priborИзвестия высших учебных заведений. ПриборостроениеJournal of Instrument Engineering0021-34542500-0381Национальный исследовательский университет ИТМО10.17586/0021-3454-2022-65-5-357-371pribor-250Research ArticleНАУЧНЫЕ И ПРАКТИЧЕСКИЕ РАЗРАБОТКИSCIENTIFIC AND PRACTICAL DEVELOPMENTSВлияние способов управления в системах виртуальной реальности на возникновение симптомов локомоционной болезниImpact of control methods in virtual reality systems on the occurrence of locomotion disease symptomsГневашевЮ. В.GnevashevYu. V.

Юрий Витальевич Гневашев — студент, факультет систем управления и робототехники.

Санкт-Петербург

Yuriy V. Gnevashev —   Student; Faculty of Control Systems and Robotics.

St. Petersburg

gnev112@yandex.ruГоршковК. С.GorshkovК. S.

Константин Сергеевич Горшков — канд. техн. наук, факультет систем управления и робототехники.

Санкт-Петербург

Constantin S. Gorshkov - PhD, Faculty of Control Systems and Robotics.

St. Petersburg

k.gorshkov@list.ruКоноваловГ. А.КonovalovG. A.

Георгий Александрович Коновалов — студент, факультет систем управления и робототехники.

Санкт-Петербург

Georgy А. Konovalov    —      Student; Faculty of Control Systems and Robotics.

St. Petersburg

konovalov.b.2017@fml31.ruЛовлинС. Ю.LovlinS. Yu.

Сергей Юрьевич Ловлин — канд. техн. наук, факультет систем управления и робототехники.

Санкт-Петербург

Sergey Yu. Lovlin —      PhD; Faculty of Control Systems and Robotics.

St. Petersburg

seri-l@yandex.ruПосоховД. А.PosokhovD. A.

Даниил Александрович Посохов — студент, факультет систем управления и робототехники.

Санкт-Петербург

Daniil А. Posokhov - Student; Faculty of Control Systems and Robotics.

St. Petersburg

posohov_danila@mail.ru.ruЦветковаМ. Х.TsvetkovaМ. Kh.

Мадина Хасановна Цветкова — канд. техн. наук, факультет систем управления и робототехники.

Санкт-Петербург

Madina Kh. Tsvetkova - PhD; Faculty of Control Systems and Robotics.

St. Petersburg

madinatcvetkova@bk.ruУниверситет ИТМОРоссияITMO UniversityRussian Federation202201122024655357371Copyright © Национальный исследовательский университет ИТМО, 20242024Национальный исследовательский университет ИТМОНациональный исследовательский университет ИТМОhttps://pribor.ifmo.ru/jour/about/submissions#copyrightNoticehttps://pribor.ifmo.ru/jour/article/view/250

Обсуждается проблема возникновения симптомов локомоционной болезни у пользователей шлемов виртуальной реальности. Предложен контроллер для управления перемещением пользователя в виртуальной реальности, реализующий технику ходьбы на месте (walking-in-place). Устройство состоит из трех датчиков, размещенных на ногах и груди пользователя. Проведен анализ показаний датчиков, на основании которого разработаны алгоритмы для распознавания шагов, подавления случайных отклонений и повышения устойчивости работы системы. Приведены результаты эксперимента с участием 44 добровольцев, демонстрирующие снижение частоты возникновения симптомов симуляторных расстройств при использовании разработанного контроллера.

The problem of the occurrence of locomotion disease symptoms in users of virtual reality helmets is discussed. To control the user's movement in virtual reality, a controller implementing the walking-in-place technique is proposed. The device consists of three sensors fixed on the user's legs and chest. The analysis of sensor readings is carried out is used as a basis of developed algorithms for recognizing steps, suppressing random deviations, and increasing the system stability. Results of an experiment involving 44 volunteers are presented to demonstrate a decrease in the frequency of simulation disorder symptoms when using the developed controller.

