DE102011016548B4 - motion fixation - Google Patents

Abstract

Movement fixation for a person (10), comprising a) two shoes (15), b) a base (5) for the shoes, c) a first holder (7) with guide element (2) oriented vertically to the base (5) and Fastening means for the person, d) a connection of the first holder to the center of gravity of the lumbar vertebrae of the person, e) means (11-14) for introducing a force crossing the alignment of the guide element (2) onto the person above the center of gravity, f) Position detection system (16, 17) for ongoing position detection of the person's hands and feet and g) a processor-controlled control system with display (18) for the person to control the means for introducing the force and / or a means for varying the coefficient of friction of the shoes on the Document, comprising the position detection system.

Description

The invention relates to a movement fixation for a person, in particular for virtual reality applications or therapeutic applications according to the first patent claim.

Computer-aided virtual reality systems or applications essentially comprise visualizations of a virtual environment on a display, preferably a screen, which interacts with an operator via an input or an interface of the latter via signals.

Typical fields of application of virtual reality applications can be found in simulators for control systems, eg. As in flight or driving simulators, in the model representation of complex three-dimensional objects such. As buildings or processes or computer animations or games. Feuerwehreinsätze, dangerous goods and rescue operations can be based on existing environmental data z. B. of buildings, objects or Topgraphien and simulate a use. A field also includes therapeutic applications, e.g. Eg for exercises of responses to displayed signals.

By way of example, a commercially available computer-assisted video game "WII" from Nintendo, Japan, in which one or more players communicate interactively interactively via motion sensors and a screen with the game console, can be mentioned here. The motion sensors are used to detect selected movements of the players in a selectable in the system game role z. A certain sport or an actor role. These motion sensors interactively influence the virtual reality representation of an environment on the screen.

Furthermore, for some time flight simulators are known in which a player or operator sits as in the real plane on a pilot's seat and optionally fixed and preferably via a real cockpit device with the simulator control with a surrounding image screen and a mostly hydraulic traversing and pivoting device for the entire cockpit including pilot seat communicates.

DE 299 03 258 U1 discloses a device for securing and rescuing persons with a safety harness which is suspended from a winch and is vertically movable therethrough.

WO 02/059853 A2 describes a simulator system in which a person is guided standing vertically from three sides in a frame.

DE 197 13 805 A1 and GB 2 316 155 A describe devices for the physical simulation of virtual spaces, in which the feet of a person are placed on controlled movable platforms.

Also WO 2007/064456 A2 describes a simulator system with a recording device for a person, which is located on a movable independently of the device table platform. A comparable system, however, with a treadmill instead of the table top, is in US 5,562,572 disclosed.

DE 198 21 453 C1 shows a device for simulating walk and run activity without significant change in location of walking / running, in which the person stands on an electromagnetic plate, which is in controllable magnetic interaction with magnetic shoes of the person. A belt with safety line serves as a fall protection.

A simple movement fixation for a standing person in which it is used on the one hand stationary and on the other hand vertically guided freely movable, in particular can perform a free running motion while their movement is detected and processed, however, is not known.

Based on this, the object of the invention is to propose a device for immobilizing movement, in which a stationary person is stationary while maintaining his free walking movements in any direction can be fixed. In particular, the person should not feel restricted by the movement fixation in his subjectively perceived walking motion. In addition, the movement fixation should allow a capture of the person's movement for interaction with a virtual reality system.

The object is achieved with a movement fixing with the features of the first claim. Subclaims give advantageous embodiments of this movement fixation again.

The object is achieved by a movement fixation for a person in which a standing person is fixed in two places in rotatable and vertically movable brackets and these brackets allow certain lateral and rotational movements.

The first holder is used in particular for the horizontal fixation of the center of gravity and allows a vertical movement, but also natural pivoting and tilting movements of the person around his center of gravity.

The second holder serves to connect the upper half of the body of the person to the movement fixation and as a point of application of a force in the direction of an upright posture. It counteracts stronger flexions, especially of the upper body, also to ensure or improve the stability of the person on a pad.

