 105 is formed, the lower is a seating comfort for the person.
  • the support element 103 is formed by an electrically controllable actuator.
  • FIG. 3 shows a perspective view of a further embodiment variant of the system 200a according to the invention in the installed position during use by a person.
  • the system 200a has a seat 210 which has a seat element 205 formed by a saddle with a backrest.
  • a stand 201 of the seat 210 has a different shape to the stand 101 of the seat 1 10 shown in FIG.
  • the stand 201 is shown in FIG. 8a.
  • a tread surface 204 of the system 200a is correspondingly adapted to a shape of the stator 201. Due to the shape of the seat member 205, a seated position of the person on the seat 210 is different from a seated position of the person on the seat 10 of the system 100 of Fig. 1, with the person being seated by the saddle shape of the seat member 205 providing a greater sense of security in using the system 200a can be given.
  • FIGS. 4a to 4c show in a perspective view the sandals 50b of the system 100 according to FIG. 1 or of the system 200b according to FIG. 3 in detail.
  • the Sandals 50b each include an acceleration sensor, not shown, and a rolling element 56 having a rotation angle sensor, not shown, wherein the rolling element 56 is formed on an underside of a sole 71 of the sandals 50b.
  • the rotation angle sensor is formed by a Hall sensor.
  • the sole 71 of the sandals 50b is curved, the bulge being convex in the longitudinal direction 72.
  • the sole 71 is also convex in the transverse direction 73.
  • the sole 71 can have a front region 52 and a rear region 51 in the longitudinal direction 72, wherein a radius of the convex curvature of the sole 71 in the front region 52 of the sole 71 is greater than in the rear region 51 of the sole 71. This has the advantage that the person despite limited mobility of the legs, in particular the thighs, through the seat element, the feet continuously rolling over the tread or a floor can roll.
  • the sole 71 can have lateral regions 54 in the transverse direction 73 and a region 53 arranged centrally between the lateral regions.
  • the lateral regions 54 may be more curved than the centrally located region 53.
  • the sandals 50b each have a heel strap 74 fixed to the sole 71. Further, the sandals 50b may include additional straps 76 to attach the sandals 50b to the feet of the person
  • the additional belts 76 are shown in FIG.
  • the sole 71 12mm to 48mm thick. It should be noted, however, that the sole 71 may also be up to 50% lower or up to 200% higher can.
  • the optimum height of the sole 71 is adapted to a shape of the seat element. In particular, when the seat element is designed as an armchair or as an office chair with a wide seat, a high sole 71 is advantageous. See Figure 12.
  • Figure 5 shows a side view of Cyberfußüberziehers 50b according to Figures 4a to 4c.
  • FIG. 6 shows a perspective view of a further embodiment variant of a system 300 according to the invention in the installed position during use by a person.
  • the system 300 has no tread surface.
  • Sandals 50c differ from sandals 50b shown in FIGS. 4a to 4c in that a sole of sandals 50c is covered with a textile, in particular a carpet.
  • the support member 203 which may be formed as a gas (pressure) spring, is anchored directly in a ground formed by a ground, wherein the bottom has a very smooth surface with low coefficient of friction.
  • the floor is formed for example by a parquet floor.
  • Figure 7 shows a perspective view of another embodiment of the system 200b according to the invention in the installed position during use by a person.
  • the seat 210 of the system 200b has the same configuration as the seat 210 of the system 200a according to FIG. 3.
  • the system 200b differs above all in the design of the sensors compared to the system 200a according to FIG. 3.
  • the sensors of the system 200b are decentralized to the person arranged optical sensors 220a and formed by proximity sensors formed in sandals 50a.
  • the sandals 50a have no rolling element and are shown in detail in FIG.
  • the optical sensors 220a are formed by means of the movements of the person and in particular the movements of the legs of the person
  • FIGS 8a to 8c show in perspective view steps in assembling the seat 210 of the system 200a of Figure 3 and the system 200b of Figure 7.
  • the seat 210 consists of the stator 201, a support member 203, which may be formed as a gas (pressure) spring and the saddle 205.
  • the stand 201 has a slightly conically shaped skirt 202 into which the support member 203 is inserted, the support member 203 being fixed in the stand 201 by a weight of the person.
