Arm fatigue degree assessment method in air interaction process and related device

Abstract

The invention belongs to a fatigue assessment method, and provides an arm fatigue degree assessment method in an air interaction process and a related device aiming at the technical problems that an existing arm fatigue assessment method is difficult to capture a complete arm posture, an assessment result is unreasonable and real-time operation is difficult. An arm is simplified into a two-section type arm model comprising a hand-forearm and a big arm. And according to the physical constraint of the arm model, uniformly sampling on a quarter circumference close to the ground at the current arm interaction position as a candidate position of an elbow joint. According to the candidate position of each elbow joint, the fatigue degree value is calculated according to the center position of the AR object to be interacted, the position of the shoulder joint, the mass center of the arm and the mass of the arm. And selecting the minimum value of the fatigue degree values of all the candidate positions as the fatigue degree value of the current arm interaction position. And the evaluation result is more reasonable, and when the interaction position exceeds the arm touchable range, accurate evaluation can be carried out.

Description

Technical Field

[0001] The present application relates to a fatigue assessment method, and specifically to a method and related device for assessing arm fatigue during aerial interaction. Background Art

[0002] Researchers in the field of human-computer interaction (HCI) have conducted extensive research in the past decade and proposed a variety of indicators for evaluating arm fatigue. However, these evaluation indicators are not suitable for guiding the design of UI (User Interface). Mainstream subjective evaluation indicators include the Borg CR10 scale, the Likert scale, and the NASA task load index. These methods do not require invasive operations and additional equipment, but require a lot of preparation, such as designing questionnaires and conducting user studies, and can only provide rough estimates. Some researchers have proposed using some data that reflects the user's physiological state to measure fatigue in order to provide objective evaluation results, such as heart rate, electromyography (EMG) of muscle activation, etc. Although these devices provide accurate and objective evaluation results, these evaluation techniques rely on invasive data acquisition equipment and may interfere with user interaction. Therefore, some non-invasive and objective evaluation methods have been proposed. For example, the Consumed Endurance (CE) metric, which quantifies muscle fatigue by monitoring the user's arm joints, can estimate shoulder torque and then calculate the maximum time the arm can maintain a certain posture before needing to rest. The calculation of CE relies on an RGB-D (Red, Green, Blue, Depth) camera to track the arm posture, but due to the constraints of the field of view, the complete arm posture is often difficult to be fully captured by augmented reality devices. At the same time, when the interactive position is beyond the user's reach or above the height of the shoulder joint, methods based on shoulder torque will provide unreasonable results. In addition, other evaluation methods, such as approximating arm torque by estimating muscle status (active, resting, fatigued), and using static optimization to predict muscle activation during action, are usually difficult to run in real time. Summary of the invention

[0003] In response to the technical problems of existing methods for evaluating arm fatigue, such as difficulty in capturing the complete arm posture, unreasonable evaluation results, and difficulty in real-time operation, this application provides a method and related devices for evaluating the degree of arm fatigue during aerial interaction.

[0004] In order to achieve the above objectives, this application adopts the following technical solutions: In the first aspect, the present application proposes a method for assessing arm fatigue during air interaction, comprising: The arm is simplified into a two-section arm model including the hand-lower arm and the upper arm; According to the physical constraints of the arm model, a quarter of the circumference close to the ground at the current arm interaction position is uniformly sampled as the candidate position of the elbow joint; For each candidate position of the elbow joint, the fatigue level is calculated based on the center position of the AR object to be interacted, the position of the shoulder joint, the center of mass of the arm, and the mass of the arm. The minimum fatigue level value of all candidate positions is selected as the fatigue level value at the current arm interaction position.

[0005] Furthermore, the method for calculating the center of mass of the arm and the mass of the arm includes: According to the mass distribution and relative center of mass of each part of the human body, the mass of the arm and the center of mass of the arm are calculated.

[0006] Furthermore, the method for calculating the center of mass of the arm also includes: When the arm interaction position is beyond the reach of the arm, the arm is considered to be in a straight state, and the distance from the shoulder joint to the line connecting the shoulder joint to the interaction position to the shoulder joint is the length of the upper arm as the candidate position of the elbow joint; When the arm interaction position is within the arm's reach or beyond the arm's reach, the arm's center of mass is calculated using the following formula:

[0007] in, represents the center of mass of the arm, represents the mass of the arm, represents the center of mass of the upper arm, Indicates the mass of the arm, represents the center of mass of the forearm, represents the mass of the forearm, represents the center of mass of the palm, Indicates the quality of the palm, Indicates the distance from the interaction position to the shoulder joint position, Indicates the length of the arm, Indicates the position of the shoulder joint. represents the directional quality from the shoulder joint to the interaction position, It indicates the relative position ratio of the center of mass to the shoulder joint when the arm is fully extended.

