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CN-121971771-A - Vestibular vibration Anti-corona 3D system based on Anti-slosh control strategy

CN121971771ACN 121971771 ACN121971771 ACN 121971771ACN-121971771-A

Abstract

The invention discloses a vestibular vibration Anti-dizziness 3D system based on an Anti-slosh control strategy, which comprises an inertial measurement unit, a control module and a vibration stimulation module, wherein the inertial measurement unit is used for collecting the instantaneous angular speeds of head and neck pitching, rolling and yawing and extracting dominant oscillation frequency, the control module is used for inputting a shaper to inhibit residual oscillation by adopting a zero vibration derivative, converting a shape motion signal into a stimulation parameter and adjusting the vibration parameter through a smoothing factor to ensure that stimulation is synchronous with head and neck motion, the vibration stimulation module is used for transmitting the vibration parameter to a vibration motor fixed on a mastoid part, and transmitting mechanical vibration to an inner ear through a bone conduction mode, so that personalized vestibular stimulation counteracts sensory conflict caused by unexpected movements of the head and the neck and closed-loop self-adaptation vestibular stimulation is realized. In the objective evaluation index, the motion sickness index based on accumulated head and neck motions is reduced by 50.69 percent on average, and the CS risk accumulation speed is reduced by 8.69 percent.

Inventors

  • MO FUHAO
  • WU KE
  • CHEN CHONGXUE
  • LI WEI

Assignees

  • 湖南大学

Dates

Publication Date
20260505
Application Date
20260407

Claims (5)

  1. 1. The vestibular vibration Anti-corona 3D system based on the Anti-slosh control strategy is characterized by comprising an inertial measurement unit (1), a control module (3) and a vibration stimulation module (2); The inertial measurement unit (1) acquires the instantaneous angular speeds of the head and neck in the pitch direction, the roll direction and the yaw direction in real time, and extracts the dominant oscillation frequency based on a weighted frequency estimation algorithm; ; in order to dominate the oscillation frequency, For the pitch angle rate, In order to achieve a roll-over angular velocity, Is yaw rate; the control module (3) adopts a zero vibration derivative input shaper to restrain residual oscillation, converts a shape motion signal into a stimulation parameter, compensates the transmission delay of the system, dynamically adjusts the vibration parameter through a smoothing factor, and ensures that stimulation and head and neck motion are synchronous; The vibration stimulation module (2) transmits the processed vibration parameters to a vibration motor fixed on the mastoid process part, and transmits mechanical vibration to the inner ear in a bone conduction mode, so that personalized vestibular stimulation is realized to counteract sensory conflict caused by head and neck unexpected movements, and closed loop self-adaptive vestibular stimulation is realized.
  2. 2. The Anti-slosh control strategy based vestibular vibration Anti-dizziness 3D system of claim 1 wherein the instructions after the residual oscillation are suppressed By delayed pulse weighted convolution generation: ; Wherein, the The reference motion signal is represented by a reference signal, For a gain of class i, For class i delay time, based on oscillation parameters of the system Determining gain and delay time: ; as an oscillation parameter of the system, , Parameters are measured for magnetic resonance elastography.
  3. 3. The Anti-motion sickness 3D system based on the Anti-slosh control strategy of claim 1 wherein the stimulation frequency is expressed as: ; In order to stimulate the frequency of the stimulation, For the last moment% ) The value of the stimulus frequency is calculated and, As a smoothing factor, the smoothing factor is used, For the current moment of time the oscillation frequency is dominant, Delay for system transmission; The stimulation phase is expressed as: ; In order to stimulate the phase of the light, As a function of the phase wrapping, For the current phase of head and neck movement, For the currently dominant oscillation frequency, Delay for system transmission; the stimulus amplitude is expressed as: ; Wherein, the In order to stimulate the amplitude of the light, For the normalized term of the shaped instruction, To use the zero vibration derivative shaped instruction, Function identification limits amplitude to safe range ], At the level of the minimum value of the amplitude, Is the maximum amplitude.
  4. 4. Vestibular vibration Anti-dizziness 3D system based on the Anti-slosh control strategy according to claim 1, characterized in that the inertial measurement unit (1) is integrated in a head-mounted display device.
  5. 5. The vestibular vibration Anti-dizziness 3D system based on the Anti-slosh control strategy according to claim 4, wherein the vibration stimulation module (2) comprises at least two bone conduction vibration motors which are symmetrically fixed at mastoid locations at two sides of the head-mounted display device.

