A novel motion cueing algorithm integrated multi-sensory system–Vestibular and proprioceptive system

Abstract

Motion cueing algorithms are used to produce a motion which feels as realistic as possible while remaining in the limited workspace of driving simulators. Several optimal motion cueing algorithms were developed to improve both the exploitation of the workspace of a driving simulator and the realistic of the simulated motion. In the dynamics model of the optimal motion cueing algorithms, several kinds of motion-sensory systems are integrated to optimize the simulated motion sensation. However, most previous works have just focused on the visual and vestibular system. The mathematical model of the proprioceptive system, that also senses the non-visual motion, has rarely been concerned. In this paper, a novel optimal motion cueing algorithm, which integrates model of the proprioceptive system, is developed to reduce the false cues from muscle spindle of head/neck system sensing lateral tilted angle. The optimal motion cueing algorithm has a significant effect on the pilot's perception when the tilted angle is rather large. An example of the simulation of a roller coaster running along a planar S-curve trajectory with only lateral acceleration is investigated with current motion cueing algorithms and optimal motion cueing algorithm. Several objective criteria were introduced to evaluate the simulated perception of all investigated motion cueing algorithms. The results demonstrate that optimal motion cueing algorithm is better than current motion cueing algorithms in most criteria and also sub-criteria.

A Review of Dynamic Vehicular Motion Simulators: Systems and Algorithms

“…OpDA showed to have a good response which tracks the target lateral specic force, decreases the false cues of angular velocity, and reduces the negative cues of head-tilted-angle. A comparison study shown in [22] illustrates that OpDA outperforms some of the current MCAs and oers performance at a level close to that of the MPC algorithm.…”

“…This paper categorized these robotic machines based on their working principles and the number of DoF that they provide to facilitate smooth translational and rotational positioning in the 3d space. Furthermore, the Adaptive washout lter [6], [18][21] Optimal washout lter [22] OpDA algorithm [23] Sliding mode-based cueing [24][26], [31] Model predictive control [27] [29] Time-varying model predictive control [30], [32] Nonlinear model predictive control [33] Neural network [34] Fuzzy control system…”

“…OpDA algorithm was proposed by [22], which integrated dynamic models of the motion multi-sensory system, including the vestibular and the proprioceptive systems (Figure 6). OpDA showed to have a good response which tracks the target lateral specic force, decreases the false cues of angular velocity, and reduces the negative cues of head-tilted-angle.…”

Investigation of vibration’s effect on driver in optimal motion cueing algorithm

“…Optimal MCA for vehicle driving simulators that incorporate driver's body and perception models is proposed so as to include human body vibrations [15,[28][29][30]. Human vibrations are of three types: the mass-spring-damper model [31], the model from the finite element method [32], and the transfer function model [14].…”

A generic power wheelchair lumped model in the sagittal plane: towards realistic self-motion perception in a virtual reality simulator

“…They consist of scaling, filtering and tilt-coordination and became a reference widely used in the field because of their relative simplicity and reasonable performance. [11] have proposed other strategies such as MCA based on Optimal Control which integrate a mathematical model of the human vestibular system. In [12] [13], a Model Predictive Control (MPC) has been proposed in order to improve the realism of motions produced by the platform, taking into account its workspace, where the algorithm parameters are set for the worst case scenario.…”