распознавание движенийфильтрация сигналоввиртуальная реальностьанализ сигналовmotion recognitionsignal filteringvirtual realitysignal analysisработа выполнена при поддержке Правительства Российской Федерации, грант № 074-U01The work was supported by the Government of the Russian Federation, grant No. 074-U01ReferencesNigel F., Liliya K. Past and future applications of 3-D (virtual reality) technology // Научно-технический вестник информационных технологий, механики и оптики. 2014. N 6 (94).Nigel F., Liliya K. Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 2014, no. 6 (94).Szpak A. et al. Beyond Feeling Sick: The Visual and Cognitive Aftereffects of Virtual Reality // IEEE Access. 2019. Vol. 7. P. 130883—130892. DOI: 10.1109/ACCESS.2019.2940073.Szpak A. et al. IEEE Access, 2019, vol. 7, рр. 130883–130892, https://doi.org/10.1109/ACCESS.2019.2940073.Kennedy R. S. et al. Simulator sickness questionnaire: An enhanced method for quantifying simulator sickness // Intern. Journal of Aviation Psychology. 1993. Vol. 3, N 3. P. 203—220. DOI: 10.1207/s15327108ijap0303_3.Kennedy R. S. et al. The International Journal of Aviation Psychology, 1993, no. 3(3), pp. 203–220, https://doi.org/10.1207/s15327108ijap0303_3.Risi D., Palmisano S. Effects of postural stability, active control, exposure duration and repeated exposures on HMD induced cybersickness // Displays. 2019. Vol. 60. P. 9—17. DOI: 10.1016/j.displa.2019.08.003.Risi D., Palmisano S. Displays, 2019, vol. 60, рр. 9–17, https://doi.org/10.1016/j.displa.2019.08.003 .Rebenitsch L., Owen C. Review on cybersickness in applications and visual displays // Virtual Reality. 2016. Vol. 20, N 2. P. 101—125. DOI: 10.1007/s10055-016-0285-9.Rebenitsch L., Owen C. Virtual Reality, 2016, no. 2(20), pp. 101–125, https://doi.org/10.1007/s10055-016-0285-9.Reason J. T. Motion sickness adaptation: a neural mismatch model // J. of the Royal Society of Medicine. 1978. Vol. 71, N 11. P. 819—829. DOI: 10.1177/014107687807101109.Reason J.T. Journal of the Royal Society of Medicine, 1978, no. 11(71), pp. 819–829, https://doi.org/10.1177/014107687807101109.Меньшикова Г. Я. Психофизиологические механизмы иллюзии движения собственного тела: Автореф. дис.… канд. психол. наук. М., 2018. 160 с.Menshikova G.Ya. Psikhofiziologicheskiye mekhanizmy illyuzii dvizheniya sobstvennogo tela (Psychophysiological Mechanisms of the Illusion of Movement of One's Own Body), candidate’s thesis, Moscow, 2018, 160 р. (in Russ.)Keshavarz B. et al. Vection and visually induced motion sickness: how are they related? // Frontiers in Psychology. 2015. Vol. 6. P. 472. DOI: 10.3389/fpsyg.2015.00472.Keshavarz B. et al. Frontiers in Psychology, 2015, vol. 6, рр. 472. https://doi.org/10.3389/fpsyg.2015.00472.Riccio G. E., Stoffregen T. A. An ecological theory of motion sickness and postural instability // Ecological Psychology. 1991. Vol. 3, N 3. P. 195—240. DOI: 10.1207/s15326969eco0303_2.Riccio G.E., Stoffregen T.A. Ecological Psychology, 1991, no. 3(3), pp. 195–240. doi.org/10.1207/s15326969eco0303_2.Villard S. J., Flanagan M. B., Albanese G. M., Stoffregen T. A. Postural instability and motion sickness in a virtual moving room // Human Factors. 2009. Vol. 50 (2). P. 332—345. DOI: 10.1518/001872008X250728.Villard S.J., Flanagan M.B., Albanese G.M., Stoffregen T.A. Human Factors, 2009, no. 2(50), pp. 332–345, https://doi.org/10.1518/001872008X250728.Bruck S., Watters P. A. The factor structure of cybersickness // Displays. 