WO2012136314A1

WO2012136314A1 - Movement-fixing means

Info

Publication number: WO2012136314A1
Application number: PCT/EP2012/001252
Authority: WO
Inventors: Thomas Schander
Original assignee: Karlsruher Institut für Technologie
Priority date: 2011-04-08
Filing date: 2012-03-19
Publication date: 2012-10-11
Also published as: DE102011016548A1; WO2012136314A8; DE102011016548B4

Abstract

Movement-fixing means for a person (10). The problem of the invention is to propose a movement-fixing means in which a person in the standing position can be fixed at a certain location, while at the same time maintaining his ability to execute free walking movements in any direction. The problem is solved by a movement-fixing means comprising a guide element (2) with vertical orientation, a means for attaching the guide element to the person's centre of gravity, means (11-14) by way of which a force which crosses over the vertical orientation is introduced to the person above his centre of gravity, and two shoes (15) for the person with means for varying the coefficient of friction on an underlying surface (5).

Description

motion fixation

description

The invention relates to a movement fixation for a person, in particular for virtual reality applications or therapeutic applications according to the first patent claim.

Computer-aided virtual reality systems or applications essentially comprise visualizations of a virtual environment on a display, preferably a screen, which, in interaction with an operator, can be influenced via an input or an interface from the latter via signals.

Typical applications of virtual reality applications can be found in simulators for controllers, e.g. in flight or driving simulators, in the model representation of complex three-dimensional objects such as e.g. Buildings or operations or computer animations or games. Firefighting operations, hazard deployments as well as rescue missions can be determined on the basis of available environmental data, e.g. of buildings, objects or topographies and simulate a mission. A field also includes therapeutic applications, e.g. for exercises of reactions to displayed signals.

By way of example, a commercially available computer-assisted video game "WII" from Nintendo, Japan, in which one or more players communicate interactively interactively via motion sensors and screen with the game console, is used to record selected movements of the players in a system-selectable game role For example, a particular sport or actor role, these motion sensors interactively influence the virtual reality representation of an environment on the screen.

CONFIRMATION COPY Furthermore, for some time flight simulators are known in which a player or operator sits as in the real plane on a pilot's seat and optionally fixed and preferably via a real cockpit device with the simulator control with a surrounding image screen and a mostly hydraulic traversing and pivoting device for the entire cockpit including pilot seat communicates.

A simple movement fixation for a standing person in which it is used on the one hand stationary and on the other hand vertically guided freely movable, in particular can perform a free running motion while their movement is detected and processed, however, is not known.

Based on this, the object of the invention is to propose a device for immobilizing movement, in which a stationary person is stationary while maintaining his free walking movements in any direction can be fixed. In particular, the person should not feel restricted by the movement fixation in his subjectively perceived walking motion. In addition, the movement fixation should allow a capture of the person's movement for interaction with a virtual reality system.

The object is achieved with a movement fixing with the features of the first claim. Subclaims give advantageous embodiments of this movement fixation again.

The object is achieved by a movement fixation for a person in which a standing person is fixed in two places in rotatable and vertically movable brackets and these brackets allow certain lateral and rotational movements. The first holder is used in particular for the horizontal fixation of the center of gravity and allows a vertical movement, but also natural pivoting and tilting movements of the person around his center of gravity.

The second bracket is used to connect the upper body ^¬ half of the person to the motion fixation, and as a point of a force in the direction of an upright posture. It counteracts stronger flexions, especially of the upper body, also to ensure or improve the stability of the person on a pad.

The first holder comprises a guide element, preferably a vertically oriented linear guide, which is connected to the center of gravity of the person. In the context of the invention, for technical reasons, it engages at the center of gravity via a harness as connecting element, preferably in the region of the lumbar vertebrae, i. not directly directly on the actual focus of the person. In this respect, the invention with a connection of the center of gravity also includes one or more connections via connecting elements to the body area around the center of gravity of the person, which inevitably also results in a distance of the connection point or the vectorially resulting point of application to the actual center of gravity. The distance of the point of attack to the actual center of gravity of the person acts as a lever arm of a torque which acts on the person when he wants to perform the movements that are not provided by the guide member and locked. A certain distance is tolerable, wherein the torque acting on the person from the person on the legs and the feet or shoes on a base and / or on the second bracket above the center of gravity can be supported.

