DEVICE FOR USER INTERACTION WITH A SIMULATION ENVIRONMENT

Description

Technical field

[0001] The invention relates to a device for the interaction of a user with a simulation environment, comprising a bearing element for the user which is connected to at least one actuator via at least one drive means, a data acquisition unit for control data and a computing unit connected to the data acquisition unit for controlling the actuators. State of the art

[0002] Prior art describes motion control devices for user interaction with a simulation environment, in which a suspension system is connected to a simulation suit for the user (US2021228993A1). The suspension system attaches to the user's torso via an adapter equipped with multiple pull ropes, allowing the user to be lifted and suspended. Cameras detect the user's position, and the pull ropes are then controlled to shift the torso in response to the user's movements. This allows the simulation environment of a parachute jump or skydive to be recreated.

[0003] A similar device is known from US20130109484A1, which, however, does not have a camera for position detection.

[0004] The KR1020190047311A and the EP3552970A1 also show similar devices, with compressed air being directed to the user's extremities via guide elements in the KR1020190047311A and compressed air being directed at the entire user from below in order to make certain simulation environments more realistic.

[0005] The flight simulator of the KR1020180077518A also shows a wingsuit-like adapter that is suspended by pulleys.

[0006] US20230032506A1 shows a support device for fairground vehicles, suspended by several cables acting against the direction of gravity, each forming part of a pulley system.

[0007] A disadvantage of the current state of the art, however, is that the forces exerted on the user by the motion control system for interaction with the simulation environment are limited, since the suspension can only exert vertical forces on the user's torso that oppose gravity. This severely restricts the variety and complexity of the environments that can be simulated and, consequently, their degree of authenticity. Description of the invention

[0008] The invention according to claims 1 and 8 is therefore based on the objective of enabling a user to have an authentic interaction with the simulation environment, taking into account the movement of his entire body.

[0009] The invention solves the stated problem by providing several bearing elements for different limbs of the user, each of which is connected to two actuators via drive means, wherein the direction of the force exerted by at least one actuator on the respective bearing element deviates from a direction opposite to the direction of gravity.

[0010] The invention is based on the premise that the user's interaction with the simulation environment occurs via forces exerted on the user's limbs and vice versa. According to the invention, this is achieved by enabling the device to exert forces on individual limbs within a control loop, the force vectors of which have different spatial directions of action and do not merely counteract the gravitational force in an antiparallel manner. A sensor unit for acquiring control data is provided for the control loop, and the processing unit uses this data to control the actuators.The detection unit can, for example, include a camera that captures changes in the user's spatial orientation as control data. Based on this control data, the processing unit then controls one or more actuators to exert forces on the user's individual limbs in a closed-loop control system. These forces can vary from limb to limb. Thus, the device according to the invention can, for example, simulate swimming or diving movements if bearing elements are provided on the user's arms and legs, as this allows the simulation of the varying water resistance of each limb during a lateral swimming movement. The force exerted on a bearing element is, vectorially speaking, the resultant force of the forces exerted by the two actuators via the drive means.Since the force vectors of the forces exerted on the bearing elements generally run along the drive means, the directions of the resulting forces can be determined by the arrangement of the drive means and / or the actuators. In a preferred embodiment, the two actuators and the bearing element connected to them can be arranged at the vertices of an imaginary triangle, with the two drive means forming two of the three sides of this triangle. This triangular arrangement ensures that the two forces exerted on the bearing element by the actuators are linearly independent in direction, thus allowing for a large number of possible force directions. The actuators can be winches that wind and unwind ropes as the drive means. The bearing elements can be, for example, loops that are placed around the user's limbs.In a preferred embodiment, the bearing elements are arranged on a simulation suit worn by the user. To make the simulation environment even more realistic, an optical output, such as virtual reality glasses, can be provided for the user, which is also controlled by the processing unit. For the purposes of the invention, the force exerted on the user by the device is always understood to be an active force, based on the control of the actuators. This means that the force exerted by the device acts on the user in addition to a passive force, i.e., a force that would also act on the user in the absence of the device, such as the force of gravity. For example, the acceleration of a bearing element solely by the force of gravity due to the idle operation of its associated actuators is not considered an exerted force.Although it is self-evident to the expert that a force is naturally a vector quantity and not a scalar quantity, it should be expressly pointed out once again that the terms "force" and "force vector" are used synonymously.

