论文标题
带有人类训练跳伞运动的自动控制系统：概念证明实验
An Automatic Control System with Human-in-the-Loop for Training Skydiving Maneuvers: Proof-of-Concept Experiment
论文作者
论文摘要
提出了用于跳伞的实时运动训练系统。通过改变身体姿势，从而偏转周围气流来执行空中操作。由于不熟悉的自由落体动态，应力引起的动力学反馈的阻塞以及所需运动的复杂性，自然学习过程非常慢。关键的想法是使用自动控制系统来增强学习者，如果它可以直接访问学习者的身体作为执行者，该系统将能够执行训练有素的活动。辅助系统将为学习者提供以下视觉提示：1。当前身体姿势的反馈； 2。身体姿势会带来身体进行所需的操纵； 3.预测未来的惯性位置和方向，如果身体保留了目前的姿势。该系统将使新手能够保持自由下落的稳定性，并感知陌生的环境动态，从而加快技能获取的初始阶段。本文提出了概念验证实验的结果，在该实验中，人类通过其身体在计算机模拟中自由地控制了虚拟的跳伞运动。没有帮助系统，这项任务是不可能的，使所有参与者能够在第一次尝试时完成任务。
A real-time motion training system for skydiving is proposed. Aerial maneuvers are performed by changing the body posture and thus deflecting the surrounding airflow. The natural learning process is extremely slow due to unfamiliar free-fall dynamics, stress induced blocking of kinesthetic feedback, and complexity of the required movements. The key idea is to augment the learner with an automatic control system that would be able to perform the trained activity if it had direct access to the learner's body as an actuator. The aiding system will supply the following visual cues to the learner: 1. Feedback of the current body posture; 2. The body posture that would bring the body to perform the desired maneuver; 3. Prediction of the future inertial position and orientation if the body retains its present posture. The system will enable novices to maintain stability in free-fall and perceive the unfamiliar environmental dynamics, thus accelerating the initial stages of skill acquisition. This paper presents results of a Proof-of-Concept experiment, whereby humans controlled a virtual skydiver free-falling in a computer simulation, by the means of their bodies. This task was impossible without the aiding system, enabling all participants to complete the task at the first attempt.
