DE10060466A1 - Apparatus measuring leg movement and simulating motion and forces in surroundings, employs virtual ground surface and linkages with mechanical resistances - Google Patents

Abstract

The object of the invention is to combine the detection of a walking / running movement and the simulation of a virtual environment and virtual underground on the user who is ultimately not moving. DOLLAR A The user is in the frame (1), his feet are fixed on the treads (2a, b). At the joints (3 to 8a / b) there are protractors and adjustable brakes or motors that transmit the forces that result from the conditions of a virtual environment to the user's legs. The evaluation of the angle measurement data and the control of the brakes or motors is carried out on a control unit or the computer, which takes over the other simulation of the virtual environment. DOLLAR A Simulation of movement in a virtual environment using the legs as well as fitness and rehabilitation exercises.

Description

The invention relates to a device for measuring leg movement and Movement, environment and background simulation according to the generic term of Claim 1.

State of the art

As is known, the measurement of a walking / running movement takes place, for example, via mechanical sensor systems or by means of optical systems on the outgoing user, about on a treadmill. Systems for simulating a walking movement in virtual Spaces are known in another form (cf. US 5,583,407; US 6,102,832; US 5,792,031; US 5,562,572).

Critique of the state of the art

The simulation of an unrestricted running movement in a virtual environment is currently not appropriate and possible with acceptable effort.

task

The invention is based on the object, the detection of a walking / running movement as well as the simulation of a virtual environment and underground ultimately non-moving users connect, taking the full range of Movement options should be preserved. Possible applications arise in realizing any movement in virtual worlds using legs can take place, as well as with rehabilitation measures, since the walking / running movement in all their parameters can be influenced, as well as for fitness exercises.

solution

The distances between treads ( 2 a, 2 b), joints on the side of the knee ( 3 a, 3 b) and the joints ( 4 a, 4 b) on the hip are adjusted to the length of the lower leg and thigh so that the joints the mechanics can be placed at the level of the user's joints. This adjustment is made by adjusting the length of the connections ( 9 a, 9 b and 10 a, 10 b).

The frame ( 1 ) is expediently provided with supports ( 16 ) which ensure a stable stand but do not restrict the freedom of movement of the user. This can be, for example, a tripod, the supports ( 16 ) of which are sufficiently outwardly inclined. The user is in the frame ( 1 ), either standing freely with one foot on the treads ( 2 a or 2 b) or sitting on a seat or hanging in a seat belt ( 11 ) and also the feet on the treads ( 2 a or 2 b) has. The entire mechanism for measuring movement is currently in a stretched state, parallel to the user's leg. If a seat or seat belt ( 11 ) is used, the height must be adjusted so that the user's hip joint is at the height of the associated joints ( 4 to 6 a / b). This is done by adjusting the length of the fastenings ( 15 a / b) of the seat belt. A seat can be attached in the same way. The frame ( 1 ) can be closed around the user at waist level to give him support. The frame can be equipped with padding and a convenient opening ( 12 ) for getting on and off. The user's feet are appropriately fixed on the treads ( 2 a or 2 b), for example with straps. Around the thigh of the user, the straps are fixed to the thigh ( 19 a / b) in order to achieve a better flow of strength. These straps are conveniently attached to the connection parallel to the thigh ( 9 a, 9 b). By putting on an appropriate shoulder strap ( 17 a / b) it is possible to overcome greater mechanical resistance on the legs than the body weight of the user can offer as a counterforce. This can be beneficial for fitness exercises.

At hip height there are three joints ( 4 , 5 , 6 a / b) on each side of the left and right hip joint, which allow the hip to move freely in the forward and sideways direction and the rotation of the leg in the hip joint. Rotation of the knee joint is permitted by the swivel joint ( 8 a / b) on the side below the knee. To the tread surfaces (2 a, 2 b) is a joint (7 a, 7 b) mounted laterally of the ankle that targets parallel at the connection of the lower leg (10 a, 10 b).

The angular positions of all the joints in the arrangement are determined at appropriate short time intervals or continuously via protractors and passed on to a control unit. If a virtual environment is simulated, the control device can be identical to the computer that visually represents and simulates the virtual environment. These values can be used in a mathematical model of the legs to determine their position in a virtual space, in particular with respect to a virtual floor. In this mathematical model, points of contact of the legs with the simulated environment and the forces acting on the legs can be determined. This can be implemented using known algorithms. Corresponding signals from the control unit can be used to generate the currently acting counterforce on the joints, as if the user is really standing on a real surface and / or is moving, by means of expediently meterable brakes on all joints ( 3 to 8 a / b) of the arrangement. In order to generate realistic forces, for example when moving up stairs, the weight of the user must be known approximately. When the user lifts a leg, the resistance that the friction of the foot creates on the virtual floor is removed, the leg is free to move unless the foot comes to the level of the virtual floor or collides with obstacles in the virtual space that analogous to obstacles in reality to create resistance using the brakes Every movement of the user in space can be simulated using the mathematical model of the leg position and the simulation of forces on the legs. For the outside observer, for example, the movement that acts as real walking for the user looks as if the user was hanging in the air.