  • a recess is provided on an underside, into which the stator 201 fits. This has the advantage that the
  • Performance surface 204 can just rest on a floor and no one
  • a lever 206 may be mounted, by means of which the seat member 205 is height adjustable via the support member 203.
  • the tread 204 is provided on its surface with a carpet.
  • FIG. 9 shows a side view of the sandals 50a of the system 200b according to FIG. 7 in detail.
  • the sandals 50a have a heel strap 61 formed by aluminum or plastic and two additional straps 62.
  • the additional straps 62 are flexible and adjustable in length.
  • the sandals 50a have passive motion capture markers 59, which are arranged distributed on the sandals 50a, a microcontroller, not shown, and not shown
  • the proximity sensors detect a distance of the sandals 50a to the tread surface 204, wherein signals of the proximity sensors via the microcontroller to the central control means 10 are transmitted. Due to the Motion Capture Marker 59, the System 200b has a very high accuracy.
  • a sole 58 of the sandal 50a is arched corresponding to the sole 71 of the sandal 50b shown in FIGS. 4a to 4b.
  • the sandals 50a like the sandals 50b shown in FIGS. 4a to 4c, have a front region 21 and a rear region 51 in the longitudinal direction, wherein a radius of a sole 58 of the sandals 50a in the front region 52 is greater than in the rear region 51.
  • the sole 58 has on its underside a very low coefficient of friction, which in this embodiment of Cyberfußüberziehers no rolling element is necessary. Depending on the application, it may also be advantageous, the sole 58 of the Partially provide sandals 50a with elements or a coating which increase the coefficient of friction.
  • An upper surface of the sole 58 is provided with a layer 60 which has a very high coefficient of friction.
  • the layer 60 is formed by rubber, for example. This provides the advantage that the sandal 50a is better fixed to one foot of the person.
  • the sandals 50a have active motion capture markers which are activated by the microcontroller in the sandals 50a.
  • the optical sensors 220a are advantageously not formed by sensors but by
  • the laser light units are designed to output different static and / or dynamic light pulses.
  • further motion capture markers are attached to a clothing of the person.
  • Figures 10a and 10b show in a lateral perspective view of the principle of a walking movement on the seat member 205 of the system 200a of Figure 3, the system 300 of Figure 6 or the system 200b of Figure 7.
  • a walking motion on the seat member 205 the person moves the knee joint , here indicated by the left foot, from a position Ka to a position Kb. Simultaneously with this movement, the person rolls his left foot over the
  • Figure 1 1 shows a general embodiment of the invention
  • FIG. 12 shows a perspective view of a further embodiment variant of the system 400 according to the invention in the installed position during use by a person, wherein the system 400 differs from the system 100 according to FIG. 1 only with respect to the seat element 405.
  • the seat member 405 has the shape an office seat and has a flat seat.
  • the system 400 further includes a tread surface 404.
  • FIG. 1 1 how a movement of a person using the system is transmitted to an avatar moving in a virtual space.
  • the speed of the person's feet is detected differently.
  • the speed of the person's feet is detected differently.
  • the system 100, 200a, 300 and 400 the
  • the speed of the feet is detected by the sensor 220a.
  • the additional installed in the sandals 50a proximity sensors is determined whether by the person by means of the sandals 50a contact to
  • Tread surface 204 is made or not.
  • the information is continuously transmitted via the radio network 13 to the central control means 10.
  • the central control means 10 the information is further processed so that, in the case of non-ground contact, the speed of the respective sandal 50a is set to zero and in the case of ground contact the speed is set according to a value which is being detected by the sensors 220a.
  • both the left sandal 50a and the right sandal 50a have at the moment shown
  • a viewing direction B [X, Y, Z] of the person is permanently detected by the 3D glasses 14.
  • the 3D glasses 14 are preferably formed by a commercially available 3D glasses 14.
  • the viewing direction B [X, Y, Z] is continuously transmitted to the central control means 10.
  • the Z-component of the viewing direction B [X, Y, Z] is set to zero and the components X and Y of the direction vector R [X, Y, 0] are calculated by means of an algorithm. This is the easiest way to determine an intended direction of movement of the person.
  • the directional vector R [X, Y, 0] is determined via the orientation of the seat element with respect to the ground or the tread surface.
  • the orientation of the saddle 205 corresponds to the orientation of the pelvis of the person.
