Skip to main content
SpringerLink
Log in

A sliding mode-based approach to motion cueing for virtual reality gaming using motion simulators

  • Original Article
  • Published:
Virtual Reality Aims and scope Submit manuscript

Abstract

Motion simulators have been of significant importance for the aviation sector in training pilots. However, the present boom in the utilization of robotics for virtual reality (VR) gaming has given rise to a new application of motion simulators. Motion cueing algorithms (MCA) play a key role in mapping the motions from a gaming scenario to the workspace of a simulator. This workspace is small (as compared to the gaming world), and on reaching the boundary, it becomes necessary to saturate the motion. Each degree of freedom, in the Cartesian space, is saturated between two fixed extremities. This hampers the perception of motion of a user enjoying the scenario. In order to address this practical problem, we make an attempt to enlarge the workspace and develop a mathematical methodology to prevent the simulator from exiting a non-cuboidal workspace. To do so, we propose sliding mode-based cueing algorithm (SMCA), which makes the simulator to slide in close proximity across the boundary of workspace. We make use of discrete-time models to present this methodology in order to ensure straightforward implementation by researchers in the future. Veracity of SMCA is testified by means of experimentation on SP7 motion simulator. The experimental results give evidence of a 57% increase in the considered sub-workspace, thereby reducing the relative necessity to saturate the motions as compared to classical MCA. This leads to a better experience of a user enjoying the VR scenario. On the other hand, the following drawbacks are reported: (1) necessity to analytically model the workspace boundary and ensuring that it is smooth with nonzero gradient, (2) SMCA parameter selection is more cumbersome than classical MCA, thereby making its utility restricted to recorded scenarios.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12

Similar content being viewed by others

References

  • Abásolo et al MJ (2014) From a serious training simulator for ship maneuvering to an entertainment simulator. In: Lecture notes in computer science (including subseries lecture notes in artificial intelligence and lecture notes in bioinformatics) LNCS, , vol 8563, pp 106–117

  • Aponso B, Beard S, Schroeder J (2009) The NASA Ames vertical motion simulator—a facility engineered for realism. In: The Royal Aeronautical Society Spring 2009 Flight Simulation Conference, London, vol 1, no June, pp 3-4

  • Arkin Ronald C, Arkin Ronald C (1998) Behavior-based robotics. MIT Press, Cambridge

    Google Scholar 

  • Asadi H, Mohamed S, Lim CP, Nahavandi S (2017) Robust optimal motion cueing algorithm based on the linear quadratic regulator method and a genetic algorithm. IEEE Trans Syst Man Cybern Syst 47(2):238–254

    Google Scholar 

  • Bruce GE (ed) (2008) Blackwell handbook of sensation and perception. Wiley, New York

    Google Scholar 

  • Bruschetta M, Maran F, Beghi A (2017) A nonlinear, mpc-based motion cueing algorithm for a high-performance, nine-dof dynamic simulator platform. IEEE Trans Control Syst Technol 25(2):686–694

    Article  Google Scholar 

  • Bruschetta M, Cenedese C, Beghi A, Maran F (2018) A motion cueing algorithm with look-ahead and driver characterization: application to vertical car dynamics. IEEE Trans Hum Mach Syst 48(1):6–16

    Article  Google Scholar 

  • Bullo Francesco, Lewis Andrew D (2004) Geometric control of mechanical systems: modeling, analysis, and design for simple mechanical control systems, vol 49. Springer, Berlin

    MATH  Google Scholar 

  • Campos LC, Menegaldo LL (2018) A battle tank simulator for eye and hand coordination tasks under horizontal whole-body vibration. J Low Freq Noise Vib Act Control 37(1):144–155

    Article  Google Scholar 

  • Conrad B, Schmidt SF (1970) Motion drive signals for piloted flight simulators. NASA, Washington

    Google Scholar 

  • Cortés C et al (2014) Upper limb posture estimation in robotic and virtual reality-based rehabilitation. Biomed Res Int 2014:1–18

    Article  Google Scholar 

  • Crichlow LR, Fernie GR, Campos JL, Grant PR (2011) A full motion manual wheelchair simulator for rehabilitation research. In: Proceedings of the 2011 annual RESNA conference, pp 8–11

  • Cyrus ML (1978) Motion systems role in flight simulators for flying training. Final report for period June 1977–June 1978. Air Force Human Resources Laboratory, Arizona

    Google Scholar 

  • Dagdelen M, Reymond G, Kemeny A, Bordier M, Maïzi N (2009) Model-based predictive motion cueing strategy for vehicle driving simulators. Control Eng Pract 17(9):995–1003

    Article  Google Scholar 

  • Galante F, Bracco F, Chiorri C, Pariota L, Biggero L, Bifulco GN (2018) Validity of mental workload measures in a driving simulation environment. J Adv Transp 2018:1–11

    Google Scholar 

  • Gonzalez-Franco M, Lanier J (2017) Model of illusions and virtual reality. Front Psychol 8(JUN):1125

