scholarly journals INTERACTIVE MOTION PLATFORMS AND VIRTUAL REALITY FOR VEHICLE SIMULATORS

2017 ◽  
Vol 12 ◽  
pp. 108
Author(s):  
Evžen Thöndel
Keyword(s):  
Virtual Reality ◽  
Human Body ◽  
Degrees Of Freedom ◽  
Direct Interaction ◽  
Control Methods ◽  
Motion Platform ◽  
Two Degrees Of Freedom ◽  
Fast Growing ◽  
And Control ◽  
Second Use

Interactive motion platforms are intended for vehicle simulators, where the direct interaction of the human body is used for controlling the simulated vehicle (e.g. bicycle, motorbike or other sports vehicles). The second use of interactive motion platforms is for entertainment purposes or fitness. The development of interactive motion platforms reacts to recent calls in the simulation industry to provide a device, which further enhances the virtual reality experience, especially with connection to the new and very fast growing business in virtual reality glasses. The paper looks at the design and control of an interactive motion platform with two degrees of freedom to be used in virtual reality applications. The paper provides the description of the control methods and new problems related to the virtual reality sickness are discussed here.

Design and control of a cascaded piezoelectric actuated two-degrees-of-freedom positioning compliant stage

2016 ◽  
Vol 45 ◽  
pp. 374-386 ◽  
Author(s):  
Jer-Wei Lee ◽  
Yu-Ching Li ◽  
Kuo-Shen Chen ◽  
Yun-Hui Liu
Keyword(s):  
Degrees Of Freedom ◽  
Two Degrees Of Freedom ◽  
And Control

Design and Control of a Hand-Assist Robot with Multiple Degrees of Freedom for Rehabilitation Therapy

2016 ◽  
pp. 199-234
Author(s):  
Haruhisa Kawasaki ◽  
Satoshi Ueki ◽  
Satoshi Ito ◽  
Tetsuya Mouri
Keyword(s):  
Virtual Reality ◽  
Support System ◽  
Degrees Of Freedom ◽  
Acute Stage ◽  
Hand Rehabilitation ◽  
Stroke Patients ◽  
Hand Motion ◽  
Training Strategy ◽  
Rehabilitation System ◽  
And Control

This chapter focuses on a patient self-controlled rehabilitation system using our developed exoskeleton-type hand-motion-assist robot and tele-rehabilitation. The virtual reality-enhanced new hand rehabilitation support system, which we have developed for stroke patients in the acute stage, is aiming to allow such patients to conduct every day exercises by themselves without supervisors. This system features a multi-DOF motion assistance device, a virtual reality interface for patients, and a symmetrical master-slave motion assistance training strategy called ”self-motion control”, in which the stroke patients' healthy hand on the master side creates the assistance motion for the impaired hand on the slave side. Moreover, a tele-rehabilitation system consisting of a hand rehabilitation support system for the patients, an anthropomorphic robot hand for the therapist, and a remote monitoring system for diagnosing the degree of recovery is explained.

scholarly journals Design and Control of 7-DOF Omni-directional Hexapod Robot

2020 ◽  
Vol 11 (1) ◽  
pp. 80-89
Author(s):  
Marek Žák ◽  
Jaroslav Rozman ◽  
František V. Zbořil
Keyword(s):  
Degrees Of Freedom ◽  
Travel Speed ◽  
Legged Robots ◽  
Movement Speed ◽  
Legged Robot ◽  
Hexapod Robot ◽  
Unique Combination ◽  
Two Degrees Of Freedom ◽  
And Control ◽  
Omnidirectional Wheels

AbstractLegged robots have great potential to travel across various types of terrain. Their many degrees of freedom enable them to navigate through difficult terrains, narrow spaces or various obstacles and they can move even after losing a leg. However, legged robots mostly move quite slowly. This paper deals with the design and construction of an omni-directional seven degrees of freedom hexapod (i.e., six-legged) robot, which is equipped with omnidirectional wheels (two degrees of freedom are used, one for turning the wheel and one for the wheel itself) usable on flat terrain to increase travel speed and an additional coxa joint that makes the robot more robust when climbing inclined terrains. This unique combination of omnidirectional wheels and additional coxa joint makes the robot not only much faster but also more robust in rough terrains and allows the robot to ride inclined terrains up to 40 degrees and remain statically stable in slopes up to 50 degrees. The robot is controlled by a terrain adaptive movement controller which adjusts the movement speed and the gait of the robot according to terrain conditions.

scholarly journals A simulator for both manual and powered wheelchairs in immersive virtual reality CAVE