2011. Vol. 32, N 4. P. 153—158. DOI: 10.1518/001872008X250728.Bruck S., Watters P.A. Displays, 2011, no. 4(32), pp. 153–158, https://doi.org/10.1518/001872008X250728.Lee J., Kim M., Kim J. A study on immersion and VR sickness in walking interaction for immersive virtual reality applications // Symmetry. 2017. Vol. 9, N 5. P. 78. DOI: 10.3390/sym9050078.Lee J., Kim M., Kim J. Symmetry, 2017, no. 5(9), pp. 78, https://doi.org/10.3390/sym9050078.Lee J., Jeong K., Kim J. MAVE: Maze-based immersive virtual environment for new presence and experience // Computer Animation and Virtual Worlds. 2017. Vol. 28, N 3—4. P. e1756. DOI: 10.1002/cav.1756.Lee J., Jeong K., Kim J. Computer Animation and Virtual Worlds, 2017, no. 3-4(28), pp. e1756, https://doi.org/10.1002/cav.1756.Ng A. K. T., Chan L. K. Y., Lau H. Y. K. A study of cybersickness and sensory conflict theory using a motioncoupled virtual reality system // Displays. 2020. Vol. 61. P. 101922. DOI: 10.1016/j.displa.2019.08.004.Ng A.K.T., Chan L.K.Y., Lau H.Y.K. Displays, 2020, vol. 61, рр. 101922, https://doi.org/10.1016/j.displa.2019.08.004.Boletsis C. The new era of virtual reality locomotion: a systematic literature review of techniques and a proposed typology // Multimodal Technologies and Interaction. 2017. Vol. 1, N 4. P. 24. DOI: 10.3390/mti1040024.Boletsis C. Multimodal Technologies and Interaction, 2017, no. 4(1), pp. 24, https://doi.org/10.3390/mti1040024.Boletsis C., Cedergren J. E. VR locomotion in the new era of virtual reality: an empirical comparison of prevalent techniques // Advances in Human-Computer Interaction. 2019. Vol. 2019. DOI: 10.1155/2019/7420781.Boletsis C., Cedergren J.E. Advances in Human-Computer Interaction, 2019, vol. 2019, https://doi.org/10.1155/2019/7420781.Weech S., Kenny S., Barnett-Cowan M. Presence and cybersickness in virtual reality are negatively related: a review // Frontiers in Psychology. 2019. Vol. 10. P. 158. DOI: 10.3389/fpsyg.2019.00158.Weech S., Kenny S., Barnett-Cowan M. Frontiers in Psychology, 2019, vol. 10, рр. 158, https://doi.org/10.3389/fpsyg.2019.00158.Usoh M. et al. Walking> walking-in-place> flying, in virtual environments // Proc. of the 26th Annual Conf. on Computer Graphics and Interactive Techniques. 1999. P. 359—364. DOI: 10.1145/311535.311589.Usoh M. et al. Proceedings of the 26th Annual Conference on Computer Graphics and Interactive Techniques, 1999, рр. 359–364, https://doi.org/10.1145/311535.311589.Al Zayer M., MacNeilage P., Folmer E. Virtual locomotion: a survey // IEEE Trans. on Visualization and Computer Graphics. 2018. DOI: 10.1109/TVCG.2018.2887379.Al Zayer M., MacNeilage P., Folmer E. IEEE Transactions on Visualization and Computer Graphics, 2018, https://doi.org/10.1109/TVCG.2018.2887379.Slater M., Usoh M., Steed A. Taking steps: the influence of a walking technique on presence in virtual reality // ACM Trans. on Computer-Human Interaction (TOCHI). 