    Article  Google Scholar 

  • Jansen J, Lind R, Love L, Lloyd P, Rowe J, Pin FG (2009) Design and control of a ship motion simulation platform from an energy efficiency perspective. Int J Fluid Power 10(2):19–28

    Article  Google Scholar 

  • Kennedy RS, Lane NE, Berbaum KS, Lilienthal MG (1993) Simulator sickness questionnaire: an enhanced method for quantifying simulator sickness. Int J Aviat Psychol 3(3):203–220

    Article  Google Scholar 

  • Krebs M (2001) Vehicle modeling for high-dynamic driving simulator applications. In: First human-centered transportation simulation conference, pp 1–18

  • Mark W, Wim B, Ruud H, Michael M (2005) Design and evaluation of spherical washout algorithm for Desdemona simulator. In: AIAA modeling and simulation technologies conference and exhibit, p 6501

  • Moglia A, Ferrari V, Morelli L, Ferrari M, Mosca F, Cuschieri A (2016) A systematic review of virtual reality simulators for robot-assisted surgery. Eur Urol 69(6):1065–1080

    Article  Google Scholar 

  • Nahon MA, Reid LD, Kirdeikis J (1992) Adaptive simulator motion software with supervisory control. J Guid Control. Dyn 15(2):376–383

    Article  Google Scholar 

  • Nordmark S, Jansson H, Palmkvist G, Sehammar H (2004) The new VTI driving simulator. Multi purpose moving base with high performance linear motion. In: Conference simulation de conduite, pp 45–55

  • Page RL (2000) Brief history of flight simulation. SimTecT 2000 Proceedings, pp 11–17

  • Parrish RV, Dieudonne JE, Martin DJ Jr (1975) Coordinated adaptive washout for motion simulators. J Aircr 12(1):44–50

    Article  Google Scholar 

  • Pham DA (2017) A study on state-of-the-art motion cueing algorithms applied to planar motion with pure lateral acceleration—comparison, auto-tuning and subjective evaluation on a KUKA robocoaster serial ride simulator. Universty of Duisberg-Essen, Duisberg

    Google Scholar 

  • Reid LD, Nahon MA (1985) Flight simulation motion-base drive algorithms: part 1—developing and testing the equations. University of Toronto, Technical report

  • Robuffo Giordano P, Masone C, Tesch J, Breidt M, Pollini L, Bulthoff HH (2010) A novel framework for closed-loop robotic motion simulation—part II: motion cueing design and experimental validation. In: 2010 IEEE international conference on robotics and automation, Anchorage, AK, pp 3896–3903

  • Sharma A, Ikbal MS, Zoppi M (2019) Acausal approach to motion cueing. IEEE Robot Autom Lett 4(2):1013–1020. https://doi.org/10.1109/LRA.2019.2893709

    Article  Google Scholar 

  • Sivan R, Ish-Shalom J, Huang JK (1982) An optimal control approach to the design of moving flight simulators. IEEE Trans Syst Man Cybern 12(6):818–827

    Article  Google Scholar 

  • Sterling GC, Magee LE, Wallace P (2000) Virtual reality training—a consideration for Australian helicopter training needs. Sim-TecT 2000 Cconference, Sydney, Australia

  • Stewart D (1965) A platform with six degrees of freedom. Proc Inst Mech Eng 180(1):371–386

    Article  Google Scholar 

  • Teixeira JV, Da M, Hounsell S (2015) Educational robotic simulators: a systematic literature review

  • Telban RJ, Wu W, Cardullo FM, Houck JA (2000) Motion cueing algorithm development: initial investigation and redesign of the algorithms. State University of New York, Binghamton, NY

    Google Scholar 

  • Wu W, Cardullo FM (1997) Is there an optimum motion cueing algorithm? Am Inst Aeronaut Astronaut 13(11):23–29

    Google Scholar 

  • Zacharias GL (1978) Motion cue models for pilot-vehicle analysis. Technical report, Bolt Beranek and Newman INC, Cambridge, MA

Download references

Author information

Authors and Affiliations

  1. PMAR Robotics Lab, University of Genoa, Via all’opera pia, 15A, 16145, Genoa, Italy

    Aman Sharma, Mohamed Sadiq Ikbal, Duc Trinh Cuong & Matteo Zoppi

Authors
  1. Aman Sharma
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Mohamed Sadiq Ikbal
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Duc Trinh Cuong
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Matteo Zoppi
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Aman Sharma.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Electronic supplementary material

Below is the link to the electronic supplementary material.

Supplementary material 1 (mp4 77912 KB)

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Sharma, A., Ikbal, M.S., Cuong, D.T. et al. A sliding mode-based approach to motion cueing for virtual reality gaming using motion simulators. Virtual Reality 25, 95–106 (2021). https://doi.org/10.1007/s10055-020-00439-5

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10055-020-00439-5

Keywords

Search

Navigation