KR20240035137A - Metaverse interface device - Google Patents

Abstract

The present invention relates to a metaverse interface device that can provide a sense of reality by transmitting the virtual force generated in the relationship between a virtual model and a virtual object to a user equipped with an exoskeleton device for interfacing with virtual space, and includes at least one An exoskeleton device having an actuator of; a virtual space providing unit that forms a virtual model linked to the exoskeleton device and provides a simulation environment generated by the virtual model interacting with virtual objects; and a control unit that estimates the movement of the virtual model and outputs a torque value calculated by taking into account the virtual force generated in the relationship with the virtual object in the simulation environment to the actuator.

Description

METAVERSE INTERFACE DEVICE}

The present invention is a Metiverse interface device, and more specifically, a torque that can give a sense of reality by transmitting the virtual force generated in the relationship between the virtual model and the virtual object to the user equipped with an exoskeleton device for interfacing with virtual space. -This is about a feedback-based metaverse interface device.

Currently, rapid expansion of virtual reality-related industries is expected due to the economic ripple effect of metaverse-related industries. Virtual Reality (VR) is a virtual world created through computer work in a specific environment or situation, and through the virtual world, users can experience as if they are interacting with real surrounding situations and environments.

Meanwhile, it is currently possible to input body posture and movements into a virtual environment in real time without discomfort through VR controllers and motion tracking, but the output received by users is still limited to images and sounds. The imposition of mechanical responses such as force and restraint accompanying the interaction between the virtual environment and objects is extremely limited, such as through vibration.

The absence of such physical means of interaction can be evaluated as a factor that hinders the implementation of the metaverse and hinders user immersion. Therefore, in order for humans to participate more deeply in the virtual environment, it is a computer-human interaction device with high-level input and output capabilities required for metaverse implementation, beyond the traditional HID (Human Interface Device) such as the current keyboard, mouse, and touch screen. The introduction of MID (Metaverse Interface Device) is necessary.

Korean Patent No. 10-2225783

The object of the present invention is to provide a new type of metaverse interface that can convey a sense of reality by transmitting the repulsion force, impact force, and weight sensation generated by contact between a virtual model and a virtual object in a virtual space to the actuator of an exoskeleton device worn on the human body to the wearer. The purpose is to provide a device.

The metaverse interface device according to the present invention for achieving the above problem includes an exoskeleton device having at least one actuator; a virtual space providing unit that forms a virtual model linked to the exoskeleton device and provides a simulation environment generated by the virtual model interacting with virtual objects; and a control unit that estimates the movement of the virtual model and outputs a torque value calculated by taking into account the virtual force generated in the relationship with the virtual object in the simulation environment to the actuator.

Preferably, a first link to which one frame is connected; a second link to which the second frame is connected; a motor mounted on the first link and the second link to rotate the first link or the second link; and a sensing unit that senses the rotation angle of the motor.

Also, preferably, the motor is equipped with a satellite gearbox with a preset constant reduction ratio.

Also, preferably, the first link and the second link are configured to rotate with each other only within a certain range.

Meanwhile, the metaverse interface device according to the present invention includes an exoskeleton device that has at least one motor and is worn on the arm of the human body; a first control unit that controls the motor; a virtual space providing unit that forms a virtual model linked to the exoskeleton device and provides a simulation environment generated by the virtual model interacting with virtual objects; And a second control unit that transmits torque information calculated in consideration of the virtual force generated in the relationship with the virtual object in the simulation environment to the first control unit, wherein the torque information is transmitted to the wearer of the exoskeleton device. It is characterized in that physical interaction between the virtual model and the exoskeleton device is possible.

Preferably, the second control unit includes: a virtual model motion estimation unit that receives rotation angle information at which the motor rotates when the human body moves and estimates the movement of the virtual model; and a virtual model force calculation unit that calculates torque information according to the virtual force predicted to be received by the virtual model in the simulation environment.

Also, preferably, in the simulation environment, in the case of an environment where the virtual model collides with a fixed virtual object, the virtual model force calculation unit extracts a normal vector of the collision area between the virtual model and the virtual object, and It is characterized by calculating the torque direction so that the repulsive force acts in the direction of the vector.

Also, preferably, when the virtual model collides with a fixed virtual object, the virtual model force calculation unit calculates the magnitude of the torque value by considering the rotation angle or rotation speed of the virtual model.

Also, preferably, in the simulation environment, in the case of an environment in which the virtual model lifts a virtual object, the virtual model force calculation unit is characterized in that it calculates different torque values according to the weight of the virtual object.