The first holder comprises a guide element, preferably a vertically oriented linear guide, which is connected to the center of gravity of the person. In the context of the invention, for technical reasons, at the center of gravity, it uses a harness as connection element, preferably in the area of the lumbar vertebrae, d. H. not directly directly on the actual focus of the person. In this respect, the invention with a connection of the center of gravity also includes one or more connections via connecting elements to the body area around the center of gravity of the person, which inevitably also results in a distance of the connection point or the vectorially resulting point of application to the actual center of gravity. The distance of the point of attack to the actual center of gravity of the person acts as a lever arm of a torque which acts on the person when he wants to perform the movements that are not provided by the guide member and locked. A certain distance is tolerable, wherein the torque acting on the person from the person on the legs and the feet or shoes on a base and / or on the second bracket above the center of gravity can be supported.

The first holder is only the relief of the legs by the body weight, if by this discharge and possibly subsequent cancellation of the discharge is to be simulated by the subject subjectively perceived movement. With a relief of the legs z. B. by a drive of the holder, the person subjectively experiences the effect, as if they run down a slope. A partial or total lifting of the discharge simulates an end of the gradient up to a subsequent incline. A possible relief also serves to relieve the friction between shoe sole and pad, d. H. to lower frictional forces and thus a stabilization of a movement (safety).

The holder is connected to the guide element and is mounted laterally movable with this parallel to the guide orientation.

One embodiment allows for a preferably unlimited rotational or pivotal movement of the guide element as a whole relative to the environment.

In a further embodiment, this rotation or pivoting movement is not given. The guide element is laterally but not rotatably supported only in the guide orientation. However, the holder of the person still allows via connecting elements a preferably limited pivoting movement relative to the linear guide, preferably around each direction for enabling body movements of the person (for example bending over or other pelvic movements). Preferably, this detected by the rotational movement pivoting area has a central position. Optional elastic return means acting on the support serve to elastically return the support to the central position. A variant of this embodiment provides a non-rotatable attachment to the return means, wherein only the elasticity of this return means (eg., Spring element, foam buffer element) allows the moderate rotational movement of the holder.

On the other hand, another embodiment does not permit any rotational movement.

Apart from frictional forces by the bearings of the linear guide and possibly the elastic return means act in the said directions of movement, apart from the aforementioned optional vertical weight relief for simulating movements preferably no further forces on the first holder on the body. Optionally, means are provided which reduce the weight of the movable support members, i. H. Compensating the first bracket and the carriage of the guide element and thus avoid an impact of these self-weights on the body. Consequently, there are preferably no separate manipulators or other force sources or means (eg, elastic members or weights) acting on the first support which, in addition to the pure weight compensation of the support, allow a force to be applied to the person via the first support. This does not preclude the application of forces to the body in directions which are not predetermined or released by the guide element and which therefore result from a movement limitation. Preferably, the linear guide and bracket does not allow any further translational or rotational movements.

However, the connection of the person on the first bracket includes fasteners such. B. Schaumstoffpuffer- or spring elements, preferably a flexion (eg bending over) and rotational movement at the connection of the person allow and limit the person in their natural motion not or insignificantly. Preferably, the connecting elements are designed to be elastic and allow a tilting or rotation of the center of gravity about a preferably horizontal axis. When Connecting elements are preferably elastic foam elements.

The second bracket engages the person above the center of gravity, preferably at the back between the person's shoulder blades. It comprises means for initiating a force crossing the alignment of the linear guide on the person. In this case, this force can vectorially be subdivided into a partial force directed parallel to and perpendicular to the orientation, which are preferably directed upwards or toward the alignment and thereby counteract a forward movement of the upper body of the person. The upper body of the person is thus erected preferred. Also, the second holder preferably has a connecting element, more preferably an elastic component z. As foam on.

In a preferred embodiment, the second holder comprises a deflection roller of a traction cable which engages on the one hand on the first holder (eg on the lap belt harness), on the other hand is connected to a drive unit or an abutment. In this case, the force acting on the person on the upper body is a force acting horizontally backwards.

Furthermore, the movement fixation system comprises two shoes for the person with means for varying the coefficient of friction of the shoe sole on a base. Thus, on the one hand the grip for a secure stability of the person to be secured to the pad, on the other hand, by a sliding movement of the sole allow a stationary movement of the person in the movement fixation preferably in a virtual reality application. For this purpose, the two shoes are preferably separated from each other in their friction properties such. B. the coefficient of friction adjustable. More preferably, the two soles are each divided into individually adjustable in the coefficient of friction sole areas, at least in Fußspitzenbereich, foot ball area and heel area. The adjustment of the friction properties is preferably carried out by a selection of a friction pairing (eg sole made of Teflon or plastic with base made of plastic such as PVC). The friction properties can be further controlled by elements that can be controlled by actuators or only when the sole loads into the friction, for example, rubber elements in recesses of the sole. Alternatively, the frictional forces can be varied by loading or unloading the body weight via forces acting on the holders.