  • Cyberfußenedzieher by the central control means 10 both the current position of the Cyberfußenedzieher, as well as the current orientation of the
  • V MAXIMUM VALUE ( ⁇ V1 ⁇ , ⁇ V2 ⁇ ) * SIGNATURE (V1 + V2) * (-1);
  • a distance D to be traveled is calculated by multiplying V by a time interval between two calculation passes. Furthermore, the distance D to be covered can be multiplied by a correction factor k (for example, with a necessary conversion of centimeters to meters).
  • k for example, with a necessary conversion of centimeters to meters.
  • Translation vector T [X, Y, 0] is calculated by calculating an amount of the direction vector R [X, Y, 0] on the length of the distance D. That a negative one
  • Translation vector T [X, Y, 0] a directed average velocity is passed.
  • the avatar For each calculation pass, the avatar is advanced by the translation vector T [X, Y, 0] or according to the directional average velocity.
  • the movement of the avatar can be smoothed with already known algorithms.
  • the avatar is limited and / or directed by means of customary software calculation in his movements. As a result, gravity or collisions can be simulated.
  • the viewing direction of the avatar is controlled according to the usual methodology according to the viewing direction detected by the 3D glasses 14.
  • Figure 13 shows another general embodiment of the system 500 according to the invention and a person using the system 500.
  • the system 500 has Cyberfußschreibzieher and is equipped with a seat 1 10 according to Figures 2a-2c.
  • the system may have a central control means 12 and may have a virtual display means, for example in the form of 3D glasses.
  • the seat may also be formed according to a seat of another embodiment described herein or formed by a combination of elements of the seats described herein.
  • the central control means 12 is formed in the right Cyberfußauerzieher, but can also in the left Cyberfußschreibzieher, in the virtual
  • Display means or be formed in a separate housing.
  • FIG. 13 essentially corresponds to a Z motion.
  • the coordinate system shown in FIG. 13 is a foot-fixed coordinate system, with only one of the fixed-coordinate coordinate systems being shown in FIG. 13 for the sake of simplicity.
  • the X component and Y component of the movement of the person's feet are advantageously detected as follows:
  • the rotation angle sensor can be formed by an optical sensor, for example a laser, or a magnetic sensor, for example a Hall sensor.
  • the at least one rolling element is formed by a ball or by an all-side roll.
  • a load sensor is additionally attached to the at least one rolling element, which detects a load applied to the at least one rolling element;
  • Position sensor is formed in a CyberfußGermanzieher.
  • the position sensors advantageously determine their position by means of reference points arranged around the system.
  • optical sensors By means of at least two optical sensors, wherein in each case an optical sensor is formed in a CyberfußGermanzieher.
  • the optical sensors are designed, for example, correspondingly optical sensor, which are also used in computer mice.
  • the central control means determines whether the person
  • CyberfußGermanzieher at least one proximity sensor and / or at least one
  • the at least one proximity sensor and / or at least one pressure sensor is designed in the longitudinal direction of the Cyberfußenedzieher in the front region of the sole of the Cyberfußüberzieher.
  • Pressure sensor formed in a region of the Cyberfußüberziehers, which, when the person wears the Cyberfußüberzieher, is located in the area of the ball of the person's foot.
  • optical sensors By means of external to the Cyberfußüberziehern arranged optical sensors is also possible to detect rotational movements of the person's feet about the X-axis and Y-axis.
  • the conversion of the movements of the feet of the person using the system to the movements of the virtual avatar in the virtual space is performed by the central control means 12 according to at least one of the following criteria:
  • the virtual avatar moves sideways. If the X component of the person's feet movement is approximately zero and there is a Y component, the virtual avatar is moved forward / backward.
  • a rotation of the feet about the Z-axis during a walking motion is a strong indicator that the person wants to cause the virtual avatar to make a turn-walk.
  • the size of the X component of the movement of the person's feet in relation to a person's rotational movement sitting on the seat If an X component is present and the person is essentially sitting at the seat does not rotate against the ground, d. H. a rotation of the pelvis of the person is close to zero, the virtual avatar is moved sideways. If an X component is present and the person sitting on the seat is making significant rotational movement relative to the ground, i. a significant rotation of the pelvis of the person is detected, the virtual avatar is caused to make a rotation about its own axis.