Also, preferably, the virtual model force calculation unit uses torque value change information according to the rotation angle of the virtual object that is stored in advance in consideration of the posture, rotation speed, or weight of the virtual model.

In addition, preferably, the second control unit further includes a torque information output unit that reduces the size of the torque value calculated by the virtual model force calculation unit by a certain ratio and outputs it.

According to the present invention, the virtual force generated in the relationship between the virtual model and the virtual object in the virtual space is calculated, and the calculated force is provided to the actuator of the exoskeleton device, so that the wearer of the exoskeleton device can feel a sense of reality, so the metaverse interface device It is suitable as

Figure 1 is a diagram schematically showing the configuration of a metaverse interface device according to the present invention.
Figure 2 is a perspective view showing an embodiment of an exoskeleton device according to the present invention.
Figure 3 is an exploded perspective view of part X shown in Figure 2.
FIG. 4 is a side view of the coupling portion between links in the X portion shown in FIG. 2 as viewed from the side.
Figure 5 is a diagram showing a state in which the motor is rotated while the exoskeleton device according to the present invention is worn on the human body.
Figure 6 is a diagram showing another embodiment of the exoskeleton device of the present invention.
Figure 7 is a graph of torque and current changes according to the voltage applied to the exoskeleton device according to the present invention.
Figure 8 is a diagram showing the state of a user wearing the exoskeleton device of the present invention and the state implemented as a virtual model.
Figure 9 is a diagram experimentally illustrating the relationship between the upper arm and the lower arm and the virtual object in the virtual model of the wearer of the exoskeleton device according to the present invention.
Figure 10 is a diagram showing the configuration of a second control unit according to the present invention.
Figure 11 is a graph showing the change in torque value according to the arm rotation angle of the virtual model of the wearer of the exoskeleton device according to the present invention when the virtual model lifts virtual objects with different weights.
Figure 12 is a graph showing the change in the arm rotation angle of the virtual model of the wearer of the exoskeleton device according to the present invention according to the impact received from virtual objects with different weights.

Hereinafter, with reference to the attached drawings, a detailed description of the metaverse interface device according to a preferred embodiment is as follows. Here, the same symbols are used for the same components, and repetitive descriptions and detailed descriptions of known functions and configurations that may unnecessarily obscure the gist of the invention are omitted. Embodiments of the invention are provided to more completely explain the invention to those skilled in the art. Accordingly, the shapes and sizes of elements in the drawings may be exaggerated for clearer explanation.

Figure 1 is a diagram schematically showing the configuration of a metaverse interface device according to an embodiment of the present invention.

As shown in Figure 1, the metaverse interface device according to the present invention is an interface device for physical interaction between the movements of a user wearing an exoskeleton device in the real world and the movements of a virtual model in the virtual world, and includes an exoskeleton device ( 100), a first control unit 140, a virtual space providing unit 200, and a second control unit 240. Here, the exoskeleton device 100 and the first control unit 140 may correspond to the hardware unit 10, and the virtual space providing unit 200 and the second control unit 240 may correspond to the software unit 20. there is.

The exoskeleton device 100 according to the present invention is worn on the upper limb of the human body. In general, the upper limb of the human body is a multi-degree-of-freedom system with more than 7 degrees of freedom (DOF), but the exoskeleton device 100 according to an embodiment of the present invention is attached to the arm of the human body for convenience of explanation of physical interaction with virtual space. It is assumed to be worn and to have one degree of freedom that applies only to the flexion and extension rotation axis of the elbow joint.

However, according to another embodiment of the present invention, the exoskeleton device 100 may be configured to be worn not only on the arm of the human body, but also on the entire or partial upper limb of the human body, such as the shoulder. At this time, the exoskeleton device 100 may include at least one actuator.

Figure 2 is a perspective view showing an embodiment of the exoskeleton device according to the present invention, Figure 3 is an exploded perspective view showing the X part shown in Figure 2, and Figure 4 is a link to the X part shown in Figure 2. This is a side view of the liver joining area, and Figure 5 is a diagram showing the motor being rotated while the exoskeleton device according to the present invention is worn on the human body.

2 to 5, the exoskeleton device 100 according to an embodiment of the present invention includes a first link 110, a second link 120, and a motor 130.

The first frame 112 is connected to the first link 110. The first frame 112 is a configuration corresponding to the upper arm of the human body. A first support 114 is formed on one side of the first frame 112. The first support 114 is in direct contact with the upper arm of the human body and functions to support the exoskeleton device 100 on the arm of the human body.