The activation of the force acting on the first and / or second holder depending on the embodiment, as well as the adjustment of the friction properties of the soles or individual sole regions, preferably takes place via a closed control loop. The implementation preferably takes place in the context of a processor-controlled control or regulation system. With this, the positions of the person, in particular the positions of the arms, legs and head in the movement fixation with a position detection system are continuously recorded. The position data are further processed as input variables in the control loop to control variables for the aforementioned control.

The position detection system preferably comprises an optical detection, preferably at least three cameras for position detection of marks on hands and shoes, preferably also on the head. The brands are z. B. by active transmitting elements such. As light-emitting diodes or passive elements such. B. fluorescent markers formed, which are always detected simultaneously by two of the three cameras. The five position data, which are preferably determined in real time using the position detection system, are sufficiently accurate for the position detection of the entire person as well as all executable movements. The body position between the marks, such. B. the posture or positions of the knees or elbows is supplemented by implemented in the control or regulation system standard data or individual individuals individual data from experience.

Alternatively, the optical detection (in the visible or non-visible region such as infrared range) is a depth detection system in which the position of certain body parts are optically detectable. This system is supported z. B. by projections of optical patterns on the person in particular on the body parts of interest such as hands, shoes / feet and / or head.

Preferably in virtual reality applications, the processor-controlled control system includes an indication to the person. The display is preferably optical, realized z. B. with a video glasses or a screen, optionally supplements z. B. by tactile indications such as vibration actuators (vibration source) on fingers (Tastsimulationen). Depending on the viewing direction, the control or regulation system preferably also detects the body parts which can be detected via the position detection system and which are then optically faded in the display.

The invention and details thereof will be explained in more detail with reference to embodiments with figures. Show it

1 a first embodiment of the movement fixing with ceiling suspension,

2a and b two further embodiments of the movement fixation with tripod suspension,

3 a plan view of a linear guide with first holder and fasteners to the person fixed as well

4a and b further embodiments of the movement fixation with stand suspension without rotatable or pivotable linear guide.

In the 1 illustrated embodiment of the movement fixation sees a vertically oriented guide rope 1 for the linear guide 2 (Guide element) between an upper attachment 3 z. B. on a ceiling and a lower attachment 4 in the area of the base 5 in front. The orientation of the linear guide is determined by the transverse force-free, ie not deflected in a horizontal direction guide cable. The guide cable is preferably on the upper attachment with an elastic spring 6 biased. The linear guide has a tubular sliding guide or - as shown - guide rollers 8th up and over the first bracket 7 and a lap belt harness 9 as a connecting element with the center of gravity of a fixed person 10 connected. The bias of the guide cable causes an elastic behavior of the connection of the person, ie not only a restoring force of the linear guide with horizontal deflection, but also allows - as mentioned - a diffraction and rotational movement at the connection of the person.

The second holder 11 includes a shoulder harness 12 In the area of the spine, preferably between the shoulder blades with an elastic upward to the upper attachment 3 biased towing rope 13 connected is. The direction of the pull rope indicates with its direction the force acting on the second support, ie the force direction crosses the alignment of the linear guide in the region of the upper attachment 3 , ie above the center of gravity of the person in the area of the first holder 2 , The bias is provided by means for introducing the force in the pull rope, in the example realized by a prestressed winch 14 preferred with motorized adjustment in the area of the upper attachment 3 generated. Preferably, the pull rope with elastomer or rubber parts, z. B. a rubber cord on an inherent elasticity.

The fixed person 10 stands by means of two shoes 15 on the pad 5 , which are around the lower attachment 4 extends, covering the possible range of movement of the person in the movement fixation. As described above, both shoes have means for varying the coefficient of friction on the base.

There are also 1 schematically the arrangement of three cameras 16 , prefers three web cameras for the current acquisition of five marks 17 on both feet, both hands and the head again. As a display for the person is a video glasses 18 , The aforementioned control and / or regulating unit as well as the interconnection of said components are shown schematically in the schematic representation. 1 not played.