1995. Vol. 2, N 3. P. 201—219. DOI: 10.1145/210079.210084.Slater M., Usoh M., Steed A. ACM Transactions on Computer-Human Interaction (TOCHI), 1995, no. 3(2), pp. 201–219, https://doi.org/10.1145/210079.210084.Feasel J., Whitton M. C., Wendt J. D. LLCM-WIP: Low-latency, continuous-motion walking-in-place // IEEE Symp. on 3D User Interfaces. IEEE, 2008. P. 97—104. DOI: 10.1109/3DUI.2008.4476598.Feasel J., Whitton M.C., Wendt J.D. 2008 IEEE Symposium on 3D User Interfaces, IEEE, 2008, рр. 97–104, https://doi.org/10.1109/3DUI.2008.4476598.Pfeiffer T., Schmidt A., Renner P. Detecting movement patterns from inertial data of a mobile head-mounted-display for navigation via walking-in-place // IEEE Virtual Reality (VR). IEEE, 2016. P. 263—264. DOI: 10.1109/VR.2016.7504754.Pfeiffer T., Schmidt A., Renner P. 2016 IEEE Virtual Reality (VR), IEEE, 2016, рр. 263–264, https://doi.org/10.1109/VR.2016.7504754.Tregillus S., Folmer E. Vr-step: Walking-in-place using inertial sensing for hands free navigation in mobile vr environments // Proc. of the CHI Conf. on Human Factors in Computing Systems. 2016. P. 1250—1255. DOI: 10.1145/2858036.2858084.Tregillus S., Folmer E. Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems, 2016, рр. 1250–1255, https://doi.org/10.1145/2858036.2858084.Tregillus S., Al Zayer M., Folmer E. Handsfree omnidirectional VR navigation using head tilt // Proc. of the CHI Conf. on Human Factors in Computing Systems. 2017. P. 4063—4068. DOI: 10.1145/3025453.3025521.Tregillus S., Al Zayer M., Folmer E. Proceedings of the 2017 CHI Conference on Human Factors in Computing Systems, 2017, рр. 4063–4068, https://doi.org/10.1145/3025453.3025521.Iwata H. The torus treadmill: Realizing locomotion in VEs // IEEE Computer Graphics and Applications. 1999. Vol. 19. N 6. P. 30—35. DOI: 10.1109/38.799737.Iwata H. IEEE Computer Graphics and Applications, 1999, no. 6(19), pp. 30–35, https://doi.org/10.1109/38.799737.Darken R. P., Cockayne W. R., Carmein D. The omni-directional treadmill: a locomotion device for virtual worlds // Proc. of the 10th Annual ACM Symp. on User Interface Software and Technology. 1997. P. 213—221. DOI: 10.1145/263407.263550.Darken R.P., Cockayne W.R., Carmein D. Proceedings of the 10th Annual ACM Symposium on User Interface Software and Technology, 1997, рр. 213–221, https://doi.org/10.1145/263407.263550.Bouguila L. et al. Walking-pad: a step-in-place locomotion interface for virtual environments // Proc. of the 6th Intern. Conf. on Multimodal Interfaces. 2004. P. 77—81. DOI: 10.1145/1027933.1027948.Bouguila L. et al. Proceedings of the 6th International Conference on Multimodal Interfaces, 2004, рр. 77–81, https://doi.org/10.1145/1027933.1027948.Swapp D., Williams J., Steed A. The implementation of a novel walking interface within an immersive display // IEEE Symp. on 3D User Interfaces (3DUI). IEEE, 2010. P. 71—74. DOI: 10.1109/3DUI.2010.5444717.Swapp D., Williams J., Steed A. 2010 IEEE Symposium on 3D User Interfaces (3DUI), IEEE, 2010, рр. 71–74, https://doi.org/10.1109/3DUI.2010.5444717.Capece N., Erra U., Romaniello G. A low-cost full body tracking system in virtual reality based on Microsoft Kinect // Intern. Conf. on Augmented Reality, Virtual Reality and Computer Graphics. Cham: Springer, 2018. P. 623—635. DOI: 10.1007/978-3-319-95282-6_44.Capece N., Erra U., Romaniello G. International Conference on Augmented Reality, Virtual Reality and Computer Graphics, Springer, Cham, 2018, рр. 623–635, https://doi.org/10.1007/978-3-319-95282-6_44.McCullough M. et al. Myo arm: swinging to explore a VE // Proc. of the ACM SIGGRAPH Symp. on Applied Perception. 2015. P. 107—113. DOI: 10.1145/2804408.2804416.McCullough M. et al. Proceedings of the ACM SIGGRAPH Symposium on Applied Perception, 2015, рр. 107–113, https://doi.org/10.1145/2804408.2804416.Wilson P. T. et al. VR locomotion: walking> walking in place> arm swinging // Proc. of the 15th ACM SIGGRAPH Conf. on Virtual-Reality Continuum and Its Applications in Industry. 