The first holder is only the relief of the legs by the body weight, if by this discharge and possibly subsequent abrogation of the discharge is to be recreated by a person subjectively perceived movement. By relieving the legs, for example, by driving the mount, the person subjectively experiences the effect of running down a slope. A partial or total lifting of the discharge simulates an end of the gradient up to a subsequent incline. A possible relief also serves to relieve the friction between the shoe sole and pad, ie to lower frictional forces and thus a stabilization of a sequence of movements (safety).

The holder is connected to the guide element and is mounted laterally movable with this parallel to the guide orientation.

One embodiment allows for a preferably unlimited rotational or pivotal movement of the guide element as a whole relative to the environment.

In a further embodiment, this rotation or pivoting movement is not given. The guide element is laterally but not rotatably supported only in the guide orientation. However, the holder of the person can via fasteners still a preferred limited pivoting movement relative to the linear guide, preferably to any direction to allow body movements of the person (eg stooping or other pelvic movements) to. Preferably, this detected by the rotational movement pivoting area has a central position. Optional elastic return means acting on the support serve to elastically return the support to the central position. A variant of this embodiment provides a non-rotatable attachment to the return means, wherein only the elasticity of these return means (Eg spring element, foam buffer element) allows the moderate rotational movement of the holder.

On the other hand, another embodiment does not permit any rotational movement.

Apart from frictional forces by the bearings of the linear guide and possibly the elastic return means act in the said directions of movement, apart from the aforementioned optional vertical weight relief for simulating movements preferably no further forces on the first holder on the body. Optionally, means are provided which reduce the weight of the movable support members, i. Compensating the first bracket and the carriage of the guide element and thus avoid an impact of these self-weights on the body. Thus, preferably no separate manipulators or other force sources or means (e.g., elastic members or weights) acting on the first support are provided which, in addition to the mere compensation of the weight of the support, provide force to the person via the first support. This does not preclude the application of forces to the body in directions which are not predetermined or released by the guide element and which therefore result from a movement limitation. Preferably, the linear guide and bracket does not allow any further translational or rotational movements.

However, the connection of the person via the first holder comprises connecting elements such as Schaumstoffpuffer- or spring elements, preferably a flexion (eg stooping) and rotational movement at the connection of the person allow and limit the person in their natural movement not or insignificantly. Preferably, the connecting elements are elastic and allow a tilting or twisting of the heavy points to a preferred horizontal axis. Elastic foam elements are preferably suitable as connecting elements.

The second bracket engages the person above the center of gravity, preferably at the back between the person's shoulder blades. It comprises means for initiating a force crossing the alignment of the linear guide on the person. In this case, this force can vectorially be subdivided into a partial force directed parallel to and perpendicular to the orientation, which are preferably directed upwards or toward the alignment and thereby counteract a forward movement of the upper body of the person. The upper body of the person is thus erected preferred. Also, the second support preferably comprises a connecting element, more preferably an elastic component e.g. made of foam.

In a preferred embodiment, the second support comprises a pulley of a pull rope, which on the one hand engages the first support (for example on the lap belt harness), on the other hand is connected to a drive unit or an abutment. In this case, the force acting on the person on the upper body is a force acting horizontally backwards.

Furthermore, the movement fixation system comprises two shoes for the person with means for varying the coefficient of friction of the shoe sole on a base. Thus, on the one hand the grip for a secure stability of the person on the surface to be ensured, on the other hand by a sliding movement of the sole allow a stationary movement of the person in the movement fixation preferably in a virtual reality application. For this purpose, the two shoes are preferably separated from each other in their friction properties such as the friction coefficient adjustable. More preferably, the two soles are each individually in the Friction coefficient adjustable sole areas divided, at least in Fußspitzenbereich, foot ball area and heel area. The adjustment of the friction properties is preferably carried out by a selection of a friction pairing (eg sole made of Teflon or plastic with a base made of plastic such as PVC). The friction properties can be further controlled by elements that can be controlled by actuators or only when the sole loads into the friction, for example, rubber elements in recesses of the sole. Alternatively, the frictional forces can be varied by loading or unloading the body weight via forces acting on the holders.

