Universal movement device for human lower limbs and control method thereof

Abstract

The invention discloses a human body lower limb universal movement device, which comprises a control center, a human body lower limb posture measuring mechanism and a plane connecting rod device. The human body lower limb posture measuring mechanism and the plane connecting rod device are wirelessly connected with the control center. The human body lower limb posture measuring mechanism is fixed on two legs of a human body and is used for measuring the human body lower limb movement posture in real time and transmitting the posture to the control center. The control center determines the relative positions of the swing foot and the landing foot according to the human body lower limb movement posture measured by the human body lower limb posture measuring mechanism and sends a real-time tracking instruction to the plane connecting rod device. The plane connecting rod device is horizontally arranged on the horizontal ground below the human body lower limb posture measuring mechanism, and is used for tracking the foothold of the swing foot in real time according to a real-time tracking instruction sent by the control center. During use, the coordinates of the landing foot and the swinging foot are firstly determined, and then the expected joint angular velocity and the joint rotation angle of a plane connecting rod where the swing foot is located are calculated. Finally, a tray on the connecting rod where the swing foot is located is controlled to track a projection point of the swing foot on the horizontal plane in real time.

Description

technical field [0001] The invention relates to a human lower limb exercise device, in particular to a human lower limb universal exercise device and a control method thereof. Background technique [0002] Immersive interactive experience equipment is one of the hotspots in the development of virtual reality technology. The universal motion equipment for the lower limbs of the human body can enable the wearer to run freely in any direction, so that it has unlimited movement space in a "virtual" environment. In virtual reality, military Training, remote interaction and other fields have great application prospects. [0003] The traditional treadmill can only make the human body move along the moving direction of the conveyor belt, but cannot change the moving direction. The universal treadmill enables the human body to change the direction of movement arbitrarily within the range of 360 degrees, so that the human body has unlimited freedom of movement. In addition, the univ...

AI Technical Summary

Problems solved by technology

The OMNI treadmill is a passive treadmill with a fixed base. Although its principle is relatively simple, it must rely on the waist support frame to maintain body balance due to the need to tilt the body during exercise.

Since the user's waist or thighs are fixed as the fulcrum of the body's center of gravity, the human body will not feel the feeling of stepping on the ground during running, so the virtual immersion is insufficient. In addition, the OMNI treadmill only uses image recognition to track the trajectory of the human foot, and cannot Detected human lower body posture

Chinese patent CN104874152A discloses a universal running machine whose principle is similar to the OMNI universal treadmill. The universal running machine described in the patent has a central platform and a ring-shaped universal treadmill, and the universal treadmill is integrally connected to the central platform. On the periphery, the upper surface of the universal treadmill is covered with a number of rolling parts. The rolling parts can rotate in situ and have a rolling direction towards the central platform. The universal treadmill is equipped with a ring-shaped human body support frame, which passes through the ring-shaped human body support frame during use. Confining the body to a narrow area often makes the body tilt due to the setting of the support assembly and prevents the body from squatting

Chinese patent CN201737341U discloses a spherical universal treadmill, which consists of a spherical cabin, a base, and three driving devices. When in use, the human body runs in the spherical cabin, and the motor drives the spherical cabin to follow the human body to roll in any direction, so that the human body can Running continuously, the disadvantage of this device is that it is bulky and inconvenient to use

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