Novel horseback riding simulator based on 6-DOF motion measurement, a motion base, and interactive control of gaits

摘要

This article describes the development process of a horseback riding simulator capable of generating a close to natural riding sensation. The development process started with 6-DOF motion measurement of the dynamics of the rider's saddle during riding. Six-dimensional measurements during riding are required to fully understand the character of the saddle dynamics during different gaits. The measured quantities, i.e. translation accelerations and angular velocities, were transformed and filtered to form position references for a hydraulic Gough-Stewart platform. The presented novel motion measurement method is easy to use and makes it possible to measure gaits of several individual horses in a short time. It also provides a straightforward approach to produce motion data for the motion platform. In the second phase of the study, an artificial horse body made of glass fiber was mounted on the motion platform. The developed simulator realizes all three basic gaits walk, trot, and gallop. The rider is able to control the behavior of the simulator via sensors and an interactive interface. The control aids sensed by the interface are reins tension, calf pressure, and stirrup angle. A novel intelligent algorithm mimicking the real rider-horse interaction to vary the gaits and their frequencies was developed and tested.