[0008] Furthermore, the method for calculating the fatigue level value includes:

[0009] in, Indicates the center position of the AR object to be interacted with. Indicates the gravity torque of the current arm with the shoulder joint as the point, Indicates the maximum torque that the arm can withstand.

[0010] Furthermore, the maximum moment that the arm can withstand is The calculation methods include:

[0011] in, Indicates the maximum force that the arm can withstand.

[0012] Furthermore, the maximum force that the arm can withstand The value of is: For men, =101.6N; for women, =87.2N.

[0013] Furthermore, the gravity moment of the current arm with the shoulder joint as the reference point The calculation methods include:

[0014] in, express The angle with the direction of gravity, Represents the acceleration due to gravity.

[0015] In the second aspect, the present application proposes a system for assessing arm fatigue during aerial interaction, comprising: A modeling module, used for simplifying the arm into a two-section arm model including a hand-lower arm and an upper arm; The candidate module is used to uniformly sample the quarter of the circumference close to the ground at the current arm interaction position according to the physical constraints of the arm model as the candidate position of the elbow joint; A calculation module, for calculating the fatigue level value for each candidate position of the elbow joint according to the center position of the AR object to be interacted, the position of the shoulder joint, the center of mass of the arm, and the mass of the arm; The evaluation module is used to select the minimum fatigue level value of all candidate positions as the fatigue level value at the current arm interaction position.

[0016] In a third aspect, the present application proposes an electronic device, comprising: a memory, and one or more processors; the memory is coupled to the processor; wherein computer program code is stored in the memory, and the computer program code includes computer instructions, and when the computer instructions are executed by the processor, the electronic device executes the steps of the above-mentioned method for assessing the degree of arm fatigue during the aerial interaction process.

[0017] In a fourth aspect, the present application proposes a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the method for assessing the degree of arm fatigue during the above-mentioned aerial interaction are implemented.

[0018] Compared with the prior art, this application has the following beneficial effects: The present application proposes a method for evaluating arm fatigue during aerial interaction, which simplifies the arm into a two-section arm model including hand-forearm and upper arm, determines the candidate position of the elbow joint according to the physical constraints of the arm model, calculates the fatigue value for each candidate position of the elbow joint, and then selects the minimum fatigue value of all candidate positions as the fatigue value at the current arm interaction position. The present application can be evaluated in real time and adjusted as the user moves, providing guidance for the design of adaptive UI, and can provide real-time evaluation results even when the user moves in the environment. Compared with the prior art, no external tracking device or other invasive device is required during the evaluation process. And after actual verification, the evaluation method of the present application has more reasonable evaluation results than the prior art, and can also perform accurate evaluation when the interaction position is beyond the reach of the arm.

[0019] The present application also proposes a system for assessing arm fatigue during aerial interaction, an electronic device and a computer storage medium, which possess all the advantages of the above-mentioned method for assessing arm fatigue during aerial interaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 This is a first flow chart of a method for evaluating arm fatigue during aerial interaction in this application; Figure 2 This is a second flow chart of the method for evaluating arm fatigue during aerial interaction of this application; Figure 3 This is a schematic diagram of a two-section arm model in an embodiment of the present application; Figure 4 This is a schematic diagram of mass and center of mass distribution of an upper arm, a forearm and a palm in an embodiment of the present application; Figure 5 This is a schematic diagram of the arm when the interaction position is higher than the shoulder joint plane; Figure 6It is a schematic diagram of the evaluation results of the CE index when the interaction position is higher than the shoulder joint plane; Figure 7 It is a schematic diagram of the evaluation results of ECE when the interaction position is higher than the shoulder joint plane; Figure 8 This is a comparison chart of the evaluation results of CE index and ECE when the interaction position is higher than the shoulder joint plane; Fig. 9 Schematic diagram of the correlation analysis results between ECE and Borg CR 10 in the air click task; Fig.10 A schematic diagram of a system for evaluating arm fatigue during aerial interaction in this application. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0024] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0025] In the description of the embodiments of the present application, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invented product is usually placed when used. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0026] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", which does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0027] In the description of the embodiments of the present application, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0028] With the deepening of research on computer vision and graphics, and the popularization of commercial augmented reality devices, augmented reality has been widely studied and gradually applied to multiple industries such as medical care, education, and industrial design. The growth of applications has also brought huge development needs. How to design an augmented reality user interface that optimizes the user experience has become a hot topic of research. Unlike applications based on two-dimensional display devices such as mobile phones and desktops, in augmented reality applications, the interaction paradigm between users and systems has undergone a huge change, from traditional mouse and touch screen input to three-dimensional interaction that relies on multiple information such as sight and gestures. Among these interaction methods, mid-air interaction based on bare hands has become the mainstream interaction method. Under this interaction paradigm, a major concern of user interface design is how to minimize user arm fatigue. The most basic problem is to quantitatively evaluate the fatigue that a certain point in the space as an interaction position will cause to the user. Indicators that can provide guidance to developers or users should have at least the following three characteristics: 1) It can evaluate the fatigue level of users caused by using any point in the space as an interaction location. In an augmented reality environment, users can access interactive objects at any location in the space through touch-based interaction and ray-based interaction. Therefore, the domain of this evaluation indicator should be the entire space.