The activation of the force acting on the first and / or second holder depending on the embodiment, as well as the adjustment of the friction properties of the soles or individual sole regions, preferably takes place via a closed control loop. The implementation preferably takes place in the context of a processor-controlled control or regulation system. With this, the positions of the person, in particular the positions of the arms, legs and head in the movement fixation with a position detection system are continuously recorded. The position data are used as input variables in the control loop

Manipulated variables for the aforementioned control further processed.

The position detection system preferably includes an opti ^¬ cal collection, preferably at least three cameras for detecting the position of marks on his hands and shoes, preferably on the head. The marks are formed for example by active transmitting elements such as LEDs or by passive elements such as fluorescent markers, which are always detected simultaneously by two of the three cameras. The five position data, which are preferably determined in real time using the position detection system, are sufficient for the position detection of the entire person as well as all executable movements exactly. The body position between the brands, such as posture or positions of the knee or the elbow is supplemented by the control or regulation system implementier ^¬ th standard data or for individuals individual Since ^¬ th from experience.

Alternatively, the optical detection (in the visible or non-visible region such as infrared range) is a depth detection system in which the position of certain body parts are optically detectable. Supported this system, for example, in particular ^¬ sondere by projections of optical patterns on the person on the interesting parts of the body such as hands, Schu ^¬ he / feet and / or head.

Preferably, in virtual reality applications, the per ^¬ zessorgesteuerte control or regulation system includes a display for the person. The display is preferably optical, realized for example with a video glasses or a screen, optionally supplemented for example by tactile displays such as vibration actuators (vibration source) on fingers (Tastsimulationen). Depending on the viewing direction, the control or regulation system preferably also detects the body parts which can be detected via the position detection system and which are then optically faded in the display.

The invention and details thereof will be explained in more detail with reference to embodiments with figures. Show it

1 shows a first embodiment of the movement fixing with ceiling suspension,

2a and b two further embodiments of the movement fixation with tripod suspension, 3 shows a plan view of a linear guide with the first holder and connecting elements to the fixed person and

Fig. A and b further embodiments of the movement fixation with tripod suspension without rotatable or pivotable linear guide.

The embodiment of the movement fixing illustrated in FIG. 1 provides a vertically oriented guide cable 1 for the linear guide 2 (guide element) between an upper attachment 3, e.g. on a ceiling and a lower attachment 4 in the area of the pad 5 before. The orientation of the linear guide is determined by the lateral force-free, i. not deflected in a horizontal direction guide rope determined. The guide cable is preferably biased at the upper attachment with an elastic spring 6. The linear guide has a tubular sliding guide or - as shown - guide rollers 8 and is connected via the first holder 7 and a lap belt harness 9 as a connecting element with the center of gravity of a fixed person 10. The bias of the guide rope causes an elastic behavior of the attachment of the person, i. not only a restoring force of the linear guide with horizontal deflection, but also allows - as mentioned above - a diffraction and rotation at the connection of the person.

The second holder 11 comprises a shoulder harness 12, which is connected in the region of the spine, preferably between the shoulder blades, with a tension cable 13 which is prestressed elastically upwards in relation to the upper attachment 3. The direction of the pull rope indicates with its direction the force acting on the second support, ie the force direction crosses the alignment of the linear guide in the region of the upper attachment 3, ie above the center of gravity of the person in the region of the first support 2. The bias is by means for introducing the force into the traction cable, in the case of ^¬ game realized by a prestressed winch 14 preferably with motorized adjustment in the region of the upper attachment 3 generated. Preferably, the pull rope with elastomer or rubber parts, such as a rubber cord on an inherent elasticity.

The fixed person 10 stands by means of two shoes 15 on the base 5, which extends around the lower attachment 4 and thereby covers the possible range of motion of the person in the movement fixation. As described above, both shoes have means for varying the coefficient of friction on the base.

Furthermore, FIG. 1 also schematically shows the arrangement of three cameras 16, preferably three web cameras for the continuous registration of five markings 17 on both feet, both hands and the head. As a display for the person is a video glasses 18. The aforementioned control and / or regulating unit and the interconnection of said components are shown in the schematic representation. Fig.l not shown.