2016. Vol. 1. P. 243—249. DOI: 10.1145/3013971.3014010.Wilson P. T. et al. Proc. of the 15th ACM SIGGRAPH Conf. on Virtual-Reality Continuum and Its Applications in Industry, 2016, vol. 1, рр. 243–249, https://doi.org/10.1145/3013971.3014010.Zielinski D. J., McMahan R. P., Brady R. B. Shadow walking: An unencumbered locomotion technique for systems with under-floor projection // IEEE Virtual Reality Conf. IEEE, 2011. P. 167—170. DOI: 10.1109/VR.2011.5759456.Zielinski D.J., McMahan R.P., Brady R.B. 2011 IEEE Virtual Reality Conference, IEEE, 2011, рр. 167–170, https://doi.org/10.1109/VR.2011.5759456.Teixeira L. et al. Strategy for the Development of a Walk-In-Place Interface for Virtual Reality // Intern. Conf. of Design, User Experience, and Usability. Berlin-Heidelberg: Springer, 2013. P. 419—426. DOI: 10.1007/978-3-642-39238-2_46.Teixeira L. et al. International Conference of Design, User Experience, and Usability, Springer, Berlin, Heidelberg, 2013, рр. 419–426, https://doi.org/10.1007/978-3-642-39238-2_46.Wendt J. D., Whitton M. C., Brooks F. P. Gud wip: Gait-understanding-driven walking-in-place // IEEE Virtual Reality Conf. (VR). IEEE, 2010. P. 51—58. DOI: 10.1109/VR.2010.5444812.Wendt J.D., Whitton M.C., Brooks F.P. 2010 IEEE Virtual Reality Conference (VR), IEEE, 2010, рр. 51–58, https://doi.org/10.1109/VR.2010.5444812.Nilsson N. C. et al. Tapping-in-place: Increasing the naturalness of immersive walking-in-place locomotion through novel gestural input // IEEE Symp. on 3D User Interfaces (3DUI). IEEE, 2013. P. 31—38. DOI: 10.1109/3DUI.2013.6550193.Nilsson N.C. et al. 2013 IEEE Symposium on 3D User Interfaces (3DUI), IEEE, 2013, рр. 31–38, https://doi.org/10.1109/3DUI.2013.6550193.Park C., Jang K., Lee J. Walking-in-place for VR navigation independent of gaze direction using a waist-worn inertial measurement unit // IEEE Intern. Symp. on Mixed and Augmented Reality Adjunct (ISMAR-Adjunct). IEEE, 2018. P. 254—257. DOI: 10.1109/ISMAR-Adjunct.2018.00079.Park C., Jang K., Lee J. 2018 IEEE International Symposium on Mixed and Augmented Reality Adjunct (ISMARAdjunct), IEEE, 2018, рр. 254–257, https://doi.org/10.1109/ISMAR-Adjunct.2018.00079.Yan L., Allison R. S., Rushton S. K. New simple virtual walking method-walking on the spot // Proc. of the IPT Symposium. 2004.Yan L., Allison R.S., Rushton S.K. Proceedings of the IPT Symposium, 2004.Щеколдин А. И., Дема Н. Ю., Шевяков А. Д., Колюбин С. А. Отслеживание и классификация движения головы по данным нашлемного инерциального измерительного модуля // Научно-технический вестник информационных технологий, механики и оптики. 2017. Т. 17, № 5. С. 798—804. DOI: 10.17586/2226-1494-2017-17-5-798-804.Shchekoldin A.I., Dema N.Yu., Shevyakov A.D., Kolyubin S.A. Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 2017, no. 5(17), pp. 798–804, https://doi.org/10.17586/2226-1494-2017-17-5-798-804. (in Russ.)Дженкинс Г., Ваттс Д. Спектральный анализ и его приложения. М.: Мир, 1971. Т. 1. 318 с.Jenkins G.M. and Watts D.G. Spectral analysis and its applications, San Francisco, Holden-Day, 1968.https://thevrsoldier.com/serious-sam-the-first-encounter-vr-review-a-must-buy-unless-you-suffer-from-motionsickness.https://thevrsoldier.com/serious-sam-the-first-encounter-vr-review-a-must-buy-unless-you-suffer-from-motionsickness.

The authors declare that there are no conflicts of interest present.