RU2728086C1 - Simulator for skiers and method of training on it - Google Patents

Abstract

FIELD: sports.SUBSTANCE: group of inventions relates to the field of sports, in particular to methods for training ski disciplines and devices for exercises and acquiring the skills of skiing. Simulator for skiers, comprising a platform, mounted on it ski simulators, each of which is connected through a connecting element to its hand robotic manipulator, controllers for controlling movement of hands of robot manipulators, in addition, position sensors of ski simulators and forces acting on ski simulators, protective screens, is characterized by that it additionally comprises a saddle for attachment of the body of the skier (user), which is connected through the connecting element to the hand of the additional robot manipulator, a controller for controlling movement of said robot manipulator and sensors of the position of the body of the skier (user), speed of movement of the body of the skier (user) forces acting on the body of the skier (user), and speed sensors for moving skimmers, in addition, the protective screens are equipped with a system of rollers and tensioners. Method of training skiers, in which simulating passage of turns by moving user's feet, mounted on platforms of ski simulators, using hands robotic manipulators, where movements are performed using a simulation program, differs by the fact that additionally moving the body of the skier (user) fixed in the seat with the help of an additional arm of the robot manipulator, where movements are performed using a simulation program, in addition, when simulating rotations, forces are created on feet through ski simulators and on body of skier (user) through saddle by means of hands of robot-manipulators operating in mode of supporting specified forces specified by simulation program.EFFECT: technical problem of group of proposed inventions (device and method) consists in creation of simulator for alpine skiers and method of training on it skills required for skier, due to control of mutual position of feet and body of skier in all phases of rotation, in enabling control of movement speed of both skis and hull of skier, in possibility of creating complete sensation of those loads, which act on skier when descending on real routes and at the same time ensuring complete safety during training.2 cl, 4 dwg

Description

The group of inventions relates to the field of sports, in particular to methods of teaching alpine skiing disciplines and devices for exercise and the acquisition of skiing skills.

Its modifications can be used for other technical sports such as windsurfing, kiteboarding, water skiing, snowboarding and some others, as well as for entertainment devices.

There are a number of methods for teaching and training skiers, snowboarders and water skiers outside real tracks, as well as devices (simulators) by means of which such methods are implemented.

A "Method for training alpine skiers and snowboarders and a device for its implementation" is known from the prior art.

The training method consists in the fact that they simulate the passage of turns by applying an effort directed perpendicular to the longitudinal axis of the simulators. In addition, the fore and aft parts of the simulators are moved up and / or down. The device has tilt angle sensors for ski or snowboard simulators, the output of which is connected to the input of the control unit, the output of which is connected to the power drive. The athlete turns the simulators to one side or the other, imitating the passage of turns. Depending on the tilt angle, the control unit acts on the first power drive, which acts with different forces on the ski simulators. Simultaneously, from the computer output, information about the profile of the simulated slope of the ski slope is sent to the control unit, which generates signals to the second power drive and the action is implemented to the bow and / or rear parts of the simulators, providing the required inclination angle between the longitudinal axis of the simulators and the horizontal plane. To protect the athlete from injury, the invention uses shock-absorbing elements in the form of a grid (patent RU 2 354 427 C2).

From the prior art known "Trainer for skiers and slalomists", containing an inclined base carrying simulators of skis rotating around the axes, the axes are installed on the base in the area of the ski toes, and on the sides of the base there are handrails on the line of the ski toes.

The method of training a skier on this simulator is carried out by bending and tilting the knees towards the center line, thereby imitating both the edging of the skis and the centripetal force that causes the skis to guide along an arc in the turn. After that, resting on the handrails, unload the ski simulators and move them with their feet in the opposite direction up to the stop-limiter, keeping the position of the hip joint above the central axial line (patent RU 2 261 744 C1).

Known "Universal simulator", containing a support disk with an axis of rotation, which is fixed to the disk of rotation with the ability to adjust the load on the trained muscle groups.

In the method of training on this simulator, the task is a complex muscle training, strengthening of joints and ligaments, (useful model RU 112 833 U1)

Known "Sports simulator". The structure includes a base in the form of a cylinder, which has a wave-like appearance in the sweep and a movable platform, on diametrically opposite sides of which, two rollers are installed, resting on the upper edge of the base cylinder.

The athlete stands on the platform. Alternately, pressing with one or the other foot on the platform, the athlete makes the device rotate (utility model RU 117 093 U1).