[0029] 2) Easy to calculate. In an augmented reality environment, the user interface often needs to move adaptively according to the user's position. Only computationally efficient indicators can provide real-time UI design guidance.

[0030] 3) The device is less dependent and does not affect the user's interactive experience. Users often need to move around and perform tasks in the scene while wearing augmented reality devices. Therefore, the data input device required for evaluation should not affect the user's interactive experience.

[0031] The CE (Consumed Endurance) metric is a non-invasive, objective assessment method that aims to quantify muscle fatigue and endurance consumption by monitoring the user's arm joint activity. This method estimates the shoulder torque and then calculates the maximum time the arm can maintain a certain posture before needing to rest. This assessment method is of great significance for understanding ergonomics, optimizing human-computer interaction design, and preventing muscle fatigue. The calculation of the CE metric mainly relies on the tracking of the arm posture by the RGB-D camera. The RGB-D camera can simultaneously obtain color images and depth information, thereby achieving accurate perception of three-dimensional space. By tracking the position and angle changes of the arm joints, the system can estimate the shoulder torque, that is, the torque generated by the muscles when maintaining the arm posture. Based on the estimation of the shoulder torque, the system can further calculate the endurance consumption of the arm in a given posture. However, there are the following limitations: (1) The estimation of muscle state depends on many factors, such as electromyographic signals, muscle morphology, etc. However, the acquisition and processing of these factors are relatively complex and are easily affected by noise and individual differences, resulting in limited accuracy of the estimation results.

[0032] (2) Static optimization methods usually calculate muscle activation based on certain assumptions and simplified models. However, in actual exercise, the working mode and torque distribution of muscles will change, resulting in the static optimization method may not be able to accurately predict the muscle activation during the action. In addition, a large amount of data needs to be processed during the calculation process, making it difficult to meet the real-time requirements.

[0033] (3) CE indicators and similar evaluation indicators require external tracking devices to obtain the complete arm joint positions during the evaluation process.

[0034] Based on the above situation, the present application proposes a method and related device for evaluating the degree of arm fatigue during aerial interaction. The present application is described in detail below in conjunction with embodiments and drawings.

[0035] like Figure 1 As shown, it is a first flow chart of the method for evaluating arm fatigue degree during air interaction of the present application, which may include: S101, simplifying the arm into a two-section arm model including a hand-forearm and an upper arm.

[0036] During the aerial interaction, the movement of the arm is complex and multidimensional. In order to simplify the calculation and improve the evaluation efficiency, we simplify the arm into a two-section model, namely the hand-forearm and the upper arm. This simplification is based on the structure of human anatomy. The arm is mainly connected by the shoulder joint, elbow joint and wrist joint. The shoulder joint connects the upper arm and the trunk, the elbow joint connects the upper arm and the forearm, and the wrist joint connects the forearm and the hand. In the two-section arm model, the hand-forearm part includes the palm, wrist and forearm bones and muscles, which are responsible for the fine movements of the hand and the grasping of objects. The upper arm part includes the upper arm bones and muscles, which are mainly responsible for the swinging and force transmission of the arm.

[0037] S102, according to the physical constraints of the arm model, uniformly sample a quarter of the circumference close to the ground at the current arm interaction position as a candidate position of the elbow joint.

