DE102016117760A1 - Arrangement for a motion simulator in combination with a stationary whole body exoskeleton, a head-mounted display and a virtual space - Google Patents

Abstract

The arrangement for a motion simulator in combination with a stationary whole body exoskeleton, a head-mounted display and a virtual space represents a new design for a motion simulator.

Description

The above-mentioned invention belongs to the technical main field of simulators or so-called "human-in-the-loop" (HITL) interaction systems; in particular, the field of haptic whole-body interfaces for applications in telerobotic and virtual reality (virtual reality) and represents a new design for a motion simulator. The invention provides a constructive solution to the already described methods in the patent DE 10 2010 023 914 A1 and in PCT / USD2014 / 004735 ,

• Gruppe 1: Benutzerinteraktionssysteme mit beschränkt physikalisch interagierender Simulationen
• Gruppe 2: Benutzerinteraktionssysteme mit beschränkt physikalisch interagierender Simulationen und Anbindung an virtuelle Umgebungen
• Gruppe 3: Benutzerinteraktionssysteme mit reinen Computersimulationen (virtuelle Räume). – Simulatoren der Gruppe 1 werden vorwiegend für Trainings- oder Testzwecke genutzt, bei denen die Ergebnisse als direkte physikalische Messwerte vorliegen müssen oder aber an konkreten Objekten nachgewiesen werden. Beispiele für Simulatoren der ersten Gruppe sind Crashtestsimulatoren, Wellen- und Windkanäle, Parabellflüge und Tauchbecken für das Weltraumtraining oder z. B. ein einfacher „Bull-ride-rodeo“-Simulator. – Simulatoren der Gruppe 2 finden vorwiegend Anwendung bei Trainingszwecken, wo eine direkte Aktions- / Reaktionskopplung auf den Menschen notwendig ist. Beispiele für Simulatoren der zweiten Gruppe sind Flug- und Fahrsimulatoren, Maschinensimulatoren für Arbeitsgeräte, bewegliche Trittplatten, omnidirektionale Laufbänder, Exoskelette innerhalb eines „CAVE-Projektorraumes“ und alle sonstigen Bewegungssimulatoren im Entertainmentbereich. – Die Gruppe 3 der reinen Computersimulationen stellt den größten Teil aller marktgängigen Simulatoren dar, da dies die derzeit einfachste und kostengünstigste Möglichkeit zur Simulation komplexer Vorgänge darstellt. Beispiele für Computersimulationen sind jederart von Computerspielen, sog. „CAVE-Projektionsräume“, Konstruktions- und Simulationsprogramme mit abstrakt physikalischen Modellen (z. B. Fahrzeug- / Flugzeugbau) oder aber jede Computersimulation mit einem mathematischen Vorhersagemodell.

The current technical state of commercially available simulators or so-called "human-in-the-loop" (HITL) interaction systems can be delimited as follows:

• Group 1: User interaction systems with limited physically interacting simulations
• Group 2: User interaction systems with limited physically interacting simulations and connectivity to virtual environments
• Group 3: User interaction systems with pure computer simulations (virtual rooms). - Group 1 simulators are primarily used for training or testing purposes, where the results must be available as direct physical measurements or proven on concrete objects. Examples of simulators of the first group are crash test simulators, wave and wind tunnels, Parabell flights and diving tanks for space training or z. A simple "bull-ride-rodeo" simulator. - Group 2 simulators are primarily used for training purposes where a direct action / response coupling to humans is necessary. Examples of simulators of the second group are flight and driving simulators, machine simulators for implements, movable treadplates, omnidirectional treadmills, exoskeletons within a "CAVE projector room", and all other motion simulators in the entertainment field. - Group 3 of pure computer simulations represents the largest part of all marketable simulators, as this is currently the simplest and most cost-effective way to simulate complex operations. Examples of computer simulations are any of computer games, so-called "CAVE projection rooms," design and simulation programs with abstract physical models (eg, vehicle / aircraft construction), or any computer simulation with a mathematical prediction model.

The deficiency of the prior art is as follows:
Since 2000, research has increasingly focused on the search for simulation systems that enable people to practice real-world processes and processes in hazardous and exposed areas without danger, or to take control of devices via a VR telematics interface. The most comprehensive research projects were z. For example, the "Proto 2" project of the DARPA and the Collaborative Research Center 453 - "Realistic Telepresence and Teleaction" of the DFG.

Over the last five years, a steady technical convergence has been observed in the area of consumer electronics and VR. The big companies in the IT industry are investing considerable sums of money in the development and provision of digital rooms or in VR applications in order to further expand their product offerings. Companies in the field of manufacturing consumer electronics (eg game console manufacturers or manufacturers of head-mounted displays) are continuing to push their hardware development towards HITL simulators of the second group in order to be able to offer their customers a steadily growing realism , Outrageous R & D or product developments are mainly concerned with the creation of new ways of interacting with humans with the respective VR-related computer simulations.