2a and b represent two embodiments of the motion fixation with tripod suspension. The guide element does not use as in 1 shown, a tensioned rope as a guide rail, but a stand rod 19 in the lower attachment 4 preferably in a rolling bearing 25 around a rotation axis 20 rotatable in the pad 5 is stored at the top 26 free ends, that is not separately managed or stored. The linear guide 2 in the in 2a illustrated variant is formed by a vertical rod (but at least a rod portion). 3 is a top view sectional view of the linear guide again. In the in 2 B On the other hand, one or more gas spring damper elements serve 21 as a guide element, which instead of a linear guide about a pivot point 22 swiveling on the stand rod 19 are arranged.

2a and b show preferred embodiments in which the stand rod in the region of the guide element (linear guide 2 in 2a , Pivot point 22 for the gas spring damper 21 in 2 B ) eccentric to the axis of rotation 20 is arranged, which advantageously the center of gravity of the person is moved closer to the axis of rotation. Thus, the fixing fixation is discreetly perceived during a rotation of the fixed person and perceived as less disturbing. But since the vertical orientation of the linear guide not with the parallel to this axis of rotation 20 is congruent, the guide element must be secured on the stand rod against rotation. This is done in the context of a linear guide acc. 2a and 3 preferably positively via a support rod with non-rotationally symmetrical cross section, a guide spring or - as in 3 shown - via a second tripod or guide rod 28 , here at the same time as a running track for the rollers of the linear guide 2 for the first holder.

In the in 2 B reproduced embodiment, the linear guide is not realized via a sliding or roller bearing guide, but via pivoting gas spring damper elements. The fulcrum 22 allows as a pivot bearing only a pivoting movement about one or two horizontal axis, while rotations are blocked in the vertical direction, damped or provided only to a small extent. Preferably, the pivot bearing is a Single axle bearing, in relation to the person 10 only a tilting movement forward and thus z. B. also allows a vertical movement of the center of gravity of the person (see. 2 B , dashed line).

The rotatable stand rod optionally has a co-rotating support roller 23 on, the one in relation to the person 10 rearward acting on the stand rod force with intercepts (see. 2 B ).

The pull rope between the shoulder blades 13 will be in both in 2a and b disclosed embodiments preferably via a first pulley 24 introduced at the upper end in the interior of the stand rod and guided by this. The bias is either on the inherent elasticity of the hawser and / or an elastic fixation of Zugseilendes and / or an engine re-adjustment of the winch 14 , Due to the bias and the cable adjustment, a slope or a slope is simulated for the person. The fixation is still in the stand rod or externally after removal of the pull cable at the bottom of the stand rod below the pad externally (see. 2a and b). Preferably, the Zugseilabschnitt, which is located in the stand rod, formed by a Bowden cable or at least in the region of the curvatures 27 additionally sheathed in a flexible hose with a low coefficient of friction to the material of the stand rod and / or to the pull rope (eg nylon hose). The fixation is optionally configured elastically, for example via additional spring elements. Optional means for a length adjustment of the pull rope, preferably a winch 14 serve alternatively or beyond the adjustment of the tensile force of the pull rope. This means, in particular a winch is preferred either - as in 2 B shown - outside the extension of the pad 5 or on the stand rod 19 preferably in the region of a curvature 27 arranged ( 2a ). Alternatively, there is an arrangement of said means in the region of the upper end 26 the stand rod while saving a pulley.

3 exemplifies a possible Ausfürhungsform a top view of the first holder 7 for the person 10 the in 2a illustrated embodiment again. The holder comprises a linear guide 2 that has two guide rollers 8th vertically on the stand rod 19 and the guide rod 28 is mounted and prevents rotation of the linear guide to the vertical. As a connecting element to the person is a body image 29 with lap belt harness 9 that have multiple compression springs 30 as an alternative or in addition to a (in 3 not shown) foam buffer element is connected to the linear guide and advantageously allow a diffraction and rotational movement at the connection of the person and not restrict the person in its natural movement or insignificant. 3 represents a preferred symmetrical neutral center position where the fixed person 10 through the first holder 7 no torques experienced. With a deflection from this middle position, there is a deflection of the compression springs 30 or foam buffer and thereby to a restoring force or a restoring moment on the person in the middle position. The preferred maximum pivotal movements are about 25 ° (about the horizontal to the side), 30 ° (about the vertical to the side) and 45 ° (about the horizontal forward) for an embodiment without twisting the stand rod or the guide ( 4 ). Is such a twisting possibility provided (eg. 1 and 2a and b) should a pivot around the vertical to the side be prohibited.