Description

Vestibular vibration Anti-corona 3D system based on Anti-slosh control strategy Technical Field The invention relates to human interaction comfort optimization technology in the fields of Virtual Reality (VR), augmented Reality (AR) and Mixed Reality (MR), in particular to a vestibular vibration Anti-motion 3D system based on an Anti-slosh control strategy, which is suitable for relieving motion sickness (Cybersickness, CS) in an immersive 3D environment and improving human-computer interaction experience. Background Immersive 3D technologies such as virtual reality and augmented reality are widely applied to the fields of entertainment, medical rehabilitation, military training, industrial design and the like, and an application effect exceeding the traditional mode is achieved by providing space existence sense and imaging interaction. However, motion sickness is a key bottleneck which restricts the large-scale popularization of motion sickness, eye movement fatigue, unstable posture and other symptoms of 30% -70% of users, which results in the reduction of the task completion rate of 40% of enterprise scenes, and the use time of 58% of consumer-grade VR is less than 30 minutes. The pathogenesis of motion sickness mainly originates from three theories of sensory conflict, posture instability and nerve mismatch, and the core contradiction is vision-vestibular signal mismatch and vergence-accommodation conflict. The existing relief schemes are mainly focused on hardware optimization (such as field limitation and delay compensation), software improvement (such as motion platform adaptation) and machine learning prediction, and have the problems of high implementation cost, closed-loop response delay, poor individual adaptability and the like. The input shaping technology is a feedforward control method widely applied to vibration control of a flexible system. The technique generates a shaped command signal driving system by convolving a desired reference input with a specially designed pulse sequence, and mutually counteracts residual oscillation by utilizing the superposition effect of a plurality of delay pulses, thereby realizing zero residual oscillation after a finite time. In the development process of the input shaping technology, the zero-vibration (ZeroVibration, ZV) shaper realizes vibration suppression through the time sequence design of two pulses, but is sensitive to system parameter changes. To improve robustness, singer and Seering propose zero-vibration derivative (ZVD) shapers that significantly enhance tolerance to frequency identification errors by setting the derivative of the residual oscillation percentage to frequency at the system resonant frequency to zero. The ZVD shaper consists of three pulses whose timing and amplitude are determined based on the natural frequency and damping ratio of the system, and is capable of maintaining a low residual vibration level in the presence of modeling errors. In recent years, input shaping technology has been successfully applied to the fields of flexible structures of spacecrafts, anti-sway of cranes, precision manufacturing equipment and the like. However, in the field of virtual reality motion sickness prevention and control, the prior art has not applied input reshaping principles to vestibular stimulation control. Human head and neck movements can be considered as a flexible system with specific oscillation characteristics, which can be modeled as a vessel by human skull engineering, soft tissue and blood in the cranium, for example, as fluid in the vessel, can produce undesired oscillations under visually induced motor stimuli, which are then damped based on viscous effects. However, the existing bone conduction vibration system adopts open-loop control, has fixed vibration frequency and amplitude, cannot adapt to individual physiological differences and scene changes, limits the anti-corona effect, and needs a closed-loop self-adaptive optimization scheme. Disclosure of Invention The invention aims to provide a vestibular vibration Anti-motion 3D system based on an Anti-slosh control strategy, which generates personalized vestibular vibration stimulus by dynamically capturing head and neck motion information, balances vision and vestibular signal conflict, introduces an input shaping technology into vestibular vibration control, generates a restraining signal opposite to head and neck vibration through a ZVD shaper, fundamentally relieves motion sickness in a 3D environment, and improves comfort and persistence of user immersion experience. The invention discloses a vestibular vibration Anti-corona 3D system based on an Anti-slosh control strategy, which comprises an inertial measurement unit, a control module and a vibration stimulation module, wherein the inertial measurement unit is used for measuring the vestibular vibration of the vestibular vibration Anti-corona 3D system; the inertial measurement unit acquires the instantaneous angul