In addition to the field of consumer electronics, there is a wide entertainment area with steadily growing market potential. Theme parks are also increasingly switching their entertainment offerings to Group 2 HITL simulators. Most of these involve the conversion of passive 3D or 4D cinemas into motion simulators with VR connection. Even in the education sector is currently still set to simulations that work with a simple joystick and so insufficiently z. B. can represent dangerous situations.

• 1. Bewegungsfreiheit im virtuellen Raum (entlang aller 6 Dimensionen),
• 2. Handlungsfreiheit (Körperhaltung),
• 3. Interaktion mit virtuellen Objekten (bilateral),
• 4. Einbindung der motorischen Fähigkeiten des gesamten menschlichen Körpers.

The integration of humans via an interface into a VR computer simulation with all its natural motor skills has currently been realized only to a limited extent. There are already first products that offer solutions for motion simulators here, but they do not yet combine the following four characteristic features, which are necessary for a largely natural sense of presence:

• 1. Freedom of movement in virtual space (along all 6 dimensions),
• 2. freedom of action (posture),
• 3. interaction with virtual objects (bilateral),
• 4. Integration of the motor skills of the entire human body.

In order to exploit the potential of virtual reality, the inventors have developed a multimodal full body interface that makes it possible allows the user to feel fully physically and fully interactively within the VR. An extensive haptic interaction must also be possible. Previous technologies only achieve a limited degree of immersion. Either not all the senses of the user are stimulated, which leads quickly to the simulator disease, or technical restrictions of the simulators disturb the sense of presence considerably.

Multimodal interfaces are characterized by the stimulation of different senses. The present invention stimulates the visual, auditory, haptic and vestibular sense. For an experience of spaciousness, especially the kinaesthetic part of the haptic perception is important, which is why an active stimulation of the tactile sensory perception is omitted.

In order to increase the sense of immanence, it is important to provide the user with a direct virtual body (avatar). The avatar mimics the movements of the user almost synchronously and all virtual influences acting on the avatar can be perceived by the user (visual, auditory, haptic and vestibular).

The technical problem is to develop a GanzkörperVR motion simulator, which allows a very safe operation, has minimal space requirements and high performance achieved with only two rotational degrees of freedom (Degree of Freedom, short DoF). All arrangement variants of the two rotary DoFs always have a joint configuration in which the pitch and roll of the user are not present at the same time. The present idea shifts this point into a joint configuration (lying on the side) that is as far as possible from everyday life, especially not with active actions.

• 1) einem Bewegungssimulator,
• 2) einem Ganzkörperexoskelett,
• 3) ein auf dem Kopf getragenes visuelles
• Ausgabegerät (Head-Mounted-Display, HMD)
• 4) einem virtueller Raum (Virtual Reality)

besteht und somit ein neuartiges Gesamtsystem ergibt. Die angestrebte Funktionalitätssteigerung dieser Kombination zeichnet sich durch die folgenden vier charakteristischen Eigenschaften aus:

• 1) Bewegungsfreiheit im virtuellen Raum (entlang aller 6 Dimensionen),
• 2) Handlungsfreiheit (Körperhaltung),
• 3) Interaktion mit virtuellen Objekten (bilateral),
• 4) Einbindung der motorischen Fähigkeiten des gesamten menschlichen Körpers.

The purpose of addressing the shortcoming of the prior art is to build a Group 2 HITL simulator - user interaction systems with limited physically interacting simulations and virtual environment connectivity - that consists of the combination of:

• 1) a motion simulator,
• 2) a whole body exoskeleton,
• 3) a visual worn on the head
• Output device (head-mounted display, HMD)
• 4) a virtual space (virtual reality)

exists and thus results in a novel overall system. The desired increase in functionality of this combination is characterized by the following four characteristic properties:

• 1) freedom of movement in virtual space (along all 6 dimensions),
• 2) freedom of action (posture),
• 3) interaction with virtual objects (bilateral),
• 4) Integration of the motor skills of the entire human body.

The described requirement of sensory stimulation can only be met by an extensive technical system, which is based on a mature concept. For the vestibular sensory impression, a movement simulator is required. For the haptic sensation and the interaction with the VR, a whole body exoskeleton is suitable. Both subsystems, motion simulator and exoskeleton, are combined into one system. Visual and auditive senses are stimulated and added to the system via established technologies such as HMD 3D glasses and headphones. The VR is provided via standard hardware and software and adapted to the specific application and expanded. Overall, the system is based on mature technologies, which are joined together by an innovative overall concept.