The second link 120 is connected to the second frame 122. The second frame 122 is configured to correspond to the lower arm of the human body. A second support 124 is formed on one side of the second frame 122. The second support 124 directly contacts the lower arm of the human body and functions to support the exoskeleton device 100 on the arm of the human body.

Meanwhile, the first and second frames 112 and 122 may be made of a light material with a certain degree of rigidity, such as aluminum. Additionally, the first and second links 110 and 120 may be made of a material that is not only rigid but also ductile and has a high tensile modulus even when yielding. This is in consideration of the safety of the user (also referred to as the wearer) wearing the exoskeleton device 100. The first and second supports 114 and 124 may be made of a lightweight plastic material. Meanwhile, the first and second links 110 and 120 or the first and second supports 114 and 124 may be manufactured using a 3D printing method.

The first link 110 and the second link 120 are rotatably coupled to each other. As shown in FIG. 3, in one embodiment of the present invention, a coupling hole 113 is formed in the first link 110, and a coupling protrusion 123 is formed in the second link 120. The coupling protrusion 123 is inserted into the coupling hole 113 so that the first link 110 and the second link 120 can be rotatably coupled to each other. As shown in FIG. 5, when the exoskeleton device 100 is worn on the user's human body (H), the first link 110 and the second link 120 are rotated by a certain angle θ by the rotation of the motor. can be rotated

Meanwhile, mechanical restraints are formed on the first and second links 110 and 120 to limit the rotation range to a certain angle when the first link 110 and the second link 120 are combined and rotated. This is in consideration of the safety of the user wearing the exoskeleton device 100. As an example of such a mechanical restraint, referring to the Y portion shown in FIG. 4, when the first link 110 and the second link 120 rotate in a direction away from or toward each other, the links between the links It is formed so that the contact area is limited to a certain angle.

A motor 130 is mounted at the joint portion of the first link 110 and the second link 120. At this time, the axis line of the motor 130 and the coupling axis line of the first link 110 and the second link 120 are configured to coincide with each other. Therefore, when the motor 130 rotates, the first link 110 and the second link 120 can rotate relative to each other. Meanwhile, a bearing 133 is mounted in the coupling hole 113 to facilitate rotation of the first link 110 and the second link 120 according to the rotation of the motor 130.

Meanwhile, in the present invention, the maximum torque performance and maximum rotation speed of the motor must be considered.

The situation in which the maximum torque of the motor must be considered is when the motor stops without rotating and there is no back electromotive force, and torque is applied by the maximum Lorentz force generated by the maximum current applied to the internal winding, that is, when the motor stops. This is when it is in a state of static equilibrium. This situation corresponds to a case where the exoskeleton device 100 forces the wearer's upper arm to stop in opposition to the wearer's motion when the virtual character's upper arm is unable to move due to interaction with a virtual object.

The situation in which the maximum rotational speed must be considered is, first, that the proportionality constant between rotational speed and back electromotive force indicated by the motor's no-load maximum rotational speed performance is excessive compared to the operating conditions, so that the motor does not resist the wearer's motion but conforms to it, and vice versa. In the case of rotation, the value is large enough to offset the induced power voltage. Secondly, as described above, for reasons of safety of the wearer, the exoskeleton device 100 has a mechanical restraint part, and as a result of interaction with the virtual space, the wearer moves the upper arm of the human body led by the exoskeleton device 100. As there is no resistance, excessive shock load or fatigue damage may occur in the mechanical restraints mentioned above. Therefore, in the present invention, an upper limit of the maximum rotation speed of the motor can be set to prevent this.

In one embodiment of the present invention, the motor 130 is a BLDC (Brushless Direct Current) motor to control the desired torque and rotation speed. The motor 130 is equipped with a satellite gear unit (not shown) having a certain reduction ratio in order to provide a large output torque to the wearer.

In one embodiment of the present invention, the motor 130 is equipped with an encoder as a sensing unit to measure the rotation angle of the motor. The encoder is used to detect rotational movement between the first and second links 110 and 120 by measuring the rotation angle of the motor. The encoder may transmit the collected rotation angle information to the first control unit 140.

Figure 6 is a diagram showing another embodiment of the exoskeleton device of the present invention.

