Virtual reality helmet burden alleviation servo system and method based on surface electromyogram signal

Abstract

The invention relates to a virtual reality helmet display burden alleviation servo system driven by a human body surface electromyogram signal and working steps. The system comprises a surface electromyogram detection unit installed on a neck, an upper mechanical platform, a data acquisition unit, a computer system and a burden alleviation servo control algorithm software system, wherein the inner periphery of the upper mechanical platform is evenly provided with six groups of flexible cable wire driving devices, and each group comprises a servo motor, a synchronous cog belt, a flexible cable idler wheel, a tension sensor and a flexible cable guide pulley, and the six flexible cable wires are connected with the helmet display through the six guide pulleys on the outer periphery of the upper platform. The virtual reality helmet display burden alleviation servo system has the characteristics that the independent characteristics of a bio-electricity signal and a traditional mechanical measurement signal are combined, head motion intention is estimated through the detection of a head and neck surface signal, an established myoelectricity-force model is used for estimating the stress of neck muscle, meanwhile, high-precision force control and position control can be realized through the six flexible cable wires in a joint space through the tension sensor and a motor position speed signal in the mechanism so as to realize burden alleviation and servo control for a helmet in a task space. The virtual reality helmet display burden alleviation servo system aims to lighten intrusion feeling and constraint feeling brought to a wearer due to the own weight of the helmet display and cable wires and improve immersion feeling for experiencing virtual reality environment. Meanwhile, the high-instantaneity and high-precision six-degree-of-freedom head motion information of the wearer is provided for the virtual reality system.

Description

Technical field [0001] The invention relates to a virtual display interactive device, in particular to a head-mounted display for improving virtual reality. Background technique [0002] The head-mounted display is a common device in the field of virtual reality, which is mainly used to display three-dimensional virtual scenes. Head-mounted displays with high resolution, high contrast, and large field of view are usually heavy and bulky, and there are many signal lines for the display system and sensors. This causes the experience to be inconvenient when worn, and the head and neck are easy to move. Fatigue, wearing for a long time will greatly affect the immersion of the virtual reality system, resulting in a sharp decline in the experience effect; at the same time, the existing ultrasonic or electromagnetic head motion detection sensors used in virtual reality helmets will be interfered by the external environment and cause accuracy It is difficult to meet the requirements of ...

AI Technical Summary

Problems solved by technology

Head-mounted displays with high resolution, high contrast, and large field of view are usually heavy and bulky, and there are many signal lines for the display system and sensors, which makes it difficult for the user to move when wearing them, and the head and neck are easily Fatigue, wearing for a long time will greatly affect the immersion of the virtual reality system, resulting in a sharp drop in experience; at the same time, the existing ultrasonic or electromagnetic head motion detection sensors used in virtual reality helmets will be interfered by the external environment, causing accurate performance decline, it is difficult to meet the requirements of virtual reality interaction

[0003] The authorized patent (patent authorization number CN101791159B) proposes a six-degree-of-freedom parallel mechanism helmet servo system, which uses a servo motor to drive six parallel ball screws connected to the helmet to realize the function of reducing the load on the helmet display. Because all its driving components include motors, Both the synchronous toothed belt and the ball screw mechanism are installed on the motion branch chain, resulting in a large inertia of the moving parts, which makes it difficult to meet the requirements of fast response. At the same time, the detection delay of the head motion force is relatively large due to the use of force sensors. It also uses a rigid structure, which cannot perform real-time servo movement for fast head movements, which will affect the experience of virtual reality

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