Known "Trainer for skiers", including a support frame, a support for hands and simulators of skis. The support frame has an arcuate guide and is pivotally connected to a carriage on support rollers. Front and rear supports are mounted on the carriage, with hinged ski simulators with mounts for The front supports are made with the possibility of rotation of the ski simulators around the longitudinal axis of the support, the rear supports are made with the possibility of deviating from the longitudinal axis of the support, as well as with the ability to change the mounting locations of the supports on the carriage and ski simulators.

The method of training consists in the fact that imitation of movements and stands during turns is carried out by applying efforts directed along an arc relative to the longitudinal axis of the simulator. In addition, a cut turn is simulated by turning the ski simulators to the side of the turn. Simulating the passage of the track, the athlete, with the effort of his legs, overcomes the resistance of the force element and the elasticity of the supports simultaneously edges the ski simulators. This is achieved by flexing and tilting the knees towards the centerline of the machine. At the same time, the athlete maintains the position of the hip joint of the body above the longitudinal axial line of the simulator, while maintaining the descent post with support for the arm support (useful model RU 90 340 U1).

Known is a "Ski Simulator" that executes a game program in response to a control signal issued by a player by rotating simulation skis to display a skier object corresponding to the player on a display device. The ski game machine comprises: a ski rotation detector for generating a control signal by determining the direction and degree of rotation of the imitation ski; a control unit for obtaining position data showing the current position of the skier on the ski track according to the ski track data and control signals generating a plurality of data showing the ski track of the skier according to the position data, storing a lot of data when the skier is skiing on a ski track, and generate track display data for display on a display device in accordance with the stored plurality of track data; and a display for displaying a ski track with a ski track in accordance with track display data generated by the control unit. (US 2001049322).

It is known from the prior art "Ski slope simulator with video cassette playback device - it has a computer-controlled video display on which an image of a skier is superimposed in accordance with measurements of the position of the skis on the stand". The simulator includes a device for simulating a ski track using a stand with movable pairs of skis and a video screen for displaying the ski slope. Inside the stand there is a sensor for measuring the angle of inclination of the skis, as well as other sensors for determining forces and moments. There is a video playback device for recorded real images in the direction of travel of the skier. The video signal generator generates images of the same direction of movement for different forms of turns and phases of movement. There is a device for synchronizing a real image and a video signal received from a generator, as well as a device for mixing a synthetic image with a real image from a video display device. There is a computer to control the video playback device according to the training plan or depending on the movement of the skis. (DE 4002223).

Known "Method of training and trainer for slalomist". The simulator contains a base, a support element, which is installed on it so that it can be moved to the right and left, a platform that is located on the specified element in such a way that it can periodically rotate clockwise, then counterclockwise, and is equipped a supporting surface for the legs of a slalom rider, skier or snowboarder; and an oscillating crank mechanism for synchronizing and reversing the carrier of the displacement and rotation of the platform. The crank is attached to the base and is made in such a way that the slider installed on it has a closed trajectory of movement and can move along the crank in one direction and provides the law of motion of the platform relative to the base in accordance with the law of motion with respect to translational motion when the legs of a slalom player, skier or snowboarder move right - left and their angular position changes during the specified rotation and / or displacement. A method of teaching and training a slalom player, in which the movement of the feet, skis or snowboard together with the platform to the left - to the right and their rotation periodically clockwise or counterclockwise is carried out freely under the action of the effort of the slalom player or forced by the movement drive. (EA 200601329 A1).

Known "The simulator of a skier or snowboarder and a training method using it." A method of carrying out training on skis or snowboard, in which the legs of the trainee are placed on a cart that moves along the base along one of its long sides, while the legs are released due to the saddle, which is attached to an arrow placed above the base. The saddle allows you to easily lift the body up to transfer the feet from one side to the other in lateral directions with the ability to rotate and tilt the feet (invention US 2014243162).

A disadvantage of the known devices and methods for training skiers on them is that they do not provide training of the correct skills for performing turns, since in most of them the turn is performed only due to the rotation of the feet and tilt of the athlete's knees, at best, lateral movements under the body.

In the methods of training on known simulators, when simulating the passage of turns, the skills of moving the user's body relative to the feet and feet relative to the body, both in the lateral and longitudinal directions, are not developed, loads are not created that are equivalent to the real loads acting on a skier making turns on the ski track.