Referring to Figure 6, in another embodiment of the present invention, the first link 1110 to which the first frame 1112 is connected and the first support 1114 is formed, and the second frame 1122 is connected to the second support The second link 1120 on which 1214 is formed is rotatably coupled. Here, the function of each component is the same as the function of the first link 110 and the second link 120 described in the embodiment of the present invention described above. In addition, a mechanical restraint portion that limits the rotation range to a certain angle is formed at the joint portion of the first link 1110 and the second link 1120 shown in FIG. 6.

Meanwhile, in another embodiment of the present invention, the motor 1130 used at the coupling portion of the first link 1110 and the second link 1120 is a DC motor. The motor 1130 is equipped with a gearbox with a constant reduction ratio and a variable resistor 1135 (potentiometer) as a sensing unit for measuring the rotation angle of the motor 1130.

Figure 7 is a graph of torque and current changes according to the voltage applied to the exoskeleton device according to the present invention.

Figure 7 is for evaluating the performance of the exoskeleton device 100 according to the present invention. Referring to FIG. 7, it can be seen that when gradually increasing voltage is applied to the exoskeleton device 100, the torque and current applied to the motor increase linearly. At this time, the torque was measured when the exoskeleton device 100 was in static equilibrium.

The first control unit 140 controls the actuator (motor) of the exoskeleton device 100 and is connected to the software unit 20 in a wired or wireless manner. The first control unit 140 can transmit rotation angle information of the actuator (motor) to the second control unit 220, and receives torque value information according to the movement of the virtual model received from the second control unit 240 to control the actuator (motor). ) can be controlled.

Figure 8 is a diagram showing the state of a user wearing the exoskeleton device of the present invention and the state implemented as a virtual model, and Figure 9 shows the upper arm and lower arm in the virtual model of the wearer of the exoskeleton device according to the present invention with the virtual object. This is a drawing that experimentally constructs an interactive relationship.

The virtual space provider 200 may be a server that forms a virtual model in conjunction with the exoskeleton device 100 and forms a virtual space (or metaverse) in which the virtual model can operate. The virtual space provider 200 may include physics engine software that processes physical phenomena (eg, gravity, inertia, etc.) that act on the virtual model. Here, the virtual space may be a virtual computing environment created on a computer. A virtual model refers to a virtual model implemented by processing all or part of the human body wearing the exoskeleton device 100 in a virtual space.

The virtual space providing unit 200 may receive rotation angle information of the motor received from the first control unit 140 and process the movement of the virtual model.

The virtual space provider 200 may implement the movement of the virtual model in virtual space according to the movement of the wearer wearing the exoskeleton device 100 and display it on the display unit 220. 8 (a) to (c) show a virtual model (M ) state is shown.

The virtual space provider 200 may provide various simulation environment conditions in which a virtual model can contact a virtual object and physical interaction can occur. For example, the virtual space provider 200 sets a condition (first environmental condition) in which the virtual model is holding a virtual object (e.g., an apple-shaped virtual object), and a fixed virtual object (e.g., a wall shape). Simulation environmental conditions can be provided, such as the condition of colliding with a virtual object (second environmental condition) and the condition of colliding with a flying virtual object (third environmental condition).

However, in order to provide a sense of reality through physical interaction between the wearer and the virtual model, when the virtual model lifts a virtual object in the first environmental condition described above, the wearer must receive different degrees of heaviness depending on the weight of the virtual object. When the virtual model collides with a virtual object in the 2nd environmental condition, the wearer needs to receive a repulsive force, and when the virtual model collides with a virtual object in the 3rd environmental condition, the wearer needs to receive an impact force.

Referring to FIG. 9, the experimentally implemented virtual model consists of a fixed upper arm (U) and a rotatable lower arm (L). The lower arm (L) may collide with the virtual object (O) while repeatedly rotating. At this time, the experiment was conducted by repeatedly rotating the wearer's arm, and therefore rotation angle information is continuously collected in the sensing unit. Figure 9 (a) shows a state in which the lower arm (L) does not collide with the virtual object (O), and Figure 9 (b) shows a state in which the lower arm (L) collides with the virtual object (O). is shown. The graph shown in (c) of FIG. 9 shows rotation information of the lower arm (L) and the sensing unit over time due to the movement of the wearer. Here, line G1 is a value according to the rotation information of the lower arm (L), Line G2 is a value based on the rotation information of the sensing unit. The section where line G1 and line G2 match means that the lower arm (L) did not collide with the virtual object (O), and the section where line G1 and line G2 do not match means that the lower arm (L) collided with the virtual object (O ) means that it collided with. Since the wearer continuously rotates the actual lower arm repeatedly, line G2 continues without rapid change over time, but line G1 has a sharp step-like change. Therefore, in this section, a repulsive force or the like needs to be applied to the wearer.