2021 ◽  
Author(s):  
C. Genova ◽  
E. Biffi ◽  
S. Arlati ◽  
D. F. Redaelli ◽  
A. Prini ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Cognitive Abilities ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Systematic Bias ◽  
Immersive Virtual Reality ◽  
Motion Platform ◽  
Training Tool ◽  
Wheel Rotation ◽  
Median Error

AbstractA large number of people in the world need to use a wheelchair because of different disabilities. Driving a wheelchair requires complex physical and cognitive abilities which need to be trained. Virtual training helps users acquire driving skills in a safe environment. The aim of this paper is to describe and technically validate simulation models for both manual (MW) and powered wheelchairs (PW) based on immersive virtual reality CAVE (VR). As VR system, the Gait Real-time Analysis Interactive Lab (GRAIL) was used, a CAVE equipped with a motion platform with two degrees of freedom and an optoelectronic motion capture system. A real wheelchair was positioned onto the motion platform with rear wheels free to turn in MW modality, and a commercial joystick was installed on an armrest to simulate the PW modality. Passive markers were used to track the wheel rotation, the joystick and the user hand motion. Custom D-flow applications were developed to manage virtual scene response to user actions. Overground tests, based on single wheel rotation, were performed to verify the simulation model reliability. Quantitative results demonstrated that the MW simulator kinematics was consistent with a real wheelchair overground in the absence of wheel slip and inertia (median error for MW 0.40 °, no systematic bias p = 0.943, high correlation rho > 0.999, p < 0.01). The proposed solution is flexible and adaptable to different wheelchairs, joysticks and optoelectronic systems. The main limitation is the absence of force feedback. Nevertheless, it is a reliable prototype that can be used to validate new virtual scenarios as well as for wheelchair training. The next steps include the system validation with real end users and assessment of the simulator effectiveness as a training tool.

Design and Control of a 13-DOF Biped Robot Using Human Gait

2010 ◽  
Author(s):  
Reza Naghibi ◽  
Alireza Akbarzadeh Tootoonchi
Keyword(s):  
Human Body ◽  
Degrees Of Freedom ◽  
Control Strategies ◽  
Golden Ratio ◽  
Biped Robot ◽  
Human Gait ◽  
Proper Number ◽  
Control Scheme ◽  
The One ◽  
And Control

This paper presents a new biped humanoid robot, as well as control strategies to be implemented for walking and balance recovery. The ultimate design goal was to design the structure to be as close to a lower part of human body as possible. Therefore, golden-ratio-based human body proportions and proper number of degrees of freedom of the lower part are used [1]. The biped has 12 actuated DOE in the lower body: three at each hip, one at each knee, two at each ankle as well as 1 additional DOF at its torso. Each degree of freedom is powered by a force controllable actuator. To achieve human like trajectory, human walking data has been used [2]. To insure both stability and human like trajectory, a torque compensator is added to the one DOF at the torso. The Biped is designed in SolidWorks and simulated in SimMechanic and COSMOSMotion. The movement of the joints are achieved by motors and harmonic drives. The contact between sole and ground is considered to be elastic and is modelled using spring and damper in horizontal and vertical directions [3]. Finally, control of the biped is performed using a PID control scheme and each of the 13 motors achieve desired human like trajectory.

Approximation and Control of Curvilinear Shapes via Deployable Mechanisms With Two Degrees of Freedom

2014 ◽  
Author(s):  
Shengnan Lu ◽  
Dimiter Zlatanov ◽  
Xilun Ding ◽  
Rezia Molfino ◽  
Matteo Zoppi
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Geometric Shape ◽  
Large Area ◽  
Two Degrees Of Freedom ◽  
New Device ◽  
Deployable Mechanism ◽  
Two Parameters ◽  
And Control ◽  
Physical Boundary

This paper proposes a multi-unit mechanism, which can be used to approximate, with two independent degrees of freedom, the shape of the geometric outline of an arbitrarily large area. The new device is a variant of a recently introduced planar deployable mechanism with two uncoupled degrees of freedom, built from identical units, each combining Sarrus and scissor linkages. Similar units, but with varying sizes, are used in the new device, which is able to change its elliptical physical boundary by varying independently the two parameters in the standard ellipse equation. The size and placement of the deployable units and their links are analyzed and selected for getting the expected geometric shape. The relationships between the number of dividing lines and the approximating accuracy and the degree of overconstraint, respectively, are calculated. A similar deployable mechanism controlling a hyperbola is also outlined. Kinematic analysis and simulated models show that the mechanisms can be used to approximate geometric curves, as desired.

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