The closest technical solution to the claimed group of inventions "Trainer for skiers and the method of training on it" in terms of the combination of features is "Ski sports trainer and the method of training the movements of skis or boards". The ski simulator according to the invention is a device in which a robot arm is installed with one or two robot arms, one for each ski. These robotic arms are controlled by a simulation program to simulate ski and / or board movements. The simulation program stores different ski or board movements according to different scenarios. The simulator consists of a platform on which the user stands. The platform is connected through a connecting element to the arm of the robotic arm. On the connecting element, there are force and moment sensors that the user applies to the platform, as well as angle and / or position sensors. To protect the user, platforms are located around the platform. Nets are located between these platforms and the platform to reduce the risk of injury in the event of a fall. In addition, based on sensor data, ranges of motion are limited to avoid injury to the user. The robot can also be composed of linear axes and inclined joints or a parallel mechanism. This means that it is not necessary to use a serial robot, and a three-axis tilt-and-tilt unit with three degrees of freedom of rotation can be attached to the platform connector to provide a six-axis drive. Alternatively, a connecting element is provided in such a way that skis or a board can be alternately attached to the arm of the robotic arm, this will allow training various sports. The simulator contains a controller for controlling the movements of the arm of the robotic arm, so that the movements of real skis and / or boards are simulated based on the simulation program. Based on the simulation program and the selected scenario, the user is shown a visual representation of this scenario on a display device. The visual display device may provide a two- or three-dimensional representation of the simulated scenario on a screen or wearing glasses worn by the user. The user's virtual environment can be displayed with or without additional user representation. By detecting forces and moments on the board or skis, the controller, using the simulation program, gives commands to perform the movements of the robotic arms and reflects these movements on the display device screen. The design allows the simulators of skis and / or boards to be rotated by the arms of the robotic arm around three axes and moved along three axes.

A method for training alpine skiers, in which the imitation of cornering is carried out by moving the feet fixed on the platforms of the ski simulators using the arms of robotic manipulators, where the movements are performed using the simulation program. The training method consists in moving the feet with simulators of skis or boards in the required directions in accordance with the scenario presented on the screen (invention DE 102012209569).

The disadvantages of the closest analogue are as follows:

- The method of training on this simulator does not allow developing skills for performing modern ski turns, since it does not allow controlling the position of the skier's body in relation to the feet.

- The sensors do not provide control of all parameters, in particular the position and speed of movement of the feet and the body, as well as the forces acting on the body. This does not provide parameters that ensure the safety of the user.

- The protective net embedded in the design will sag, which is not safe and does not allow simulating the real configuration of the slope.

- The design of the simulator does not provide for the creation of imitation of forces acting on the skier during his movements on a real track.

The technical task of the group of proposed inventions (device and method) is to create a simulator for skiers and a method of training on it the skills necessary for a skier by controlling the relative position of the skier's feet and body in all phases of the turn, in providing the ability to control the speed of movement, both and the skier's body, in the possibility of creating a complete feeling of those loads that act on the skier when descending on real tracks and at the same time ensuring complete safety during training.

The problem is solved by the fact that a simulator for skiers containing a platform, ski simulators installed on it, each of which is connected through a connecting element with its own arm of a robot manipulator, controllers for controlling the movement of robotic arms, in addition, position sensors for ski simulators and forces acting on ski simulators, protective nets, unlike the closest analogue, additionally contain a saddle for attaching the body of the skier (user), which is connected through a connecting element to the arm of an additional robot-manipulator, a controller for controlling the movement of this robot-manipulator and body position sensors of the skier (user), the speed of movement of the body of the skier (user) of the forces acting on the body of the skier (user), and sensors of the speed of movement of the ski simulators, in addition, the protective nets are equipped with a system of rollers and tensioners.

The problem is solved by the fact that in the method of training skiers, in which they simulate the passage of turns by moving the user's feet fixed on the platforms of ski simulators, using the hands of robotic manipulators, where the movements are performed using a simulation program, in contrast to the closest analogue, they additionally carry out movement of the body of the skier (user), fixed in the saddle, with the help of an additional arm of the robotic arm, where the movements are performed using the simulation program, in addition, when simulating turns, efforts are created on the feet through the ski simulators and on the body of the skier (user) through a saddle with the help of the arms of robotic manipulators operating in the mode of maintaining the given forces set by the simulation program.