Referring to FIG. 10, the second control unit 240 includes a virtual model motion estimation unit 242, a virtual model force calculation unit 244, and a torque information output unit 246.

The virtual model motion estimation unit 242 receives the rotation angle information of the motor received from the first control unit 140 through the sensing unit and estimates the movement of the virtual model. Here, the virtual model motion estimation unit 242 estimates a section in which a virtual force between the virtual model and the virtual object needs to be generated.

The virtual model force calculation unit 244 calculates the torque value by considering the virtual force generated in the relationship with the virtual object in the simulation environment of the virtual model. As will be described later, this torque value is transmitted to the exoskeleton device 100, and the virtual model force calculation unit 244 calculates it by considering not only the magnitude but also the direction of the torque.

In one embodiment of the present invention, we will look at the process by which the virtual model force calculation unit 244 calculates the repulsive force when the virtual model collides with a fixed virtual object.

When the virtual model rotates and touches a virtual object, the virtual model force calculation unit 244 extracts the normal vector of the collision surface (or point) (see part V shown in (b) of FIG. 9). At this time, the torque direction is calculated so that the repulsive force acts according to the direction of the normal vector. For example, if the lower arm of the virtual model rotates from top to bottom and hits a virtual object, the torque direction is calculated so that the repulsion force acts in the opposite direction.

Meanwhile, the size of the torque repulsion force can be calculated to vary depending on the size of the angle or rotation speed of the lower arm while the virtual model collides with the virtual object. For example, if the lower arm is rotated at a large angle and collides with a virtual object, a large torque value can be calculated.

Next, in another embodiment of the present invention, we will look at a process in which the virtual model force calculation unit 244 calculates the weight when the virtual model lifts a virtual object.

Figure 11 is a graph showing the change in torque value according to the arm rotation angle of the wearer's virtual model of the exoskeleton device according to the present invention when the wearer's virtual model lifts virtual objects with different weights.

Figure 11 shows the change in torque value according to the rotation angle of the lower arm when lifting a 1 kg virtual object and a 3 kg virtual object. As shown in Figure 11, a greater torque value change appears when the virtual model lifts a virtual object weighing 3 kg rather than 1 kg, and the largest torque value appears when the rotation angle of the lower arm is approximately 90°. Accordingly, the virtual model force calculation unit 244 calculates different torque values according to the posture of the virtual model (for example, the rotation angle of the lower arm) and various weights of the virtual object.

Next, in another embodiment of the present invention, we will look at the process by which the virtual model force calculation unit 244 calculates the impact force when the virtual model receives an impact from a virtual object.

Figure 12 is a graph showing the change in the arm rotation angle of the virtual model of the wearer of the exoskeleton device according to the present invention according to the impact received from virtual objects with different weights.

Figure 12 shows the change in rotation angle of the lower arm over time when the virtual model received an impact from a 1 kg virtual object, and the change in rotation angle of the lower arm over time when the virtual model received an impact from a 3 kg virtual object. It is shown. As shown in Figure 12, it can be seen that the rotation angle of the lower arm changes rapidly when the virtual model receives an impact from a virtual object with greater weight. Accordingly, the virtual model force calculation unit 244 calculates different torque values by considering the change in the rotation angle of the lower arm according to the weight of the virtual object.

Meanwhile, the torque value change information according to the rotation angle (for example, the information shown in FIGS. 11 and 12) considering the posture, rotation speed, weight, etc. of the virtual model described above is stored in advance in a separate storage unit, and the current It can be applied to the movement of a virtual model.

Meanwhile, the virtual model force calculation unit 244 according to the present invention provides not only the above-described simulation environment, but also various simulation environments generated when the virtual model and the virtual object come into contact, provided that a sense of reality can be transmitted between the virtual model and the exoskeleton device wearer. This can be expected.

The torque information output unit 246 transmits the torque value and torque direction information calculated by the virtual model force calculation unit 244 to the first control unit 140. The first control unit 140 transmits the information received from the torque information output unit 246 to the actuator (motor) and controls the actuator so that reaction force, weight, impact force, etc. are applied in each simulation situation. Meanwhile, the size of the torque value output from the torque information output unit 246 may be smaller than the torque value calculated in consideration of the safety of the wearer of the exoskeleton device 100.

Hereinafter, the operation process of the metaverse interface device according to the present invention will be described.

