Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional-Unidad Guadalajara, Av. del Bosque 1145, colonia el Bajío, Zapopan, 45019, Jalisco, Mexico.
Instituto Politécnico Nacional - UPIITA. Av. IPN 2580 Col. Barrio la Laguna Ticomán, Ciudad de México, C.P. 07340, Mexico.
ISA Trans. 2020 Feb;97:336-351. doi: 10.1016/j.isatra.2019.08.002. Epub 2019 Aug 8.
The aim of this study is to design and implement a virtual reality bicycle system based on a functional-based mechatronic design approach. The development of virtual reality technologies with haptic systems demands a proper integration of the involved disciplines to provide immerse experiences for users. The proposed design approach provides a formal manner to gather the subsystems in the mechatronic device. The developed system is divided in a Virtual Reality System (VRS) and a Physical System (PS) for the design process. The former includes an interactive virtual environment in which an Avatar is animated using a simple kinematic bicycle model. The latter includes an adapted mountain bicycle with haptic feedback mechanisms to interact with the user and to produce the corresponding inputs for the bicycle model. Both systems are integrated by a control behavior system that works under two operation modes, where the user carries out virtual tours and gets feedbacks from a stereoscopic display system, audio cues, and haptic mechanisms. A multibody simulation validates the consistency and the integration of the physical system. In addition, a set of experimental results show the performance of instrumentation elements, control strategies, and feedback mechanisms, to provide the user with an immersive experience in the virtual environment. A brief survey was carried out to assess the opinion of users about the virtual bicycle tours, providing feedback for future improvements. The different designed modules and sub-systems allow modifying and enhancing the VRS without major modifications of the PS, or allow enhancing the physical platform without affecting the functionality of the virtual environment.
本研究旨在设计和实现一种基于功能机电一体化设计方法的虚拟现实自行车系统。具有触觉系统的虚拟现实技术的发展需要适当整合相关学科，为用户提供沉浸式体验。所提出的设计方法为在机电设备中收集子系统提供了一种正式的方式。所开发的系统分为虚拟现实系统 (VRS) 和物理系统 (PS) 用于设计过程。前者包括一个交互式虚拟环境，其中使用简单的运动学自行车模型来动画化虚拟人物。后者包括一个带有触觉反馈机制的自适应山地自行车，与用户交互并为自行车模型产生相应的输入。这两个系统通过一个控制行为系统进行集成，该系统在两种操作模式下运行，用户可以在其中进行虚拟旅行，并从立体显示系统、音频提示和触觉机制获得反馈。多体模拟验证了物理系统的一致性和集成性。此外，一组实验结果展示了仪器元件、控制策略和反馈机制的性能，为用户在虚拟环境中提供沉浸式体验。进行了一项简要调查，以评估用户对虚拟自行车旅行的意见，为未来的改进提供反馈。不同的设计模块和子系统允许在不进行主要修改的情况下修改和增强 VRS，或者允许增强物理平台而不影响虚拟环境的功能。