The essence of the group of inventions is as follows.

A modern ski turn is performed by movements that ensure the correct mutual position of the skier's body and his feet in each separate phase of the turn. The skier is required to very quickly change in the right directions the position of the body relative to the feet and feet relative to the body. When performing a turn, the skier's body moves relative to the feet along a trajectory that conventionally resembles an 8-ku located across the descent trajectory. Similarly, the skier's feet move relative to his body along a trajectory that also resembles an 8-ku, but in the opposite direction. The intersection point of the two ovals of each 8 is a short phase between the previous and new turn - the zero phase. In the zero phase, the skier's body is for a short time in the middle between his feet, both in the lateral direction and in the longitudinal direction.

When making a turn, the skier has to exert efforts due to the centrifugal forces acting on him.

The proposed simulator has a saddle connected to the arm of the robotic arm, which allows you to monitor the relative position of the user's feet and body and control it. Additional sensors monitor body forces, body position, and the user's body and foot speeds. Due to the presence of a system of rollers and tensioners, a plane of canvas (or mesh) is maintained between movable platforms with ski simulators and fixed platforms, creating a semblance of a continuous slope, on which, among other things, you can rest with ski poles in the user's hands.

The simulator allows for forced movements by actuators acting on the user through the hands of robotic manipulators, forcing the user to perform the correct movements. On the other hand, the simulator, through the hands of robotic manipulators, simulates centrifugal forces on the user, while the user independently performs movements for turns.

The simulator can be used both for the initial practice of correct turning skills of users, and for correcting and consolidating the correct skills among experienced skiers.

The design and software of the simulator makes it possible to start practicing the necessary skills at a very slow pace. If, when turning on a real slope, the skier's body, which is strongly displaced relative to the feet, is kept from falling by the centrifugal forces that occur when turning at high speed, then on the simulator these centrifugal forces, which make it possible to keep the user's body from falling, can also be imitated during slow movements.

The repeated repetition of the cyclic movements of the user's feet and body on the simulator allows to consolidate the correct skills and has an effect on the user that is maximally similar in their totality to those that arise in real conditions of passing the ski slope with obtaining appropriate sensations.

The essence of the alleged group of inventions is illustrated by graphic materials, where

FIG. 1 shows the construction of a ski simulator.

FIG. 2 shows the trajectory of movement of the skier's body in the course of making turns.

FIG. 3 shows the trajectory of movement of the skier's feet in the course of making turns.

FIG. 4 shows the trajectories of the simultaneous movement of the body and the feet of the skier during the turns.

The simulator (Fig. 1) consists of platforms 2 with simulators of skis 3, on which the user stands 1. Simulators of skis 3 are connected to platforms 2 so that there is a possibility of small movements of the simulator 3 relative to platform 2 in the longitudinal direction, elastically rotate about the vertical axis, and also bend elastically in the longitudinal and transverse directions. Platforms 2 are connected through a connecting element 4 to the arms 5 of robotic manipulators 6. Another arm 7 of the additional robotic manipulator 8 acts on the body of the user 1 through the saddle 9. Fastening 10 of the saddle 9 to the body of the user 1 and to the arm 7 of the robot 8 with one hand leaves complete freedom of movement for user 1, on the other hand, it allows transferring all mutual movements from the hand 7 of the robot 8 to the body of the user 1 and from the body of the user 1 to the hand 7 of the robot 8. Controlling the drives of robotic manipulators 6, 8, as well as films on the screen 11 (or in a virtual helmet) is performed by controller unit 12.

There are sensors for position 13, speed 14 and forces 15, which the user 1 applies to the simulators of the ski 3 and / or the forces acting on the user from the simulators of the skis. Sensors 13, 14 and 15 are conventionally located on platforms 2. There is a system of position sensors 16, movement speed 17 of the user's body 1 and forces 18 acting on the user's body 1. In the figure, this system of sensors 16, 17 and 18 is conventionally shown on the saddle 9. The location of each sensor depends on the type of sensor used and is selected based on the goal of obtaining the most reliable signal.

To protect the user 1, there are platforms 19 around the platforms 2. To reduce the risk of injury in the event of a fall of the user 1, there are nets (or canvas) 20. There is a system for maintaining the plane of the mesh (or canvas) 20 between platforms 2 and platforms 19, due to the system of rollers 21 and tensioners 22.

