VR man-machine interactive all-round exercise and universal treadmill

Abstract

The invention discloses a VR man-machine interactive all-round exercise and universal treadmill, which is an intelligent VR man-machine interactive device enabling a human user to achieve in-situ universal running and various limb exercises in a physical space, and to achieve free walking, all-round exercise and various operations in a virtual space after being matched with a computer, VR glasses,VR peripherals (such as VR handle gloves) and other equipment. The treadmill comprises five subsystems, namely a rotary running platform, a gait self-adaptive running machine, a human body motion positioning cantilever, a swaddling armor protector and a control system (including an algorithm); other subsystems such as the VR glasses and computer systems are not included in the treadmill but are closely related with the treadmill. According to the VR man-machine interactive all-round exercise and universal treadmill, body-building sports and VR games are naturally and highly integrated, and abest world of fundamental improving both health care and the quality of life is provided for people who love playing games but not sports, so that a lot of hidden trouble problems are solved for the society.

Description

Technical field [0001] The invention relates to a VR (virtual reality) human-computer interaction technology, in particular to a VR human-computer interaction all-around exercise and universal treadmill. Background technique [0002] Existing various VR (virtual reality) human-computer interaction technologies, models, products and solutions all have various defects and shortcomings. The following are classified and analyzed according to the human-computer interaction model: [0003] (1) The defects and shortcomings of VR glasses when used alone [0004] The standalone use of VR glasses refers to a way that does not rely on equipment related to body motion interaction (such as a universal treadmill), and only uses VR glasses (or a VR handle) to interact and control the VR space and characters. This is the most basic and common way to use VR glasses, which is simple and easy to implement and low in cost, but there are many defects and shortcomings: [0005] 1) Human movement is greatl...

AI Technical Summary

Problems solved by technology

[0005] 1) Human movement is greatly restricted

Usually only small body movements can be performed in a small physical space, and body movement is strictly limited to ensure safety

This reflected in the virtual space means that the user cannot operate the virtual space, characters and objects with the natural movements of the human body (for example, the most typical use of "continuous movement and free walking in the virtual space cannot be achieved by walking in reality with the human body walking." Handle operation", "momentary movement" and other unnatural ways to compensate), so that the experience of VR (virtual reality) is fundamentally reduced;

[0006] 2) Security is difficult to guarantee

Even if there is no real body displacement, only considering the in-situ movement, it is difficult to guarantee safety by using VR glasses alone

The fundamental reason is that the human biped upright is a natural state of dynamic imbalance, which requires constant dynamic fine-tuning of the body posture to maintain balance. For normal people, the visual system is the core system to achieve this balance mechanism (blind people need a lot of Muscle exercises and the use of crutches to assist in obtaining "touching" perception to avoid falling when walking and turning), it is difficult for the visual system to participate in balance fine-tuning after wearing VR glasses, so it is easy to lose balance when the body moves and turns (even in situ) collision and fall accidents;

[0007] 3) It is easy to induce VR motion sickness

This leads to a fundamental weakening of the sense of substitution in the VR world, and makes it difficult to realize and express games and applications that use the "human body" (including humanoid machines) as the mapping object;

[0011] 2) The types of games and applications are limited

[0016] 2) Actions relying on the soles of the feet are severely limited: Since the surface in contact with the soles of the feet is always in a sliding state, there is a lack of friction between the soles of the feet and the ground, and the entire surface is a concave surface, which severely limits the movements that rely on the soles of the feet to exert force

[0017] 3) Lack of natural sense of balance: Under normal conditions, vision is the most important feedback channel for the human body’s balance information. After wearing VR glasses, the visual connection between the human body and the physical space is cut off, and the tactile sense between the soles of the feet and the ground becomes the only one. The most important information feedback to control the balance

However, the ground that is always in a sliding state, the concave shape and the sole with hard rollers cannot give the human body the correct information of contact with the ground-there are three main points of contact with the ground on the sole of the human foot, the heel, the heel of the big toe and the little toe. The mechanical model of a triangular support formed by the heel and the ground

The sole equipped with hard rollers destroys the mechanical model of this triangular support, resulting in a lack of natural balance.

Relying on tools such as waist rings and slings to balance external forces not only cannot replace the sense of balance obtained by the human body itself through the contact between the soles of the feet and the ground, but also further deteriorates the tendency of the human body to regain a sense of balance through exercises after using VR glasses (similar to closed eye-single-foot balance training)

[0018] 4) The range of body movements is greatly limited: when exercising on a sliding reset universal treadmill, first of all, the lower limbs cannot make greater range and strength due to the lack of friction on the soles of the feet, uneven ground and raised edges around the concave slideway. Actions—including but not limited to running, jumping, squatting, sitting, crawling, etc.; and then the upper limbs cannot make large and powerful movements due to the difficulty of exerting force on the lower limbs, the obstruction of the waist ring and the sling, etc. action

[0020] 1) Unresponsiveness: due to the need for signal acquisition and program calculation for complex (more than two steps) gaits, then the movement speed of the running belt in the corresponding direction and position can be given, which inherently has a large delay

[0021] 2) The mechanism is complex: it is necessary to use a large number of reset devices (such as rollers or running belts) with small size and active driving function, which makes it difficult to implement in terms of reliability, practicability and economy

[0022] 3) Limited movement: At present, only the human-computer interaction function of walking and walking can be provided experimentally, and high-frequency and large-scale movements such as running and jumping cannot be performed.

[0023] 4) Poor balance: There is always a dynamic synchronization problem between the mechanical movement of the active reset universal treadmill and the human movement, and any synchronization difference may cause the user to lose his body balance

[0025] 1) Unable to achieve infinite continuous walking: From the core principle of large-space VR technology and solutions, the virtual world activity space that can be provided is basically equivalent to the physical space of the user in the real world

If you want to obtain an approximate infinite walking function, you need to continuously use settings similar to space jumps on the edge of the real physical space, and you cannot achieve infinite walking in a continuous space like the real world, which greatly limits large-space VR technology. Application scenarios and solutions

[0026] 2) Actions are limited: the actions that VR users can make in the virtual world in the large space are basically the same as the actions that can be made in the real world, that is, ground activities under safety restrictions, which limits all aspects of the world. infinite possibility

[0027] 3) Limited space: In order to obtain a large enough virtual world space, large-space VR technology and solutions always require as much real space as possible, which leads to many practical problems, which are difficult to solve as a popular VR human-computer interaction Program

However, the number of users accommodated in the same real space is limited, which makes this VR human-computer interaction technology and solution consumer-grade products or services suffer from low efficiency.

[0028] 4) Potential safety hazards: Since multiple users carry out activities and operations in the same real space, no matter what safety measures are taken technically, conflicts and collisions between human bodies cannot be avoided, especially life-threatening of human stampede accidents

The main reasons for the limitation of limb movement are: safety factors (for example, the independent use of VR glasses and the prominent safety problems of large-space VR), blocking factors (for example, the balance waist ring and column of the omni universal treadmill block the free movement of the upper limbs), mechanical Factors (such as the movement mode of the sliding reset universal treadmill, uneven ground, lack of friction, hard rollers and other mechanical factors that deprive the soles of the feet of the natural sense of balance make it difficult for the lower limbs and the core area of ​​​​the waist to exert force, thus affecting the movement of the upper limbs and even the whole body. ), principle defects (for example, the core principle of the current active reset universal treadmill is to first collect the human walking movement information for a period of time or distance, and then calculate and control the mechanism of the corresponding position to implement reset, or because of the time lag can only allow Doing actions with a small frequency range such as walking, or requiring a large space size leads to poor economical efficiency and environmental adaptability)

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