[0038] It should be noted that the movement of the arm is constrained by human anatomy and biomechanics, such as the range of motion of the joints, muscle strength and endurance, etc. During the air interaction, the arm needs to maintain a certain stability and flexibility to ensure the accuracy and comfort of the interaction. The quarter circle close to the ground is selected as the sampling range because during the air interaction, the arm is usually in front of or to the side of the body, and the position of the elbow joint is relatively low. By uniformly sampling within this range, a series of candidate positions of the elbow joint can be obtained. The number of sampling points can be determined based on the accuracy and computational efficiency of the evaluation.

[0039] In practical applications, each candidate position represents a possible arm posture, and different postures correspond to different muscle strength and endurance requirements. By evaluating the fatigue level of different candidate positions, the optimal arm posture can be selected to reduce muscle fatigue and improve interaction efficiency.

[0040] S103, for each candidate position of the elbow joint, a fatigue level value is calculated according to the center position of the AR object to be interacted, the position of the shoulder joint, the center of mass of the arm, and the mass of the arm.

[0041] The center position of the AR object to be interacted with determines the target position that the arm needs to reach. The position of the shoulder joint is the starting point of the arm movement and the basis for calculating the arm posture and muscle strength. The center of mass and mass of the arm affect the inertia and power requirements of the arm during movement.

[0042] For each candidate position of the elbow joint, the vector chain of the arm from the shoulder joint to the center of mass and then to the center of the AR object to be interacted with can be calculated, and then the muscle strength and endurance required by the arm during the movement can be calculated. The calculated fatigue value reflects the fatigue level that may occur after the arm maintains a certain posture for a certain period of time. The larger the value, the easier it is for the arm to fatigue in this posture; the smaller the value, the less likely it is for the arm to fatigue in this posture.

[0043] S104, selecting the minimum fatigue level value of all candidate positions as the fatigue level value of the current arm interaction position.

[0044] Among all candidate positions, the position with the smallest fatigue value represents the optimal arm posture. Selecting the optimal arm posture can reduce muscle fatigue and improve interaction efficiency and comfort. In practical applications, the minimum fatigue value can be provided to users as feedback information to guide users to adjust their arm posture to reduce fatigue. Therefore, this evaluation method can be integrated into the AR interaction system to automatically adjust the interaction interface and object position to adapt to the user's arm posture and fatigue level.

[0045] The arm fatigue assessment method during air interaction in this application achieves an objective assessment of arm fatigue by simplifying the arm model, sampling candidate elbow joint positions, calculating fatigue values, and selecting the minimum value. This method can provide strong support for the design and optimization of AR interaction systems and improve the user's interaction experience and comfort.

[0046] like Figure 2 As shown, it is a second flow chart of the method for evaluating arm fatigue degree during air interaction of the present application, which may include: S201, estimate the posture of the arm.

[0047] like Figure 3 The figure shows a schematic diagram of the two-section arm model of the present application. In the present application, the arm is simplified into a two-section arm model of the hand-forearm (A1 section) and the upper arm (A2 section). After the shoulder joint point and the fingertip position are fixed, the elbow moves only in a circle. According to the physical constraints of the arm model, the quarter circle on the outside of the body close to the ground is evenly sampled as the candidate position of the elbow joint. When the interaction position is beyond the reach of the arm, assuming that the user's arm is straight and pointing to the interaction position, the elbow joint falls in the direction of the shoulder joint pointing to the interaction position, and the distance from the shoulder joint is the length of the upper arm.

[0048] S202, estimating the center of mass position of the arm.

[0049] After obtaining the candidate position of the elbow joint, the mass and center of mass of the arm can be calculated according to the mass distribution and relative center of mass of each part of the human body. As shown in Table 1, the relative mass and relative center of mass of the arm are shown. Figure 4 The figure shows a schematic diagram of the mass and center of mass distribution of the upper arm, forearm and palm.

[0050] Table 1 Mass and center of mass distribution of upper arm, forearm and palm

[0051] When the interaction position is beyond the reach of the arm, the center of mass of the arm can be corrected and supplemented. When the arm interaction position is within the reach of the arm or beyond the reach of the arm, the center of mass of the arm can be calculated by the following formula:

[0052] in, represents the center of mass of the arm, represents the mass of the arm, represents the center of mass of the upper arm, Indicates the mass of the arm, represents the center of mass of the forearm, represents the mass of the forearm, represents the center of mass of the palm, Indicates the quality of the palm, Indicates the distance from the interaction position to the shoulder joint position, Indicates the length of the arm, Indicates the position of the shoulder joint. represents the directional quality from the shoulder joint to the interaction position, It indicates the relative position ratio of the center of mass to the shoulder joint when the arm is fully extended.

