面向竞技训练的下肢外骨骼多模态交互系统研究

doi:10.3901/JME.2023.05.029

机械工程学报 ›› 2023, Vol. 59 ›› Issue (5): 29-40.doi: 10.3901/JME.2023.05.029

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面向竞技训练的下肢外骨骼多模态交互系统研究

戚文谦^1,2, 孙守迁^1,2, 陈超^1,2, 张叶冰清^1,2, 赵东伟^1,2

1. 浙江大学现代工业设计研究所杭州 310027;
2. 浙江省设计智能与数字创意研究重点实验室杭州 310000

收稿日期:2022-03-01 修回日期:2022-11-29 出版日期:2023-03-05 发布日期:2023-04-20
通讯作者: 孙守迁(通信作者),男,1963年出生,博士,教授,博士研究生导师。主要研究方向为创新设计、外骨骼机器人。E-mail:ssq@zju.edu.cn
作者简介:戚文谦,女,1996年出生,博士研究生。主要研究方向为基于虚拟现实的外骨骼系统设计。E-mail:21821009@zju.edu.cn
基金资助:
国家重点研发计划资助项目(2020YFC1523300)。

Research on Multimodal Interaction System of Lower Limb Exoskeleton Oriented to Competitive Training

QI Wenqian^1,2, SUN Shouqian^1,2, CHEN Chao^1,2, ZHANG Yebingqing^1,2, ZHAO Dongwei^1,2

1. Modern Industrial Design Institute, Zhejiang University, Hangzhou 310027;
2. Zhejiang Key Laboratory of Design Intelligence and Digital Creativity Research, Zhejiang University, Hangzhou 310000

Received:2022-03-01 Revised:2022-11-29 Online:2023-03-05 Published:2023-04-20

摘要/Abstract

摘要： 目前关注辅助下肢提升身体素质训练的可穿戴设备研究存在缺失，而外骨骼与虚拟现实的协同研究是近几年的新兴方向，多模态信息融合的外骨骼系统能有效优化训练效果和训练体验。因此，开发了一套面向竞技训练的下肢外骨骼多模态交互系统，不仅提供了丰富多样且标准规范的辅助训练，并且实现了多感官的沉浸体验。首先，设计一种多自由度分步动作规划方法，基于下肢运动动作点实现训练动作的复现。其次，提出下肢外骨骼多模态交互系统，通过虚拟现实竞技训练模拟器实现信息空间中规范动作的呈现与指示，构建动作数据集和下肢外骨骼机器人实现物理空间中基础训练的辅助与矫正。系统基于多模态交互执行策略，实时给予训练者视觉、听觉、触觉的多感官反馈，实现符合安全规范的沉浸体验。最后，通过系统功能与用户体验两项实验进行系统验证。功能性实验证明，与原有传统训练相比，该系统平均可提升动作准确率27.62%，且具有一定通用性。用户体验的实验结果表明，该系统功能符合设计预期，舒适性相对其他指标有待提高。

关键词: 下肢外骨骼机器人, 虚拟现实, 动作数据集, 多模态交互

Abstract: Currently, there is a lack of research on wearable devices that focus on assisting lower limbs to improve physical fitness training. The synergistic research of exoskeleton and virtual reality is an emerging direction in recent years. The exoskeleton system with multimodal information fusion can optimize the training effect and experience. Therefore, a multimodal interaction system of the lower limb exoskeleton for athletic training is developed. Which not only provides a wide variety of standardized training but also realizes a multisensory immersion experience. Firstly, a multi-degree-of-freedom step-by-step action planning method is designed to reproduce training actions based on lower limb movement action points. Second, a multimodal interaction system for the lower limb exoskeleton is proposed to realize the presentation and indication of normative movements in information space through a virtual reality athletic training simulator. The action data set and the lower limb exoskeleton robot are constructed to realize the assistance and correction of basic training in physical space. The system is based on a multimodal interaction execution strategy to give trainers visual, auditory, and tactile multisensory feedback in real-time to achieve an immersive experience that meets safety norms. Finally, the system is evaluated through two experiments on system functionality and user experience. The functional experiment proves that the system can improve the action accuracy rate by 27.62% on average compared with the original traditional training, and has certain generality. The experimental results of user experience show that the system’s function meets the design expectations, and the comfort compared to other indicators needs to be improved.

Key words: lower limb exoskeleton robot, virtual reality, action data set, multimodal interaction

中图分类号:

TG802

戚文谦, 孙守迁, 陈超, 张叶冰清, 赵东伟. 面向竞技训练的下肢外骨骼多模态交互系统研究[J]. 机械工程学报, 2023, 59(5): 29-40.

QI Wenqian, SUN Shouqian, CHEN Chao, ZHANG Yebingqing, ZHAO Dongwei. Research on Multimodal Interaction System of Lower Limb Exoskeleton Oriented to Competitive Training[J]. Journal of Mechanical Engineering, 2023, 59(5): 29-40.

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面向竞技训练的下肢外骨骼多模态交互系统研究

Research on Multimodal Interaction System of Lower Limb Exoskeleton Oriented to Competitive Training

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