  • the rotation of the body center point is advantageously determined by the at least one decentrally arranged optical sensor and / or based on a rotation of the seat element 105 relative to a substrate by a rotation sensor on the seat 1 10.
  • the rotation sensor is advantageously attached to the support element 103.
  • Footpads of the person and a rotation of the body center of the person around his own axis is a strong indicator that the person wants to cause the virtual avatar to make a turn.
  • the virtual avatar is caused to make a turn.
  • a low load ie at a load of approximately zero, on the rolling elements and in the presence of an X component of the movement of the feet, the virtual avatar is caused to
  • Cyberfoot overcoat is present in the area of the foot pads of the person and the pad, and there is an X component of the movement of the person's feet, the virtual avatar is moved sideways. If a distance between the front portion of the cyberfoot topsheets in the area of the footpads of the person and the pad is zero and there is an X component of the movement of the person's feet, the virtual avatar is caused to make a turn.
  • the virtual avatar Being substantially outstretched and having an X component, the virtual avatar is caused to make a turn.
  • the determination of the position of the legs is advantageously carried out by the at least one externally arranged optical sensor and / or the position sensors.
  • a CyberfußGermanzieher with a rolling element in the form of a ball 77 and a proximity sensor 78 is formed, for example in the form of a sandal 50d in Figure 14.
  • the sandal 50d is otherwise substantially similar in structure to the sandal 50b of FIG. 4b, with parts which are the same in the sandal 50d as the parts of the sandal 50b of FIG. 4b are given the same reference numerals.
  • CyberfußGermanziehern, seats, sensors, etc. a variant can also be combined as desired with other variants. It can be any embodiment of a seat, CyberfußGermanziehern or be used by sensors in all devices of the invention instead of the variant described in each case.
  • Rolling element corresponding to the CyberfußGermanziehern 50d are formed according to Figure 14, an optical sensor and / or a position sensor.
  • NAB 101 System (100; 200a; 200b; 300; 400) for detecting movements of a person using the system (100; 200a; 200b; 300; 400) and to
  • a seat (1 10; 210; 410) on which the person using the system (100; 200a; 200b; 300; 400) sits and which is rotatably formed with respect to a ground and shaped such that at least one movement of the legs of the
  • a central control means (10) connected to the sensors and the display means
  • (14) is connected for communicating and depending on the signals of
  • the system (100; 200a; 200b; 300; 400) comprises cyberfoot wraps (50a; 50b; 50c) having a sole (58; 71) and attachment means (61; 62; 74; 76), with which the cyberfoot covers (50a; 50b; 50c) can be fastened to the legs of the person using the system (100; 200a; 200b; 300; 400),
  • the central control means (10) is adapted to translate the movement of the legs sensed by the sensors into a synchronous, directionally and velocity-related movement of a virtual avatar in the virtual space
  • the sole (58; 71) of the cyberfoot covers (50a; 50b; 50c ) is curved so that when moving the legs of the system (100, 200a, 200b, 300, 400)
  • NAB 102 System (100; 200a; 300; 400) according to NAB 101, characterized in that in the sole of Cyberfußüberzieher (50b; 50c) at least one rolling element (56) is formed.
  • NAB 103 System (100; 200a; 300; 400) according to NAB 102, characterized in that the sensors comprise at least one rotation angle sensor, in particular a
  • Hall sensor which detects a movement of the at least one rolling element.
  • NAB 104 System (100; 200a; 200b; 300; 400) according to one of NAB 101-103, characterized in that the curvature of the sole (58; 71) of the
  • CyberfußGermanzieher (50a, 50b, 50c) in the longitudinal direction of the sole (58, 71) is convex.
  • NAB 105 System (100; 200a; 200b; 300; 400) according to NAB 104, by
  • the sole (58; 71) of the cyberfoot covers (50a; 50b; 50c) has a front portion (52) and a rear portion (51), a radius of convexity of the sole (58; 71) in FIG the front area (52) of the sole (58; 71) is greater than in the rear area (51) of the sole (58; 71).
  • NAB 107. System (100; 200a; 200b; 300; 400) according to any one of NAB 101-106, characterized in that the sensors include proximity sensors,
  • NAB 108 The system (200b) according to one of NAB 101-107, characterized in that the sensors comprise at least one optical sensor (220a), in particular an infrared-based optical sensor, arranged in a decentralized manner to the person using the system (200b) wherein the at least one optical sensor (220a) detects the movement of the person using the system (200b).