[0053] S203, calculating the fatigue degree value ECE.

[0054] The calculation method of fatigue degree value ECE is as follows:

[0055] in, Indicates the center position of the AR object to be interacted with. Indicates the gravity torque of the current arm with the shoulder joint as the point, Indicates the maximum torque that the arm can withstand.

[0056] It should be noted that The maximum force that the arm can bear can be used As an example, for men, the maximum force Can be taken For women, the maximum Can be taken .

[0057] Specifically, The calculation method can be used as follows:

[0058] The calculation method is as follows:

[0059] in, express The angle with the direction of gravity (vertically downward), Represents the acceleration due to gravity, and its value is .

[0060] For each candidate position of the elbow joint, its ECE is calculated respectively. Then the candidate position with the lowest ECE value is selected as the estimated value of the elbow joint, and its ECE value is used as the fatigue degree value at the interaction position.

[0061] The domain of definition in this application is the entire space. When the interaction position is beyond the reach of the arm, the posture of the arm is estimated. It is assumed that the arm is in a straight state, and the center of mass position is corrected. Through such a definition, ECE can provide any point in the space as the degree of fatigue caused to the arm by the interaction position. Since the evaluation method of this application can be calculated in real time, it can provide guidance for the design of adaptive UI that adjusts with the movement of the user. Even if the user moves in the environment, ECE can provide real-time evaluation results. No external tracking or other invasive devices are required. Existing augmented reality devices, such as HoloLens, Vision Pro, etc., can track hand joints in real time. Through the hand joints, the position of the elbow joints can be reversely estimated, and then the torque of the arm can be calculated to obtain the evaluation results. The final evaluation results are more reasonable than the CE indicators, and are highly correlated with the mainstream Borg CR10 indicators. Such as Figure 5 As shown in the figure, it is a schematic diagram of the arm when the interaction position is higher than the shoulder joint plane. Figure 6 As shown in Figure 1, it is a schematic diagram of the evaluation results of the CE index when the interaction position is higher than the shoulder joint plane. Figure 7 As shown in Figure 1, it is a schematic diagram of the ECE evaluation results when the interaction position is higher than the shoulder joint plane. Figure 8 The figure shows the comparison of the evaluation results of CE index and ECE when the interaction position is higher than the shoulder joint plane. Figures 6 to 8It can be seen that when the interaction position is higher than the shoulder joint plane, the CE index starts to rise and then falls, indicating that the fatigue level of the arm first rises and then falls; when the interaction position is above the head, the CE index drops to the same level as when the arm is naturally drooping, which is inconsistent with people's subjective feelings, while the ECE index rises as the interaction position becomes higher. For verification, this application also designed an air click task and obtained the user's Borg CR 10 evaluation results through a questionnaire. Fig. 9 As shown, this is a schematic diagram of the correlation analysis results between ECE and BorgCR 10 in the air clicking task. The analysis shows that the ECE and Borg CR10 indicators are highly correlated.

[0062] like Fig.10 As shown, it is a schematic diagram of a system for evaluating arm fatigue during air interaction of the present application, which may include: A modeling module, used for simplifying the arm into a two-section arm model including a hand-lower arm and an upper arm; The candidate module is used to uniformly sample the quarter of the circumference close to the ground at the current arm interaction position according to the physical constraints of the arm model as the candidate position of the elbow joint; A calculation module, for calculating the fatigue level value for each candidate position of the elbow joint according to the center position of the AR object to be interacted, the position of the shoulder joint, the center of mass of the arm, and the mass of the arm; The evaluation module is used to select the minimum fatigue level value of all candidate positions as the fatigue level value at the current arm interaction position.

[0063] It should be noted that in the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the system embodiments described above are merely schematic. For example, the division of each module is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules can be combined or integrated into another device, or some features can be ignored or not executed. The module described as a separate component may or may not be physically separated. The component displayed as a module may be a physical unit or multiple physical units, that is, it may be located in one place, or it may be distributed in multiple different places. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0064] In addition, each module in each embodiment of the present invention may be integrated into a processing unit, each module may exist physically separately, or two or more modules may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0065] An embodiment of the present application also provides an electronic device, which may include one or more processors, a memory, and a communication interface.

[0066] The memory, the communication interface and the processor are coupled, for example, the memory, the communication interface and the processor may be coupled together via a bus.

