面向虚拟座舱仿真的虚拟现实头盔伺服系统关键技术研究

项目名称： 面向虚拟座舱仿真的虚拟现实头盔伺服系统关键技术研究

项目编号： No.51205195

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 机械工程学科

项目作者： 吴东苏

作者单位： 南京航空航天大学

项目金额： 25万元

中文摘要： 本项目针对在虚拟座舱仿真环境中佩戴虚拟现实头盔产生的侵入感与视觉延迟问题，设计和研制一种新型虚拟现实头盔伺服系统。突破相关的设计、测量和控制等关键技术，包括掌握座舱乘员的头部运动特性以及头颈部表面肌电信息与头部运动之间的规律关系，并以此为基础结合并联机构的特点，设计满足头部运动要求的头盔并联支撑系统结构、低时延高精度的头部运动预测算法以及实时鲁棒的头盔减负和头部随动控制算法，最终设计主客观评价实验对系统有效性进行评估。目标是在虚拟座舱环境中，满足使用者的头部运动要求，实现利用机械跟踪和表面肌电信息相融合的方式来进行高精度低时延的头部运动检测，实时主动跟踪头部运动，消除头盔的沉重感、束缚感和异物感，同时提供高实时性和高逼真度的虚拟场景。

中文关键词： 头盔显示器；头部运动；并联机器人；表面肌电信号；虚拟座舱

英文摘要： This project is focused on the intrusion feeling and vision delay problem when a user wears HMD in the virtual cockpit simulation environment. The target is to master the key technology of relevant design, measurement and control law, including getting head motion characteristics of cockpit trainer and the relationship between sEMG on the neck and head motion. Based on the above results, and incorporating characteristics of parallel robot, a HMD parallel supporting structure satisfying head motion constraints is designed first. And then a head motion prediction algorithm featuring low time delay and high resolution is proposed. Furthermore, a realtime robust relieving and tracking control algorithm is also proposed. Finally, we design subjective and objective experiments to evaluate the effectiveness of the system. The design goal is satisfying user's head motion demand, realizing good head motion detection and tracking and make HMD more comfortable in the high-fidelity virtual environment by fusing mechanical tracking and sEMG.

英文关键词： Helmet Mounted Display；Head Motion；Parallel Robot；Surface Electromyography；Virtual Cockpit