The user wears the exoskeleton device 100 according to an embodiment of the present invention on the arm. The virtual space provider 200 linked to the exoskeleton device 100 forms a virtual model and provides various simulation environments. When the user rotates the arm while wearing the exoskeleton device 100, the arm of the virtual model also rotates accordingly. At this time, while the user moves his arm, the motor mounted on the exoskeleton device 100 rotates and the sensing unit senses the rotation angle of the motor. Then, the first control unit 140 receives the rotation angle information and transmits it to the virtual space providing unit 200 to implement the movement of the virtual model. Meanwhile, when a simulation situation in which the virtual model contacts a virtual object occurs, the virtual model motion estimation unit 242 estimates the section in which the virtual force will be generated during the movement of the virtual model, and the virtual model force calculation unit 244 estimates the section where the virtual force will be generated. Acting force, that is, torque information, is calculated, and the torque information output unit 246 transmits this torque information to the first control unit 140. Then, the first control unit 140 controls the motor, and eventually a repulsive force or the like is applied to the exoskeleton device 100.

The present invention has been described with reference to an embodiment shown in the attached drawings, but this is merely illustrative, and those skilled in the art will understand that various modifications and other equivalent embodiments are possible therefrom. You will be able to. Accordingly, the true scope of protection of the present invention should be determined only by the appended claims.

100: exoskeleton device 110: first link
112: first frame 113: coupling hole
114: first support 120: second link
122: second protrusion 123: coupling protrusion
124: second support 130: motor
133: Bearing 140: First control unit
200: virtual space provision unit 220: display unit
240: second control unit 242: virtual model motion estimation unit
244: Virtual model force calculation unit 246: Torque information output unit

Claims (11)

An exoskeleton device having at least one actuator;
a virtual space providing unit that forms a virtual model linked to the exoskeleton device and provides a simulation environment generated by the virtual model interacting with virtual objects; and
A control unit that estimates the movement of the virtual model and outputs a torque value calculated by taking into account the virtual force generated in the relationship with the virtual object in the simulation environment to the actuator.
Metaverse interface device. According to claim 1,
a first link to which the first frame is connected;
a second link to which the second frame is connected;
a motor mounted on the first link and the second link to rotate the first link or the second link; and
A metaverse interface device comprising a sensing unit that senses the rotation angle of the motor. According to claim 2,
A metaverse interface device, characterized in that the motor is equipped with a satellite gearbox with a preset constant reduction ratio. According to claim 2,
The metaverse interface device is characterized in that the first link and the second link are configured to rotate with each other only within a certain range. An exoskeleton device having at least one motor and worn on the arm of the human body;
a first control unit that controls the motor;
a virtual space providing unit that forms a virtual model linked to the exoskeleton device and provides a simulation environment generated by the virtual model interacting with virtual objects; and
A second control unit transmitting torque information calculated in consideration of a virtual force generated in a relationship with the virtual object in the simulation environment to the first control unit,
Characterized in that the torque information is transmitted to the wearer of the exoskeleton device, allowing physical interaction between the virtual model and the exoskeleton device.
Metaverse interface device. According to claim 5,
The second control unit,
a virtual model motion estimation unit that receives rotation angle information at which the motor rotates when the human body moves and estimates the movement of the virtual model; and
A metaverse interface device comprising a virtual model force calculation unit that calculates torque information according to the virtual force predicted to be received by the virtual model in the simulation environment. According to claim 6,
In the simulation environment, in the case of an environment where the virtual model collides with a fixed virtual object, the virtual model force calculation unit extracts the normal vector of the collision area between the virtual model and the virtual object, and the repulsive force in the direction of the normal vector A metaverse interface device characterized in that it calculates the torque direction to act. According to claim 8,
When the virtual model collides with a fixed virtual object, the virtual model force calculation unit calculates the magnitude of the torque value by considering the rotation angle or rotation speed of the virtual model. According to claim 6,
Among the simulation environments, in the case of an environment in which the virtual model lifts a virtual object, the virtual model force calculation unit calculates different torque values according to the weight of the virtual object. According to claim 6,
The virtual model force calculation unit is a metaverse interface device characterized in that it uses torque value change information according to the rotation angle of the virtual object stored in advance in consideration of the posture, rotation speed, or weight of the virtual model. According to claim 6,
The second control unit,
A metaverse interface device further comprising a torque information output unit that reduces the size of the torque value calculated by the virtual model force calculation unit by a certain ratio and outputs it.

Images