[0011] In addition to the bearing elements, a support element can be provided to transfer the majority of the user's body weight into the device. This support element can preferably be arranged in the area of ​​the user's center of gravity and can also be connected to one or more actuators via one or more drive means. Because the support element bears the majority of the user's body weight, the bearing elements according to the invention have to withstand comparatively lower forces and can therefore not only be smaller, but also react more quickly due to the associated lower mass.

[0012] The spatial detection of the user or the bearing elements using purely optical methods without sophisticated technical means is inaccurate and prone to errors, thus compromising the quality of the control data. To enable the rapid determination of precise control data using simple technical means, it is therefore proposed that the detection unit include several position sensors, each assigned to an actuator, to detect its position as control data. As a result of these measures, the easily determined position of the actuator, such as the deflection of a linear motor or the unwinding status of a winch, can be used as control data. This control data can be processed in the processing unit, thereby determining the user's position and consequently the forces to be applied. From these state variables, the relative position of the user can, for example, be easily determined.Preferably, the device is calibrated before the user begins interacting with the simulation environment, as this allows the user's absolute position within a defined coordinate system to be determined. This can be achieved, for example, by defining a starting position for the user and then setting all state variables to zero.

[0013] If, in a simulation environment, a force is to be quickly and easily exerted from the device onto the user in response to a force applied by the user, this can be implemented with technically simple means, analogous to the measurement of the actuator's position, by having the measurement unit include several actuator force sensors, each assigned to a specific actuator, to measure the actuating force as control data. In this case, the forces exerted by the user on the actuator are determined by the actuator force sensors as control data and processed analogously to the above.This enables, for example, the simulation of a swimming movement as described above: If the actuator registers a swimming movement in the actuators assigned to the arms, the forces exerted by this swimming movement serve as control data, which are recorded via the actuator and the processing unit determines the counterforces to be exerted on the user by the actuators, which simulate the water resistance.

[0014] Even though the actuator's control variables can be determined easily and precisely, some simulation environments require control data that cannot be obtained directly from the actuator. To determine such control data, or to obtain correction data for limbs assigned a bearing element, it is proposed that the acquisition unit include an optical sensor for determining the spatial position of at least one part of the user's body as control data. This allows for the detection of body parts or movements that might not be detectable by a displacement sensor or a force sensor, such as the position of body parts without a bearing element or rotational movements of limbs. The spatial position thus detected can then be supplied to the processing unit as control data.Alternatively or additionally, control data obtained in this way can be used as a correction to the control data recorded via the actuator, for example via a displacement sensor or an actuator force sensor.

[0015] To implement a simulation environment in which gravity is stronger than Earth's gravity, at least one actuator of a bearing element can be arranged such that the force it can exert on the bearing element includes a component extending in the direction of gravity. As a result of these measures, a force can be exerted on the bearing element that includes a force component parallel to the gravity vector, thereby amplifying the gravitational force. In a particularly space-saving and easily controllable embodiment, both actuators and the bearing element lie on a fictitious line bounded by the actuators, such that the drive elements of both actuators run parallel to the gravity vector.