Figures 2a and b represent two embodiments of the movement fixation with tripod suspension. The guide element does not use, as shown in Fig.l, a tensioned cable as a guide rail, but a stand rod 19 which is preferably mounted in the lower mounting 4 in a rolling bearing 25 about a rotation axis 20 rotatably in the base 5, at the upper end 26th free ends, that is not separately managed or stored. The linear guide 2 in the variant shown in Figure 2a is thereby formed by a vertical rod (but at least one rod portion). 3 shows a top view sectional view of the linear guide again. In the variant disclosed in FIG. 2 b, on the other hand, one or more gas-spring damper elements 21 serve as a guide element, wherein the other a linear guide pivotally about a pivot point 22 are arranged on the support rod 19.

2a and b show preferred embodiments in which the stand rod in the region of the guide element (linear guide 2 in Figure 2a, pivot point 22 for the gas spring damper 21 in Fig.2b) is arranged eccentrically to the rotation axis 20, which advantageously Focus of the person is moved closer to the axis of rotation. Thus, the fixing fixation is discreetly perceived during a rotation of the fixed person and perceived as less disturbing. However, since the vertical orientation of the linear guide is not congruent with the axis of rotation 20 arranged parallel to this, the guide element must be secured on the stand rod against rotational movements. This is done in the context of a linear guide acc. 2a and 3 preferably a form-fitting manner via a stand rod with non-rotationally symmetrical cross section, a guide spring or - as shown in Figure 3 - via a second tripod or guide rod 28, which here also as a running rail for the rollers of the linear guide 2 for the first holder is used.

In the embodiment shown in Fig.2b the linear guide is not realized via a sliding or roller bearing guide, but via pivoting gas spring damper elements. The pivot point 22 allows as a pivot bearing only a pivoting movement about one or two horizontal axis, while rotations are blocked in the vertical direction, damped or provided only to a small extent. Preferably, the pivot bearing is a single-axis bearing, which allows only a tilting movement forward with respect to the person 10 and thus, for example, a vertical movement of the center of gravity of the person (see Fig.2b, dashed line). The rotatable stand rod optionally has a co-rotating support roller 23, which intercepts a with respect to the person 10 rearwardly directed force acting on the stand rod with force (see Fig.2b).

The tensioning cable 13 engaging between the shoulder blades is preferably introduced into the interior of the support rod via a first deflection roller 24 in the two embodiments shown in FIGS. 2a and b and guided therethrough. The bias is either on the inherent elasticity of the hawser and / or an elastic fixation of Zugseilendes and / or a motor re-adjustment of the winch 14. By the bias and the cable adjustment for the person also a slope or a slope is simulated. The fixation is still in the stand rod or externally after removal of the pull cable at the lower end of the stand rod below the pad externally (see Fig.2a and b). Preferably, the traction cable section which is located in the stand rod is formed by a Bowdenzugkabel or at least in the region of the curvatures 27 in addition in a flexible hose with a low coefficient of friction to the material of the stand rod and / or to the traction cable (for example, nylon hose) sheathed. The fixation is optionally configured elastically, for example via additional spring elements. Optional means for a length adjustment of the traction cable preferably a winch 14 serve alternatively or moreover the adjustment of the tensile force of the traction cable. This means, in particular a winch, is preferably either-as shown in FIG. 2b-arranged outside the extension of the base 5 or on the support rod 19, preferably in the region of a curvature 27 (FIG. Alternatively, an arrangement of said means in the region of the upper end 26 of the stand rod offers to save a pulley.

FIG. 3 shows, by way of example for a possible embodiment, a plan view of the first holder 7 for the person 10 of FIG 2a embodiment shown again. The holder comprises a linear guide 2, which is mounted on two guide rollers 8 vertically on the support rod 19 and the guide rod 28 and prevents rotation of the linear guide to the vertical. As a connecting element to the person is a body receptacle 29 with lap belt harness 9, which is connected via a plurality of compression springs 30, alternatively or additionally with a (not shown in Figure 3) foam buffer element with the linear guide and advantageously a diffraction and rotational movement at the connection of the Allow the person and restrict the person in his natural movement, or negligible. 3 shows a preferably symmetrical neutral center position, in which the fixed person 10 experiences no torques through the first holder 7. In a deflection from this middle position, there is a deflection of the compression springs 30 or foam buffer and thereby to a restoring force or a restoring moment on the person in the middle position. The preferred maximum pivotal movements are about 25 ° (about the horizontal to the side), 30 ° (vertical to the side) and 45 ° (horizontal to the front) for an embodiment without twisting possibility of the stand rod or the guide (Fig.4 ). If such a twisting possibility is provided (eg Fig.l and 2a and b), a pivoting possibility should not be allowed to the vertical to the side.

