The position of the hinge point of the base can be automatically adjusted with a six-degree-of-freedom head and neck flexible exoskeleton system

Abstract

The invention provides a base hinge point position self-adjusting six-degree-of-freedom neck part flexible exoskeleton system which has a power-assistance function, replaces a wearer to bear the weight and inertia, relieves a heaviness sense, a restriction sense and a foreign body sensation brought to the wearer by a load, improves the flexibility of connection between the wearer and the base hinge point position self-adjusting six-degree-of-freedom neck part flexible exoskeleton system, and has a head position and pose detection function. The base hinge point position self-adjusting six-degree-of-freedom neck part flexible exoskeleton system comprises a base bottom plate; unit brackets are arranged on the base bottom plate through base hinge point position adjusting mechanisms; servo motors and steel rope windings are arranged on the unit brackets; universal pulleys are rotationally arranged on the unit brackets; three compound spherical hinges are uniformly distributed on a load mounting platform in the circumferential direction; each of an inner ear and an outer ear of each compound spherical hinge is connected with one steel rope winding through a steel rope correspondingly; joint space force detection units are connected with the steel ropes in series; rotating speed and corner sensors are arranged on the servo motors; outputs of the joint space force detection units and the rotating speed and corner sensors are connected with a control unit; and an output of the control unit is connected with the servo motors.

Description

technical field [0001] The present invention belongs to a class of human body exoskeleton system, in particular, it provides assistance for human head loads, improves the wearing comfort and immersion of head loads such as virtual reality and augmented reality helmets, and tracks the position and posture of the wearer's head device of. Background technique [0002] Virtual reality helmet is a common human head load, which is mainly used for the display of three-dimensional virtual scenes, and is mostly used in virtual reality and augmented reality systems. At present, virtual reality helmets with high resolution and contrast, and large field of view are generally heavy and bulky, and it is inconvenient to move when worn, with a sense of heaviness, restraint and foreign body, which affects comfort and immersion; position tracker Used in conjunction with a virtual reality helmet, it is used to measure and output the spatial position and attitude of the helmet to achieve human...

AI Technical Summary

Problems solved by technology

There are two deficiencies in this design. One is that the essence of the power-assisted function of the actuator is to reduce the impact of the mass and inertia of the virtual reality helmet on the wearer. However, as a rigid parallel mechanism, the actuator itself has a large inertia and mass. This affects the control efficiency and boosting effect of the actuator; the second is that the actuator has a defect in the general Stewart platform-for the simulation environment with small installation and use space, such as the cockpit, the installation and use space is still large, Moreover, the working space is relatively small and there are singular positions, which undoubtedly increases the control difficulty and instability of the pose tracking of the virtual reality helmet.

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