  • the sensors comprise at least one optical sensor (220a), in particular an infrared-based optical sensor, arranged in a decentralized manner to the person using the system (200b) wherein the at least one optical sensor (220a) detects the movement of the person using the system (200b).
  • NAB 109 System (200b) according to NAB 108, characterized in that the person using the system (200b) and / or at the
  • Cyberfootcovers (50a) active and / or passive motion capture markers (59) are attached.
  • NAB 1 10. System (200a; 200b; 300; 400) according to one of NAB 101-109, characterized in that the seat (210; 410) has a backrest and / or armrests.
  • NAB 1 1 1.
  • NAB 1 12 System (100; 200a; 200b; 300; 400) according to one of NAB 101 -1 1 1, characterized in that at least one of the CyberfußGermanziehern (50a; 50b; 50c) and the substrate is provided with a textile and that the other of the cyberfoot covers (50a; 50b; 50c) and the ground (104; 204; 404) has a low friction surface.
  • NAB 1 13 System (100; 200a; 200b; 400) according to one of NAB 101 -1 12, characterized in that the system (100; 200a; 200b; 400) has a tread surface (104; 204; 404) which is arranged around the seat (1 10; 210; 410) and on
  • NAB 1 A method of converting a motion of a person using the system (100; 200a; 200b; 300; 400) to one of the NAB 101-103 to an avatar moving in a virtual space, comprising the steps of:
  • NAB 201. System (100; 200a; 200b; 300; 400; 500) for detecting
  • a seat (1 10; 210; 410) on which the system (100; 200a; 200b; 300; 400;
  • the system (100; 200a; 200b; 300; 400; 500) comprises cyberfoot covers (50a; 50b; 50c; 50d) having a sole (58; 71) and attachment means (61; 62; 74; 76) with which the cyberfoot covers (50a; 50b; 50c) are attachable to the legs of the person using the system (100; 200a; 200b; 300; 400; 500), the central control means (10,12) being the movement sensed by the sensors to break the feet of the person using the system (100; 200a; 200b; 300; 400; 500) into at least one X-component and one Y-component and convert them into a synchronous, direction-identical and velocity-identical movement of a virtual avatar in the virtual space an X-component substantially corresponds to a sideways movement of the feet and wherein a Y-component substantially corresponds to a forward / backward movement, and that the sole (58; 71) of the Cyberfußenedzieher (50a; 50b; 50
  • NAB 202 System (500) according to NAB 201, characterized in that in the sole of each CyberfußGermanziehers (50d) at least one rolling element is formed, wherein the at least one rolling element is formed by a ball (77) or an all-side roll and wherein the sensors per Rolling element at least one
  • Rotation angle sensor in particular a Hall sensor, comprise, which detects a movement of the at least one rolling element.
  • NAB 203 System (500) according to NAB 202, characterized in that the
  • Sensors per CyberfußGermanzieher comprise at least one load sensor, wherein the at least one load sensor is designed to determine a force applied to the at least one rolling element load.
  • NAB 204 System according to one of NAB 201-203, characterized in that the sensors comprise position sensors, optical sensors, magnetic sensors and / or gyrometers, wherein in each Cyberfußüberzieher at least one position sensor, at least one optical sensor, at least one magnetic sensor and / or at least one gyrometer is formed.
  • NAB 205 System (200b; 500) according to one of NAB 201 -204, by
  • the sensors comprise at least one optical sensor (220a), in particular a infrared-based optical sensor, which is decentralized to the person using the system (200b), wherein the at least one optical sensor (220a) detects the movement of the system (220). 200b, 500).
  • NAB 206 System (500) according to one of NAB 201-205, characterized in that the sensors comprise pressure sensors and / or proximity sensor (78), wherein each CyberfußGermanzieher (50d) at least one pressure sensor and / or at least one proximity sensor (78) is formed is / are and where the at least one
  • NAB 207 A method of controlling movements of a virtual avatar with a system (500) according to NAB 205 or NAB 206, characterized in that upon detection of the sensors of an X component of the movements of the feet of the person using the system (500) and at Detecting a distance between the front portion (52) of the cyberfoot covers (50d) and the ground the virtual avatar is driven by the central control means (12) to move sideways.