In addition, in order to avoid injury to the user 1, based on data from sensors 13, 14, 15, 16, 17, 18, the control signals of the controller unit 12, drives of robotic manipulators 6, 8 limit the ranges and speeds of movements, as well as the forces acting on feet in ski simulators 3 and user's body 1 in saddle 9.

It is not necessary to use serial robotic manipulators in the simulator. This means that to the connectors 4 of the platforms 2 and to the connector 10 of the saddle 9, three-axis tilt-and-turn blocks with three degrees of freedom of rotation can be attached to provide a six-axis drive.

A variant of the design of the simulator with additional robotic manipulators, which with their own hands act on the user's knees and additional sensors that receive signals about the position of the knees (control of the parallelism of the legs), about the speed of their movement and about the efforts applied to them. Alternatively, contactless knee control sensors are possible.

A variant is possible with the use of additional robotic manipulators, which with their own hands act on the user's shoulders and additional sensors that receive signals about the position of the shoulders, about the speed of their movement and about the forces acting on them.

The user can maintain balance using poles resting on the floor or base.

In the case of using a simulator for training windsurfing elements, an imitation of a sail boom can be installed in front of the user.

The simulator for skiers works as follows.

The feet of the user 1 (possibly in ski boots) are fixed in the mounts of the ski simulators 3 on the platforms 2 of the simulator. A virtual helmet is put on the head of the user 1 (in the version with the helmet, in the other version, in front of the user 1, the screen 11, on which he sees a picture of the slope with rotary shafts). To the body of the user 1, a saddle 9 is installed and fixed, designed to control the body of the user 1. In the hands of the user 1 there are sticks helping to maintain balance.

The block of controllers 12, consisting of separate controllers of robotic manipulators and a video controller, transmits control signals to the drives of robotic manipulators 6, 8 and hands 5, 7 through connecting elements 4 and 10 act on the user 1 by displacement or resistance to movement of platforms 2 with simulators of skis 3 and saddle 9. Control signals are generated by closed control systems in controllers using signals from sensors 13, 14, 15, 16, 17, 18 and signals generated by a video controller, reflecting the situation on an imaginary slope. The video controller simultaneously reflects all movements by changing the picture on the screen 11 (or in a virtual helmet). Tensioning systems of the net (or web) 20, consisting of rollers 21 and tensioners 22, maintain the plane between the platforms 19 and the platforms 2 along the movement of the latter.

The simulator operation provides 6 main modes:

1) Forced movement of the user's body 1 by means of the arm 7 of the robot-manipulator 8, connected to the saddle 9, relative to the conventionally fixed feet fixed in the ski simulators 3. In this case, the manipulator 8, acting on the user's body 1, operates in all coordinates in the motor mode ... The movements transmitted through the saddle 9 to the user's body 1 are synchronized with the alternating turns on the screen 11.

2) Forced movement of the feet of the user 1, fixed in the ski simulators 3, relative to the stationary body of the user 1.

Manipulators 6, acting on the feet of the user 1, work in all coordinates in the motor mode.

The movements transmitted through the ski simulators 3 to the user's feet 1 are synchronized with the changing turns on the screen 11.

3) Creation of variable forces on the body of the user 1 through the saddle 9, while the user 1 moves his body relative to the conventionally stationary feet. The manipulator 8, acting on the user's body 1 through the saddle 9, operates in all coordinates in the generator mode, maintaining the forces set by the controller 12.

4) Creation of variable forces on the feet of user 1 through platforms 2, while user 1 moves them relative to a conventionally stationary body. Manipulators 6, acting on the feet of the user 1, work in all coordinates in the generator mode, maintaining the forces set by the controller 12.

5) Complex forced movement of the user's body 1 by saddle 9 and stop platforms 2 in the function of cornering. Manipulator 8, acting on the body of the user 1 and manipulators 6, acting on the feet of the user 1 through platforms 2, operate in all coordinates in a motor mode, fulfilling the movements set by the controller 12.

6) Imitation of sensations acting on the skier when making turns by creating variable forces on the body through the saddle 9 and the user's feet 1 through platforms 2, while the user 1 reproduces motor skills with movements of both the body and the feet for turning ... Manipulators 6 and 8 work in all coordinates in the generator mode, maintaining the forces set by the controller 12.

The 3rd, 4th and 6th modes create the feeling of variable stiffness springs operating within an acceptable range.

