Cable-Suspended Vehicle Simulation System Concept

2007 ◽  
Author(s):  
Robert L. Williams
Keyword(s):  
Flight Simulation ◽  
Body Motion ◽  
Whole Body ◽  
Input Devices ◽  
Vehicle Simulation ◽  
Surround Sound ◽  
Flight Simulators ◽  
Potential Applications ◽  
High Bandwidth ◽  
Human Operators

This paper presents a concept for virtual-reality-based vehicle simulation with whole-body haptics. The cable-suspended NIST RoboCrane is adapted to carry human operators in simulating a variety of vehicle motions. A realistic, immersive VR system is proposed with 3D graphics, haptic motion input devices, 3D surround-sound audio, articulating fans, and an olfactory generator. The real-world cockpit and input devices will be used to increase realism, suspended from nine active cables for motion simulation. The intent is to replace existing heavy, expensive, and dangerous Stewart-Platform-based flight simulators with a lighter, more economical, stiff, safe, high bandwidth, cable-suspended system. Many potential applications are proposed in addition to flight simulation. Our long-term goal is to create an economical, safe, realistic vehicle simulator with full-body motion for operator training, research & development, vehicle design, entertainment, rehabilitation, and therapy.

Synthesis of Planar, Compliant Four-Bar Mechanisms for Compliant-Segment Motion Generation

1999 ◽  
Vol 123 (4) ◽  
pp. 535-541 ◽  
Author(s):  
L. Saggere ◽  
S. Kota
Keyword(s):  
Compliant Mechanisms ◽  
Shape Change ◽  
Synthesis Method ◽  
Elastic Equilibrium ◽  
Body Motion ◽  
Motion Generation ◽  
Generation Task ◽  
Potential Applications ◽  
Flexible Segment ◽  
Definition Of

Compliant four-bar mechanisms treated in previous works consisted of at least one rigid moving link, and such mechanisms synthesized for motion generation tasks have always comprised a rigid coupler link, bearing with the conventional definition of motion generation for rigid-link mechanisms. This paper introduces a new task called compliant-segment motion generation where the coupler is a flexible segment and requires a prescribed shape change along with a rigid-body motion. The paper presents a systematic procedure for synthesis of single-loop compliant mechanisms with no moving rigid-links for compliant-segment motion generation task. Such compliant mechanisms have potential applications in adaptive structures. The synthesis method presented involves an atypical inverse elastica problem that is not reported in the literature. This inverse problem is solved by extending the loop-closure equation used in the synthesis of rigid-links to the flexible segments, and then combining it with elastic equilibrium equation in an optimization scheme. The method is illustrated by a numerical example.

How to use body tilt for the simulation of linear self motion

2004 ◽  
Vol 14 (5) ◽  
pp. 375-385 ◽  
Author(s):  
E.L. Groen ◽  
W. Bles
Keyword(s):  
Visual Motion ◽  
Detection Threshold ◽  
Stimulus Frequency ◽  
Flight Simulation ◽  
Body Tilt ◽  
Whole Body ◽  
Motion Percept ◽  
Self Motion ◽  
Rate Limit ◽  
Pitch Tilt

We examined to what extent body tilt may augment the perception of visually simulated linear self acceleration. Fourteen subjects judged visual motion profiles of fore-aft motion at four different frequencies between 0.04âĂŞ0.33 Hz, and at three different acceleration amplitudes (0.44, 0.88 and 1.76 m / s 2 ). Simultaneously, subjects were tilted backward and forward about their pitch axis. The amplitude of pitch tilt was systematically varied. Using a two-alternative-forced-choice paradigm, psychometric curves were calculated in order to determine: 1) the minimum tilt amplitude required to generate a linear self-motion percept in more than 50% of the cases, and 2) the maximum tilt amplitude at which rotation remains sub-threshold in more than 50% of the cases. The results showed that the simulation of linear self motion became more realistic with the application of whole body tilt, as long as the tilt rate remained under the detection threshold of about 3 deg/s. This value is in close agreement with the empirical rate limit commonly used in flight simulation. The minimum required motion cue was inversely proportional to stimulus frequency, and increased with the amplitude of the visual displacement (rather than acceleration). As a consequence, the range of useful tilt stimuli became more critical with increasing stimulus frequency. We conclude that this psychophysical approach reveals valid parameters for motion driving algorithms used in motion base simulators.

Human to Robot Whole-Body Motion Transfer

2021 ◽  
Author(s):  
Miguel Arduengo ◽  
Ana Arduengo ◽  
Adria Colome ◽  
Joan Lobo-Prat ◽  
Carme Torras
Keyword(s):  
Body Motion ◽  
Whole Body

Whole-Body Motion Planning

2018 ◽  
pp. 1575-1599 ◽  
Author(s):  
Eiichi Yoshida ◽  
Fumio Kanehiro ◽  
Jean-Paul Laumond
Keyword(s):  
Motion Planning ◽  
Body Motion ◽  
Whole Body

scholarly journals Responses of Anterior Superior Temporal Polysensory (STPa) Neurons to “Biological Motion” Stimuli

1994 ◽  
Vol 6 (2) ◽  
pp. 99-116 ◽  
Author(s):  
M. W. Oram ◽  
D. I. Perrett
Keyword(s):  
Biological Motion ◽  
Temporal Cortex ◽  
The Body ◽  
Body Motion ◽  
Whole Body ◽  
Global Pattern ◽  
Lighting Conditions ◽  
Specific Direction ◽  
Direction Of Movement ◽  
Light Stimuli

Cells have been found in the superior temporal polysensory area (STPa) of the macaque temporal cortex that are selectively responsive to the sight of particular whole body movements (e.g., walking) under normal lighting. These cells typically discriminate the direction of walking and the view of the body (e.g., left profile walking left). We investigated the extent to which these cells are responsive under “biological motion” conditions where the form of the body is defined only by the movement of light patches attached to the points of limb articulation. One-third of the cells (25/72) selective for the form and motion of walking bodies showed sensitivity to the moving light displays. Seven of these cells showed only partial sensitivity to form from motion, in so far as the cells responded more to moving light displays than to moving controls but failed to discriminate body view. These seven cells exhibited directional selectivity. Eighteen cells showed statistical discrimination for both direction of movement and body view under biological motion conditions. Most of these cells showed reduced responses to the impoverished moving light stimuli compared to full light conditions. The 18 cells were thus sensitive to detailed form information (body view) from the pattern of articulating motion. Cellular processing of the global pattern of articulation was indicated by the observations that none of these cells were found sensitive to movement of individual limbs and that jumbling the pattern of moving limbs reduced response magnitude. A further 10 cells were tested for sensitivity to moving light displays of whole body actions other than walking. Of these cells 5/10 showed selectivity for form displayed by biological motion stimuli that paralleled the selectivity under normal lighting conditions. The cell responses thus provide direct evidence for neural mechanisms computing form from nonrigid motion. The selectivity of the cells was for body view, specific direction, and specific type of body motion presented by moving light displays and is not predicted by many current computational approaches to the extraction of form from motion.

LQP controller design for generic whole body motion

2009 ◽  
Author(s):  
Joseph Salini ◽  
Sébastien Barthélemy ◽  
Philippe Bidaud
Keyword(s):  
Controller Design ◽  
Body Motion ◽  
Whole Body
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