[0016] To enable movement of body parts perpendicular to the gravitational vector without the influence of active forces and without having to operate an actuator, it is proposed that at least one actuator be mounted on a support platform and be displaceable perpendicular to the gravitational vector. This allows the user to move the actuators perpendicular to the gravitational vector, i.e., horizontally, without requiring them to compensate for this lateral movement through a travel distance. The support platform also offers the advantage of simple mounting of the actuators and any supporting element. The actuators can be mounted passively, i.e., without any additional drive mechanism, so that they follow the movement of the body part through the pulling forces exerted on the actuator by the user. In a preferred embodiment, however, the actuators are mounted actively, i.e., they have a drive mechanism that allows them to be displaced.This allows an additional force to be exerted on the user via this drive. Even more preferably, this drive can be switched to a neutral position, which allows movement similar to that of a passive bearing.

[0017] If a single support platform is used, it may not be possible to mount all actuators on it to achieve a wide range of possible forces. However, if two support platforms opposite each other, with respect to their mounting elements, are provided to support at least one actuator, the actuators can be distributed across both platforms. This increases the possible spatial arrangement and thus the number of possible forces. A symmetrical arrangement still allows for relatively simple control of the actuators to generate the desired resultant forces.

[0018] To enable the user to perform roll, pitch, and / or yaw movements, it is proposed that at least one support platform be pivotably mounted about a rotational axis. This allows the actuators of a support platform to pivot together and simultaneously with the platform, thereby displacing the user's entire body. While these movements can also be achieved without a pivotable support platform with a suitable arrangement of the actuators or drive elements, if the support platform is pivotably mounted according to the invention, the actuators do not need to be controlled separately, thus simplifying the control of the device. If two support platforms are provided, preferably both are pivotable about a common axis.

[0019] The invention also relates to a method for operating a device described above for the interaction of a human body with a simulation environment, wherein the computing unit determines target values ​​for the actuators based on the control data and a kinematic model assigned to the simulation environment, after which the actuators are controlled based on these target values. The computing unit receives the control data from the detection unit and thus the information about the position and / or acting forces of the bearing elements and possibly other body parts of the user. The relevant physical relationships and laws prevailing in the simulation environment are represented in the kinematic model, so that the computing unit can determine how an action of the user in the simulation environment will have an effect and what possible counterforces should act on the user.For example, the kinematic model can include a vector field that assigns a vector to each point in space where the user can move within the simulation environment. In the simplest case, this allows for the simulation of a low-gravity environment by assigning a force vector opposing the gravitational vector to each point in space. Based on the information about the position of a bearing element obtained from the control data and by retrieving the setpoint assigned to that point, the processing unit can determine the corresponding force to be applied to the bearing element and control the respective actuators so that this force is exerted on the bearing element. In general, the kinematic model can therefore map the forces acquired as control data to a resulting displacement as a setpoint for one or more actuators. Brief description of the invention

[0020] The invention is illustrated in the drawing as an example. It shows Fig. 1 a schematic side view of a device according to the invention with a user, Fig. 2 a schematic front view of the device according to the invention. Fig. 1 . Ways to implement the invention

[0021] An apparatus according to the invention comprises several bearing elements 1, through which forces are exerted from and on the user 2 to interact with the simulation environment and which are provided for several limbs of the user 2. The bearing elements 1 are connected to actuators 4 via drive means 3. In the illustrated embodiment, the bearing elements 1 are loops that the user 2 wears around their limbs. To determine which forces are to be exerted on the user 2 by the apparatus depending on their position or movements, a detection unit is provided that acquires control data and, based on this control data and a kinematic model assigned to the simulation environment, determines setpoint values ​​for the actuators 4. A processing unit 5 then controls the actuators 4 based on these setpoint values. In the illustrated embodiment, the actuators 4 are winches that wind and unwind ropes as drive means 3.The detection unit comprises position encoder 6 and actuating force encoder 7, which include the position or actuating force of the actuators 4 as control data and are arranged in a housing concentrically mounted to the winches in the illustrated embodiment.