A foam element as a connecting element and / or the body receptacle 29 is preferably adapted ergonomically or positively to the lumbar region of the person in its shape and has an indicated seat shape. In particular, vertical forces between the person and the holder can be transmitted better.

FIG. 2 a shows a further embodiment of the movement fixing with a stand suspension without a rotatable or pivotable linear EP2012 / 001252

14

guide. It differs from the embodiment shown in FIGS. 2a and b, inter alia, in that the support rod 19 is not rotatably inserted in the support 5 for achieving rotation or pivoting of the linear guide, but is rigidly fastened, e.g. connected via a tripod with the pad. The stand preferably has a recess in the area of leg movement freedom when running. The linear guide preferably corresponds to the embodiment shown in Figure 3, wherein the compression springs 30 are preferably replaced by the aforementioned foam buffer or more foam buffer elements, which allows a slight pivoting of the fixed person 10 to the linear guide 2 out, while always an elastic return to a middle position causes.

The pad, but preferably the area extending behind the person preferably has an average gradient between 1 and 25 °, more preferably between 4 and 15 ° and more preferably between 6 and 10 ° in the direction of travel. In a slight gradient running movements on the pad 5 are perceived particularly realistic.

4b shows a further embodiment of the movement fixation with a stand suspension without a rotatable or pivotable linear guide, which has a support area behind the person with a non-constant gradient and an active manipulation of the remaining planar support area. The active manipulation is realized in the present case by an actively driven treadmill, wherein the treadmill direction is unidirectionally aligned. In the exemplary embodiment, the treadmill direction is aligned in the running direction of the person (preferably the aforementioned middle position). The drive of the treadmill is motorized and is largely regulated by the holding force directed horizontally to the first holder in the direction of the person. The friction conditions between see treadmill and shoe sole preferably correspond to the Rei ^¬ advertising ratios between surface and shoe sole.

List of reference numbers:

1 guide rope

2 linear guide

3 upper attachment

4 lower attachment

5 base

6 elastic spring

7 first bracket

8 leadership role

9 lap belt harness

10 fixed person

11 second bracket

12 shoulder harness

13 pull rope

14 winds

15 shoe

16 camera

17 mark

18 video glasses

19 stand rod

20 axis of rotation

21 Gas spring damper element

22 pivot

23 support roller

24 pulley

25 rolling bearing

26 upper end

27 curvature

28 guide rod

29 body image

30 compression spring rear underlay area treadmill

Claims

claims

1. movement fixation for a person (10), comprising

a) a first holder (7) with vertically oriented guide element (2) and fastening means for the person

b) a connection of the first holder to the center of gravity of the person,

c) Means (11-14) to initiate an alignment

cruising force on the person above the center of gravity

d) two shoes (15) as well

e) a pad (5) for the shoes.

2. movement fixation according to claim 1, comprising a position detection system (16, 17) for the current position detection of the hands and feet of the person.

3. movement fixation according to claim 2, characterized in that the position detection system comprises an optical movement detection system for detecting the position of hands and the shoes (15).

4. movement fixation according to claim 2 or 3, comprising a processor-controlled control system with display (18) for the person to control the means for introducing the force and / or a means for varying the coefficient of friction of the shoes on the pad, comprising

Position detection system.

5. movement fixation according to claim 4, characterized in that the display (18) comprises a visual display and / or a vibration source.

6. movement fixing according to one of the preceding claims, characterized in that the fastening means are formed by a piece of clothing or a harness (9) with a pivotable receptacle (29) on the guide element (2) in the lumbar region of the person.

7. movement fixation according to claim 6, characterized in that the receptacle (29) and the guide element (2) by elastically acting in a middle position compression springs (30) or foam buffer are connected.

8. movement fixing according to one of the preceding claims, characterized in that the guide element a

Linear guide (2) is.

9. movement fixing according to claim 8, characterized in that the linear guide on a vertical rod (19) or a vertically tensioned rope (1) is placed.

10. movement fixation according to one of the preceding claims, characterized in that the means for introducing the force comprises an elastically tensioned traction cable (13) which is fixed at its one end to the person in the spinal column area between the shoulder blades.