Instead of being implemented using meterable brakes, it is also conceivable to use electric or hydraulic motors. These motors generate a variable, defined torque at the joints ( 3 to 8 a / b), according to the control by the control unit. When using motors, the weight of the equipment can be compensated for by working the motors so that the user does not have the feeling of having heavier legs. In addition, the movement crouching can be simulated.

Achievable advantages

By visualizing the virtual environment (and the movement in it) on one Computer using a screen or video glasses gives the user the impression of being really move.

Since all degrees of freedom of leg movement are preserved and counter forces can be simulated on all joints, any movement of the legs (which can be performed upright) and the associated movement can be simulated. This includes, for example, rotations (if this is based on leg movement) around the vertical body axis, walking sideways, cornering, moving on inclined surfaces and climbing stairs. Obstacles in the virtual environment can be felt by the fact that great resistance is created at the joints of the apparatus, for example when one wants to walk through a virtual wall or move into positions where there are virtual objects. The type of ground, for example ice or soft ground, can be simulated. For rehabilitation exercises, the effective weight of the user can be reduced in a version with a seat belt ( 11 ) or seat by reducing the counter forces of the mechanics. A use for fitness exercises is also conceivable, whereby this application possibility can be linked to the simulation of a virtual environment. By using the shoulder straps ( 17 a / b) you can also work with forces that exceed the counterforce generated by the body weight.

List of reference numbers

a part of mechanics for left leg
b Part of mechanics for right leg

1

frame

2

a / b treads

3

a / b joint / brake / protractor on the knee

4, 5, 6

a / b joints / brakes / protractor on hip

7

a / b joint / brake / protractor on the ankle

8th

a / b joint / brake / protractor below the knee

9

a / b connection parallel to the thigh

10

a / b connection parallel to the lower leg

11

seat belt

12

Foldable part of the frame for climbing on and off

13

a / b screw connection for adjusting the distance between the left and right leg mechanics

14

Hinge for moving the foldable part of the frame (

12

)

15

a / b attachments of the seat belt (

11

) on the frame (

1

)

16

Supporting the frame

17

a / b shoulder strap

18

a / b attachments of the shoulder strap (

17

) on the frame (

1

)

19

a / b strap on the thigh

Claims (13)

1. Device for measuring the leg movement and movement, environment and background simulation, characterized in that the mechanism for measuring the leg movement of the user simulates contact with a virtual floor surface and / or forces that result from the conditions of the virtual environment, by means of mechanical resistances in joints ( 3 to 8 a / b) of the device, which are expediently placed next to the hip, knee and ankle joint, upper and lower leg. 2. Device according to claim 1, characterized in that the mechanics for measurement the leg movement and movement, environment and underground simulation that takes up total body weight. 3. Apparatus according to claim 1, characterized in that the mechanism for measuring the leg movement and movement, environmental and underground simulation only partially absorbs the entire body weight and the remaining body weight is absorbed by an appropriate seat belt ( 11 ) or seat which is on the frame ( 1 ) is fastened by means of the fastenings ( 15 a / b) and does not hinder the mechanics. 4. The device according to at least one of the preceding claims, characterized in that the mechanism for measuring the leg movement and movement, environmental and underground simulation is equipped with an appropriate belt system ( 17 a / b), so that the forces acting on the legs by the body weight acting counterforce can exceed. 5. The device according to at least one of the preceding claims, characterized characterized in that to protect the user in the event of malfunction of the device and / or according to the needs of the user, the angular range of the articulation of the Mechanics limited by adjustable angle-limiting stops on the joints can be.   6. The device according to at least one of the preceding claims, characterized in that the length of the linkage on the thigh ( 9 a, 9 b) and lower leg ( 10 a, 10 b) are variably adjustable. 7. The device according to at least one of the preceding claims, characterized in that the position measurement of the legs by measuring the angular position of the joints ( 3 to 8 a / b). 8. The device according to at least one of the preceding claims, characterized in that the simulation of the contact with a virtual floor surface and / or forces that result from the conditions of the virtual environment is carried out by means of appropriate metered brakes on the joints ( 3 to 8 a / b) generate a definable variable mechanical resistance, depending on the commands of a control unit, which calculates the resulting forces on the user depending on his movement and position in a simulated environment. 9. The device according to at least one of the preceding claims, characterized characterized in that the control unit for calculating the position of the legs and Control of the brakes identical to the computer to simulate the forces to be simulated can be, which takes over the other simulation of the virtual environment. 10. The device according to at least one of the preceding claims, characterized in that each joint ( 3 to 8 a / b) does not necessarily have to be present. 11. The device according to at least one of the preceding claims, characterized characterized that the distance between the left and right leg mechanics of the Hip width of the user can be adjusted. 12. The device according to at least one of the preceding claims, characterized in that instead of the brakes, electric or hydraulic motors can also be used, which cause defined variable torques on the joints ( 3 to 8 a / b) according to the control by the control unit and the Measure the acting torques and forward them to the control unit. 13. The apparatus according to claim 12, characterized in that by the motors Dead weight of the mechanics is compensated and does not affect the user.