To ensure the safety of the user in the 3rd, 4th and 6th modes, an emergency transition of the drives of manipulators 6, 8 to the motor mode is provided with the maintenance of the calculated position if movements occur outside the permissible limits.

The virtual environment of user 1 can be displayed on screen 11 with or without additional representation of user 1.

Through the use of platform modifications, saddles (trapeze) and software, the simulator can be used for training other sports such as snowboarding, water skiing, windsurfing and others.

The method of training skiers on the simulator is as follows.

The trainer operating modes and training method are set by the trainer in agreement with the user. User 1 hears in the headset of the helmet the words of the trainer explaining what kind of training is to be done.

The trainer starts at the beginning of the workout. The picture in the helmet (or on screen 11) shows the exit to the slope.

There are 6 main modes for training:

1) The user's body 1 is forcibly moved by the arm 7 of the robotic arm 8, connected to the saddle 9, relative to the conventionally stationary feet fixed in the ski simulators 3. The movement paths of the body 1 are similar to the paths 23 shown in FIG. 2 The gray arrow in the trajectory of movement of the body 23 shows the beginning of this trajectory (from zero phase φ0) for the next turn. In the first phase of the pivot (f1), the user's body is advanced in relation to the feet forward and inward (towards the center) of the pivot. In the second phase (f2), continuing to shift the body to the center of rotation, in the transverse direction, the body is displaced to the line passing through the middle of the feet, and in the third phase that completes the rotation (f3), the user's body is shifted slightly back and then to a balanced position in the middle of the feet (zero phase φ0). The body is held vertically at approximately the same level, slightly raising it in the first phase of the turn and lowering it in the third. When turning to the other side, all movements are repeated in a mirror image.

2) The feet of the user 1, fixed in the ski simulators 3, are forcibly moved by the hands 5 of the robotic manipulators 6 relative to the stationary body. The movement paths of the feet 24 are similar to those shown in FIG. 3.

The gray arrow in the trajectory of movement of the feet 24 shows the beginning of this trajectory (from zero phase φ0) for the next turn.

The movements of the feet, relative to the body, are also carried out along the trajectory of the pepper 8, only in the opposite direction. First, the feet are moved backward with a lag from the body to occupy the front strut in the first phase of the turn (f1) and outward from the center of the turn, while the skis are placed on the edges. In the second phase (f2), the feet outside the body are moved forward in line with the body in the transverse direction. In the third phase (φ3), the feet are moved slightly ahead of the body in the transverse direction and then moved under the body in a short zero phase (φ0) before the first phase (φ1) of the turn in the other direction.

3) The arm 7 of the robotic arm 8 creates variable forces on the user's body 1 through the saddle 9, similar to the forces acting on a skier on a real track, while the user moves his body, imitating turns, with respect to conventionally stationary feet. The movement paths of the housing 23 should be similar to the paths shown in FIG. 2.

In the first phase of the turn (f1), the user moves the body forward in relation to the feet and towards the center of the turn. In the second phase (f2), the user continues to move the body to the center of rotation, and in the transverse direction moves it back to the line passing through the middle of the feet. In the third phase that completes the turn (φ3), the user shifts the body back a little and then shifts it to a balanced position in the middle of the feet (zero phase φ0). Vertically, the user holds the body at approximately the same level, rising somewhat in the first phase of the rotation and lowering in the third. When turning to the other side, the user repeats all movements in a mirror image.

By means of the arm 7 of the robotic arm 8 simulate the forces acting on a skier performing a turn in real conditions.

4) User 1 moves the feet relative to the conventionally stationary body. The paths of movement of the feet 24 should be similar to those shown in FIG. 3.

First, the user moves the feet backward with respect to the body and outward from the center of the pivot to engage the front pillar in the first phase of the pivot (f1), with the skis on the edges. In the second phase (f2), the user moves the feet outside the body forward to the body line in the transverse direction. In the third phase (f3), the user moves the feet slightly forward, leading the body in the transverse direction and then under the body in a short zero phase (f0) before the first phase (f1) of the turn in the other direction. By means of the hands 5 of robotic manipulators 6 through platforms 2 and simulators of skis 3 create forces on the user's feet corresponding to each phase of the turn, thereby simulating the sensations acting on a skier performing a turn in real conditions.