  • NAB 208 A method according to NAB 207, characterized in that upon detection of the sensors of an X-component, the movement of the feet of the person using the system (500) and upon detection of a distance of zero between the front region (52) of the Cyberfoot covers (50d) and the ground the virtual avatar is driven by the central control means (12) to turn sideways.
  • NAB 209 A method according to NAB 207 or NAB 208, characterized in that in the presence of at least one rolling element and a load sensor, which determines the load on the at least one rolling element, and in
  • NAB 210 A method according to any of NAB 207-209, characterized in that upon detection of the sensors of an X-component of the movement of the feet of the person using the system (500) and upon detection of the sensors using the system (500) Person sitting at the seat essentially no
  • NAB 21 1. A method according to any of NAB 207-210, characterized in that upon detection of the sensors of an X-component, the movement of the feet of the person using the system (500) and recognition of a Y-component of substantially zero by the central control means (12)
  • NAB 212 A method according to any one of NAB 207-21 1, characterized in that upon detection of the sensors of an X-component of the movement of the feet of the person using the system (500) and on detection of the sensors of substantially right angled legs of the virtual Avatar is driven by the central control means (10; 12) to move sideways.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Input By Displaying (AREA)
  • Rehabilitation Tools (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

La présente invention concerne un dispositif de détection de mouvements d'une personne utilisant ledit dispositif aux fins de la transformation de mouvements dans un espace virtuel, comprenant : un siège (110; 210; 410); des capteurs, lesquels détectent les mouvements de pied de la personne utilisant le dispositif; et un couvre-pied de cyberespace (50a; 50b; 0c; 50d) pour recevoir au moins un des capteurs. Le siège (110; 210; 410) comprend un élément de support (103; 203), lequel est conçu de telle sorte qu'un élément de siège (105; 205), sur lequel la personne utilisant le dispositif peut s'asseoir, peut être fixé à une partie supérieure de l'élément de support (103; 203) et que la charge de l'élément de siège (105; 205) est reçue sensiblement le long d'un axe longitudinal vertical de l'élément de support (103; 203) et ladite charge est transmise vers le bas vers un sol. Le siège (110; 210; 410) est conçu rotatif par rapport au sol et ledit siège est formé de telle sorte qu'au moins un mouvement de jambe, du genou à l'extrémité distale de la jambe, de la personne utilisant le dispositif est possible. Le couvre-pied de cyberespace (50a; 50b; 50c; 50d) comporte respectivement une semelle (58; 71) et un moyen de fixation (61; 62; 74; 76) sur lequel le couvre-pied de cyberespace (50a; 50b; 50c) respectif peut être fixé sur la jambe de la personne utilisant le dispositif. La semelle (58; 71) du couvre-pied de cyberespace (50a; 50b; 50c; 50d) est courbée de telle sorte que, lors du mouvement de jambe de la personne utilisant le dispositif, un mouvement de roulement glissant continu de pieds de la personne utilisant le dispositif est possible.
EP18704532.3A 2017-02-08 2018-02-08 Dispositif de détection de mouvements d'une personne utilisant ledit dispositif aux fins de la transformation de mouvements dans un espace virtuel Withdrawn EP3580637A1 (fr)

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DE102017102422.0A DE102017102422A1 (de) 2017-02-08 2017-02-08 System zur Erkennung von Bewegungen von einer das System benutzenden Person und zur Transformation der Bewegungen in einen virtuellen Raum
DE102017110186.1A DE102017110186A1 (de) 2017-05-11 2017-05-11 System zur Erkennung von Bewegungen von einer das System benutzenden Person und zur Transformation der Bewegungen in einen virtuellen Raum
PCT/EP2018/053233 WO2018146231A1 (fr) 2017-02-08 2018-02-08 Dispositif de détection de mouvements d'une personne utilisant ledit dispositif aux fins de la transformation de mouvements dans un espace virtuel

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US11989354B2 (en) 2024-05-21
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US11216081B2 (en) 2022-01-04
US20220075457A1 (en) 2022-03-10
CN110300945A (zh) 2019-10-01
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KR20190113816A (ko) 2019-10-08
US20200033957A1 (en) 2020-01-30

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