[0067] The communication interface is used to transmit data with other devices. The memory stores computer program code. The computer program code includes computer instructions. When the computer instructions are executed by the processor, the electronic device executes the steps of the above-mentioned method for assessing the degree of arm fatigue during the air interaction.

[0068] Wherein, the processor can be a processor or a controller, for example, a central processing unit (CPU), a general processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the present disclosure. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of DSP and microprocessors, and the like. The processor can be used to support electronic devices to execute the method steps provided in the above embodiments.

[0069] The bus may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The above bus may be divided into an address bus, a data bus, a control bus, etc.

[0070] An embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the method for evaluating the degree of arm fatigue during the above-mentioned aerial interaction are implemented.

[0071] The computer-readable storage medium involved in the present application includes random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in the technical field.

[0072] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for evaluating arm fatigue during air interaction, characterized in that: include: The arm is simplified into a two-section arm model including the hand-lower arm and the upper arm; According to the physical constraints of the arm model, a quarter of the circumference close to the ground at the current arm interaction position is uniformly sampled as the candidate position of the elbow joint; For each candidate position of the elbow joint, the fatigue level is calculated based on the center position of the AR object to be interacted, the position of the shoulder joint, the center of mass of the arm, and the mass of the arm. The minimum fatigue level value of all candidate positions is selected as the fatigue level value at the current arm interaction position.

2. The method for evaluating arm fatigue during air interaction according to claim 1, characterized in that: The method for calculating the center of mass of the arm and the mass of the arm includes: According to the mass distribution and relative center of mass of each part of the human body, the mass of the arm and the center of mass of the arm are calculated.

3. The method for evaluating arm fatigue during air interaction according to claim 2, characterized in that: The method for calculating the center of mass of the arm also includes: when the arm interaction position is beyond the reach of the arm, the arm is considered to be in a straight state, and the distance from the shoulder joint to the interaction position to the shoulder joint is the length of the upper arm as the candidate position of the elbow joint; When the arm interaction position is within the arm's reach or beyond the arm's reach, the arm's center of mass is calculated using the following formula: in, represents the center of mass of the arm, represents the mass of the arm, represents the center of mass of the upper arm, Indicates the mass of the arm, represents the center of mass of the forearm, represents the mass of the forearm, represents the center of mass of the palm, Indicates the quality of the palm, Indicates the distance from the interaction position to the shoulder joint position, Indicates the length of the arm, Indicates the position of the shoulder joint. represents the directional quality from the shoulder joint to the interaction position, It indicates the relative position ratio of the center of mass to the shoulder joint when the arm is fully extended.

4. The method for evaluating arm fatigue during air interaction according to claim 3, characterized in that: The method for calculating the fatigue degree value comprises: in, Indicates the center position of the AR object to be interacted with. Indicates the gravity torque of the current arm with the shoulder joint as the point, Indicates the maximum torque that the arm can withstand.

5. The method for evaluating arm fatigue during air interaction according to claim 4, characterized in that: The maximum moment that the arm can withstand The calculation methods include: in, Indicates the maximum force that the arm can withstand.

6. The method for evaluating arm fatigue during air interaction according to claim 5, characterized in that: The maximum force that the arm can withstand The value of is: For men, =101.6N; for women, =87.2N.

7. The method for evaluating arm fatigue during air interaction according to claim 4, characterized in that: The gravity moment of the current arm with the shoulder joint as the reference point The calculation methods include: in, express The angle with the direction of gravity, Represents the acceleration due to gravity.

8. A system for assessing arm fatigue during aerial interaction, characterized in that: include: A modeling module, used for simplifying the arm into a two-section arm model including a hand-lower arm and an upper arm; The candidate module is used to uniformly sample the quarter of the circumference close to the ground at the current arm interaction position according to the physical constraints of the arm model as the candidate position of the elbow joint; A calculation module, for calculating the fatigue level value for each candidate position of the elbow joint according to the center position of the AR object to be interacted, the position of the shoulder joint, the center of mass of the arm, and the mass of the arm; The evaluation module is used to select the minimum fatigue level value of all candidate positions as the fatigue level value at the current arm interaction position.

9. An electronic device, characterized in that: include: A memory and one or more processors; the memory is coupled to the processor; wherein the memory stores computer program code, the computer program code includes computer instructions, and when the computer instructions are executed by the processor, the electronic device executes the steps of the method for assessing arm fatigue during air interaction as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for assessing arm fatigue during air interaction as described in any one of claims 1 to 7 are implemented.

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