5) The user's body 1 is forcibly moved by the saddle 9 by acting on it by the hand 7 of the robotic arm 8. At the same time, the user's feet on the ski simulators 3 are moved by platforms 2 forcibly by the action of the hands 5 of the robotic manipulators 6 on them in the function of passing the turns shown on the screen. The forced movement paths of the body and feet are similar to paths 23 and 24 in FIG. 4

In the first phase of rotation (φ1), the user's body along the path 23 is moved with respect to the feet forward and towards the center of rotation. And the feet along the trajectory 24 are moved backward relative to the body and outward from the center of rotation.

In the second phase (f2), continuing to move the body to the center of rotation, in the transverse direction, it is shifted somewhat backward. And the feet outside the body are moved forward, catching up with the body line in the transverse direction.

In the third phase that completes the turn (φ3), the body is moved slightly back and then to a balanced position in the middle of the feet (zero phase φ0). And the feet are moved slightly forward, ahead of the body in the transverse direction and then moved under the body in a short zero phase (φ0) before the first phase (φ1) of turning in the other direction.

6) The user reproduces motor skills for cornering, performing movements of both the body and the feet in accordance with the demonstration on the screen. The paths of movement of the body 23 and the feet 24 should be similar to those shown in FIG. 4.

In the first phase of rotation (φ1), the user moves the body relative to the feet along the path 23 forward and towards the center of rotation, and the feet moves along the path 24 backward and outward from the center of rotation. In the second phase (f2), continuing to move the body to the center of rotation, in the transverse direction moves it slightly back. And the feet outside the body are moved forward by the user towards the body line in the transverse direction.

In the third phase that completes the turn (φ3), the user moves the body a little back and then from the center of rotation to a balanced position in the middle of the feet (zero phase φ0). And the feet move slightly forward, ahead of the body in the transverse direction, and then under the body in a short zero phase (φ0) before the first phase of the turn in the other direction.

The arm 7 of the robotic arm 8 creates variable forces on the user's body 1 through the saddle 9. The arms 5 of the robotic arms 6 through the simulators of skis 3 and platforms 2 create variable forces on the user's feet. This imitates the sensations of a skier making a turn in real conditions. Initial training is carried out on a conditionally gentle slope. They set a low speed and range of motion (the pitch of the turning shafts is small), a slow pace.

After consolidating skills at a slow pace, the pace of movements is increased. Increase the steepness of the virtual slope. They increase the spread of the pivot shafts, which means they increase the range of motion. They gradually move on to the steepest extreme tracks and to training at maximum speeds. Conventionally, the track can be endless - for the repeated repetition of the necessary movements and, in the end, for the development and consolidation of professional skills in making turns.

The advantages of the proposed ski simulator and the method of training on it:

- due to repeated repetitions, it develops muscle memory of the correct movements of the body and legs when performing ski turns, (consolidation of skills),

- makes it possible to start practicing movements in slow motion,

- teaches to the correct movements at first forcibly due to the drives, and then tracking the correct movements of the user,

- gives the user the opportunity to feel the effects of forces that change during each turn (including those allowing to maintain balance),

- ensures maximum safety during training.

The user on this simulator receives skills almost completely identical to training on real slopes while safely. Trainings can take place all year round regardless of the season.

Claims (2)

1. A simulator for skiers containing a platform, ski simulators installed on it, each of which is connected through a connecting element with its own arm of a robotic manipulator, controllers for controlling the movement of robotic manipulator arms, in addition, sensors for the position of ski simulators and forces acting on ski simulators, protective nets, characterized in that it additionally contains a saddle for attaching the skier (user) body, which is connected through a connecting element to the arm of an additional robotic arm, a controller for controlling the movement of this robotic arm, and position sensors of the skier (user) body , the speed of movement of the body of the skier (user) of the forces acting on the body of the skier (user), and sensors of the speed of movement of the ski simulators, in addition, the protective nets are equipped with a system of rollers and tensioners. 2. A method of training skiers, in which imitation of cornering is carried out by moving the user's feet fixed on the platforms of ski simulators using the hands of robotic manipulators, where the movements are performed using a simulation program, characterized in that additionally, the body of the skier (user) is moved fixed in the saddle with the help of an additional arm of a robot manipulator, where movements are performed using a simulation program, in addition, when simulating turns, efforts are created on the feet through ski simulators and on the body of a skier (user) through the saddle with the help of robots hands manipulators operating in the mode of maintaining the given forces set by the simulation program.

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