• 1) DoF 1: Achse 1, Rotation durch drehbar gelagerten Ring (endlos drehend), ändert die Orientierung von DoF 2 (Achse 2)
• 2) DoF 2: Achse 2, Rotation durch klassisches Drehgelenk (endlos drehend), abhängig von DoF 1, steht orthogonal auf DoF 1. Gemeinsamer Schnittpunkt liegt im Ringmittelpunkt.

The motion simulator consists in the arrangement of a rotationally mounted ring with likewise rotatably mounted traverse on a pedestal (entspr. 1 ). The arrangement allows maximum motion simulation with only two rotary DoF with minimal technical requirements (and thus economic advantages).

• 1) DoF 1: Axis 1, rotation by rotatably mounted ring (infinitely rotating), changes the orientation of DoF 2 (axis 2)
• 2) DoF 2: Axis 2, rotation by classical swivel (infinitely rotating), dependent on DoF 1, is orthogonal to DoF 1. Common intersection point lies in the center of the ring.

The motion simulator is in the 1 to 4 shown.

The pedestal in the 4 and 5 ensures a safe and stable state of the simulator. He wears the two roll carriers according to 10 , These are hinged with the base pivoting to automatically compensate for ring deformations. The roller carriers ensure that the ring is loud 6 can only rotate around DoF 1 and otherwise can not perform any further translations or rotations. The support rollers carry the weight of the ring and also serve as drive rollers. The flange rollers secure the ring against lifting or axial displacement. The ring consists of 6 segments so that it can be dismantled. He can turn around DoF 1 for an infinite amount of time. At him the Traverse is according to 9 hinged and infinitely mounted to DoF 2 rotating. At the Traverse then the center Exoskeleton attached to the Aktorikkammer. The platform is used for entry and exit from the simulator. The user is driven up from the ground (vertically, against the direction of gravity) until the user's waist coincides with the height of the hip of the exoskeleton. After user acquisition and exoskeleton calibration, the platform returns to its original position so as not to disturb the operation.

The power supply of the exoskeleton and the motors of DoF 2 is ensured by sliding contacts. The data transmission can also be made via sliding contacts or via WLAN / radio.

The socket according to 5 ensures a safe and stable state of the simulator. He carries the two roll carriers. These are hinged with the base pivoting to automatically compensate for ring deformations. The base is removable (by screwing) and thus easy to transport. He also carries assemblies for power electronics and electronic data processing. The attachment of a user interface is possible. The base consists of the rectangular tube. 1 1.1 , Rectangular tube 2 1.2 , Gusset plate 1.3 , Rectangular tube 3 1.4 , Pedestal column A 1.5 and base column B 1.6 ,

The ring according to the 6 , of the 7 and the 8th consists of 6 similar ring segments, with two of these segments have additional holes to attach the joint of DoF 2 can. The ring segments are bolted together, making the ring disassembled and easy to transport. The ring has two roller treads for the idlers on the underside of the ring and two treads for the flange wheels. It consists of a curved rectangular tube with welded treads and stiffening plates. It has several sliding contact tracks for the transmission of electrical power as well as electrical data. The material does not necessarily have to be steel, but can also be aluminum or similar. At the steel construction later cladding elements are attached.

The crossbar according to 9 is pivotally mounted on the ring rotating and is changed by both DoF 1 and DoF 2 in their orientation. It consists of a steel structure 3.1 , which has a bore and bearing shell for the bearing of the rotary joint for DoF 2 3.2 and which has a bore for attachment of the exoskeleton and Aktorikkammer 3.3 , The rotation axis DoF 2 is marked with.

The task of the traverse is the attachment of Aktorikkammer and the exoskeleton and the transmission of rotational movement to these components. In the traverse cables are laid for energy and data transport. Also, the engines of DoF 2 can be accommodated in the Traverse.

A platform 4 is vertically slidable and allows the user to stand on it and be lifted until its hip is at the hip level of the exoskeleton. Then it lowers again, so as not to disturb the operation.

The roller carrier according to 10 has a steel construction 5.1 , 4 flange rings 5.2 and 4 carrying rollers 5.3 , The steel structure can also be made of other materials, such. B. aluminum, be made. The wheel flange rollers are not actively driven and secure the ring against tipping, radial lifting and axial displacement. The carrying rollers carry the weight of the ring and are at the same time drive rollers. The engine is z. B. an electric motor connected to a sprocket.

DoF 1:

DoF 1 is made possible by the movement of the ring in the roll carriers. In this way, a rotation along the axis of DoF 1 is achieved. This rotation is infinitely possible and is therefore not restricted by any technical restrictions. DoF 1 turns the ring, DoF 2 and the traverse with actuator chamber, exoskeleton and user.

DoF 2:

DoF 2 is generated by the swivel joint between the ring and traverse and rotates, also infinitely twistable, the traverse with actuator chamber, exoskeleton and user. DoF 2 itself is influenced by DoF 1 in its orientation, so it depends on DoF 1.