A foam element as a connecting element and / or the body receiving 29 is preferably ergonomically or positively adapted to the lumbar region of the person in its shape and has an indicated seat shape. In particular, vertical forces between the person and the holder can be transmitted better.

4a shows a further embodiment of the movement fixation with tripod suspension without rotatable or pivotable linear guide. It is different from the one in 2a and b illustrated embodiment, among other things, that the stand rod 19 not rotatable in the pad to achieve rotation or pivoting of the linear guide 5 is used, but rigid z. B. is connected via a tripod with the pad. The stand preferably has a recess in the area of leg movement freedom when running. The linear guide preferably corresponds to in 3 illustrated embodiment, wherein the compression springs 30 are preferably replaced by the aforementioned foam buffer or a plurality of foam buffer elements, which is a small swing of the fixed person 10 to the linear guide 2 allows, but always causes an elastic return to a middle position.

The pad, but preferably the area extending behind the person preferably has an average gradient between 1 and 25 °, more preferably between 4 and 15 ° and more preferably between 6 and 10 ° in the direction of travel. In a slight gradient, running movements on the surface 5 perceived as particularly realistic.

4b shows a further embodiment of the movement fixation with tripod suspension without rotatable or pivotable linear guide; which has a pad area behind the person with a non-constant slope as well as an active manipulation of the remaining flat pad area. The active manipulation is realized in the present case by an actively driven treadmill, wherein the treadmill direction is unidirectionally aligned. In the exemplary embodiment, the treadmill direction is aligned in the running direction of the person (preferably the aforementioned middle position). The drive of the treadmill is motorized and is largely regulated by the holding force directed horizontally to the first holder in the direction of the person. The friction conditions between the treadmill and the shoe sole preferably correspond to the friction conditions between the base and the shoe sole.

LIST OF REFERENCE NUMBERS

1

guide rope

2

linear guide

3

upper attachment

4

lower attachment

5

document

6

elastic spring

7

first bracket

8th

leadership

9

Beckengurtgeschirr

10

fixed person

11

second bracket

12

shoulder harness

13

rope

14

winch

15

shoe

16

camera

17

mark

18

video glasses

19

Support rod

20

axis of rotation

21

Gas spring damper element

22

pivot point

23

supporting role

24

idler pulley

25

roller bearing

26

top end

27

curvature

28

guide rod

29

Full Length

30

compression spring

31

rear underlay area

32

treadmill

Claims (8)

Movement fixation for one person ( 10 ), comprising a) two shoes ( 15 ), b) a document ( 5 ) for the shoes, c) a first holder ( 7 ) with vertical to the base ( 5 ) aligned guide element ( 2 ) and fastening means for the person, d) a connection of the first holder to the center of gravity of the person's lumbar vertebra, e) means ( 11 - 14 ) for initiating an alignment of the guide element ( 2 ) crossing force on the person above the center of gravity, f) a position detection system ( 16 . 17 ) for the current position detection of the hands and feet of the person as well as g) a processor-controlled control system with display ( 18 ) for the person for controlling the means for introducing the force and / or a means for varying the coefficient of friction of the shoes on the base, comprising the position detection system. Motion fixation according to claim 1, characterized in that the position detection system is an optical movement detection system for detecting the position of hands and the shoes ( 15 ). Motion fixation according to claim 2, characterized in that the display ( 18 ) comprises an optical display and / or a vibration source. Motion fixing according to one of the preceding claims, characterized in that the fastening means by a piece of clothing or a harness ( 9 ) with a pivotable receptacle ( 29 ) on the guide element ( 2 ) are formed in the lumbar region of the person. Motion fixation according to claim 4, characterized in that the receptacle ( 29 ) and the guide element ( 2 ) by elastically acting in a middle position compression springs ( 30 ) or foam buffer are connected. Motion fixing according to one of the preceding claims, characterized in that the guide element is a linear guide ( 2 ). Motion fixing according to claim 6, characterized in that the linear guide on a vertical rod ( 19 ) or a vertically tensioned rope ( 1 ) is attached. Motion fixing according to one of the preceding claims, characterized in that the means for introducing the force of an elastically tensioned traction cable ( 13 ) fixed at one end to the person in the spinal region between the shoulder blades.

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