[0022] To exert forces on the user 2 that deviate in their orientation from a direction antiparallel to the direction of gravity 8, two actuators 4 are provided for each of several bearing elements 1, with each actuator 4 also having a drive element 3 provided in the illustrated embodiments. Due to the arrangement of the actuators 4 and drive elements 3 shown in the illustrated embodiments, some limbs can be pulled downwards in the direction of gravity 8, since the force that can be exerted on these limbs includes a component extending in the direction of gravity 8. Other bearing elements 1 can be displaced transversely to the direction of gravity 8 by providing actuators 4 for these bearing elements 1, which are arranged in a triangle with the bearing element 1, so that linearly independent force vectors can be exerted on these bearing elements 1.

[0023] For the realistic representation of some simulation environments, the control data acquired by the detection unit via the bearing elements 1 are insufficient. Therefore, the detection unit can include an optical recording device 9, in the illustrated embodiments a camera, which determines the spatial position of at least one body part of the user 2. For perspective reasons, the camera was only shown in Fig. 1 The body part in question can be a limb, but it can also be, for example, the torso of user 2. This allows the force exerted on user 2 via the bearing elements 1 to be controlled by control data that is not obtained via the bearing elements 1.

[0024] In the illustrated embodiment, the actuators 4 are arranged on a support platform 10, allowing them to be moved transversely to the direction of gravity 8. The actuators 4 can be mounted on rails on the support platform or, preferably, on a cross slide, so that they can be moved by force applied by the user 2. Preferably, active drive elements are provided for the actuators 4, enabling a force component acting transversely to the gravitational vector 8 to be exerted on the bearing elements 1 associated with the actuators 4. To increase the positioning options of the actuators 4 and / or drive elements 3, and thus allow for a greater variety of forces to be applied, two support platforms 10, 11 can be provided, positioned opposite each other with respect to the bearing elements 1.

[0025] Again Fig. 2In the illustrated embodiment, a support element 12 is provided in the area of ​​the user's center of gravity, via which the majority of the user's body weight 2 can be introduced into the device, so that the entire body weight does not have to be introduced into the device via the bearing elements 1.

[0026] In the illustrated embodiment, both support platforms 10, 11 are pivotably mounted about the axis of rotation 13, so that pitching movements can be realized via the support platforms 10, 11.

Claims

1. Device for interaction between a user (2) and a simulation environment, comprising a rest element (1) for the user (2), which is connected via at least one drive means (3) to at least one actuator (4), a detection unit for control data and a computing unit (5) connected to the detection unit for controlling the actuators (1), wherein a plurality of rest elements (1) are provided for different limbs of the user (2), each of which rest elements (1) is connected to two actuators (4) via drive means (3), wherein the direction of the force exerted by at least one actuator (4) on the respective rest element (1) deviates from a direction opposite to the direction of gravity (8), characterized in that the detection unit comprises a plurality of position sensors (6) assigned to each actuator (4) for detecting its position as control data, and a plurality of actuating force sensors (7) assigned to each actuator (4) for detecting the actuating force as control data.

2. Device according to claim 1, characterized in that a support element (12) is provided for transferring the majority of the body weight of the user (2) into the device.

3. Device according to claim 1 or 2, characterized in that the detection unit comprises an optical recording device (9) for determining the spatial position of at least one part of the body of the user (2) as control data.

4. Device according to one of claims 1 to 3, characterized in that at least one actuator (4) of a rest element (1) is arranged such that the force it can exert on the rest element (1) includes a component running in the direction of gravity (8).

5. Device according to one of claims 1 to 4, characterized in that at least one actuator (4) is mounted on a carrier platform (10) so that it can be moved transversely to the direction of gravity (8).

6. Device according to one of claims 1 to 5, characterized in that two carrier platforms (10, 11) opposite each other with respect to the rest elements (1) are provided for mounting at least one actuator (4).

7. Device according to one of claims 5 or 6, characterized in that at least one carrier platform (10) is mounted so as to be pivotable about a pivot axis (13).

8. Method for operating a device according to one of the preceding claims, wherein the computing unit (5) determines set values for the actuators (4) on the basis of the control data and a kinematic model assigned to the simulation environment, after which the actuators (4) are controlled on the basis of these set values.