Sensors are attached to the joints. Various position sensors are conceivable. The drives are designed to be recoverable. Together with a planned eccentricity of the center of gravity of the ring, traverse, actuator chamber, exoskeleton and user, the user is automatically turned into an upright position (feet down, upright) in case of power failure. By mechanical manual parking brakes or automatic parking brakes, which mechanically fix the target orientation in case of power failure, unwanted movements of the ring and crossbar when leaving the user can be avoided.

It is possible to store the motion simulator in a completely translatory manner in order to also be able to generate translatory accelerations without motion cueing. In particular, the movement in the direction of gravity offers itself as worthy of realization.

The 11 . 12 . 13 and 14 show the operation of the motion simulator BS.

It is possible to integrate one or more translatory degrees of freedom before, after or between the two degrees of freedom DoF 1 and DoF 2.

• 1) räumliche Begrenzung für derzeitige VR Anwendungen wird mit dem neuartigen Bewegungssimulator aufgehoben
• 2) sicherer Simulatorbetrieb, auch bei Not-aus-Situationen: a. Nutzer bewegt sich nicht translatorisch, keine Möglichkeit, dass der Körper mit anderen Bauteilen kollidiert b. Der Durchmesser des Rings ist so groß, dass ein 95 Perzentil der Bevölkerung ihn nicht mit Händen oder Füßen berühren kann. c. Die Drehgelenke sind so weit vom Nutzer entfernt, dass er mit Körperteilen nicht hingelangt. Eine Quetschung ist damit ausgeschlossen. d. Alle weiter daran befestigten Bauteile, inklusive Nutzer, haben einen außermittig liegenden Schwerpunkt. Bei Stromausfall (z. B. durch Notaus) orientiert sich das Gerät durch die Schwerkraft so, dass der Nutzer aufrecht steht (die Beine zeigen nach unten).
• 3) maximale Bewegungssimulation mit nur zwei rotatorischen DoF´s
• 4) minimierter Platzbedarf gegenüber herkömmlichen Simulatoren
• 5) günstige Einbaubedingung für Motor von DoF 1 dank hoher Drehzahlübersetzung
• 6) höhere Wirtschaftlichkeit durch hohe Performance (unendliches Durchdrehen, Anordnung DoF) bei geringer Anlagenkomplexität.

Further advantages are:

• 1) Spatial limitation for current VR applications is lifted with the novel motion simulator
• 2) safe simulator operation, even in emergency stop situations: a. User does not translate, no possibility of body colliding with other components b. The diameter of the ring is so large that a 95 percentile of the population can not touch it with his hands or feet. c. The hinges are so far away from the user that he can not get away with body parts. A contusion is excluded. d. All further attached components, including users, have an off-centered center of gravity. In the event of a power failure (eg emergency stop), gravity directs the device so that the user stands upright (legs pointing downwards).
• 3) maximum motion simulation with only two rotational DoF's
• 4) minimized space requirements compared to conventional simulators
• 5) favorable installation condition for engine of DoF 1 thanks to high speed ratio
• 6) higher efficiency due to high performance (infinite spin, arrangement DoF) with low system complexity.

LIST OF REFERENCE NUMBERS

1

 base

1.1

 Rectangular tube 1

1.2

 Rectangular tube 2

1.3

 gusset plate

1.4

 Rectangular tube 3

1.5

 Base column A

1.6

 Base column B

2

 ring

2.1

 ring segment

2.2

 ring segment

2.3

 ring segment

2.4

 ring segment

2.5

 ring segment

2.6

 ring segment

3

 traverse

3.1

 steel construction

3.2

 Bore and bearing shell for bearings of swivel joint for DoF 2

3.3

 Holes for attachment of the exoskeleton and the actuator chamber, axis of DoF 2

4

 platform

5

 roller carrier

5.1

 steel construction

5.2

 Flange roller on shaft

5.3

 Idlers on shaft with sprocket

BS

 motion simulator

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102010023914 A1 [0001]
• US 2014/004735 [0001]

Claims (1)

Arrangement for a movement simulator in combination with a stationary whole body exoskeleton, a head-mounted display and a virtual space, characterized in that a ring construction of the movement simulator (BS) in conjunction with a pedestal ( 1 ) and one at the Traverse ( 3 ) is executed centrally attached exoskeleton or other fastener for a human and the ring structure of the motion simulator (BS) in conjunction with a head-mounted display and the ring assembly of the ring construction has a rotational DoF as a linear joint on circular path and a rotary DoF as a hinge and also a height-adjustable platform ( 4 ) in the entry area to raise the user to the level of the exoskeleton, as well as an external center of gravity of Ring ( 2 ), Traverse ( 3 ) and all at the Traverse ( 3 ) attached subsystems plus human user.

Images