Hexalab: A novel facility for sport simulations based on Human-In-The-Loop concept

In sports training and rehabilitation areas, the integration of virtual reality (VR), robotic platforms, sensors, and high-Tech devices provides the opportunity to enhance athletic performance and recovery processes. This paper delineates the identified prerequisites for designing an immersive simulator used as a multisport platform and presents the system derived from the outlined parameters. Subsequently, Hexalab is presented as an innovative multipurpose sports simulator designed to fill the gap in existing commercial and research applications by providing a customizable platform capable of simulating a wide range of sports and rehabilitation activities. The architecture of Hexalab features a 6-degree-offreedom parallel kinematic robotic platform, immersive projection onto a curved screen for displaying virtual environments, simulation control software, and a motion capture system. The control architecture is designed to facilitate integration and management of different technologies such as various motion capture systems, load cells, wearables, and haptic devices like treadmills. Furthermore, Hexalab incorporates Human-in-The-Loop (HIL) functionality within its dedicated ecosystem. It offers an exhaustive overview of the system and its capabilities, encompassing a working volume of 600 x 300 x 300 mm, a bandwidth of 20 Hz, and a payload capacity of 350 kg. A preliminary application has been developed for the Hexalab system and presented, showcasing its adaptability to specific activities and devices. In this demo application, the user in the simulation can move in virtual environments in a forest, engaging in walking or running activities thanks to the incorporation of a treadmill.