CN102184342B - Virtual-real fused hand function rehabilitation training system and method - Google Patents
Virtual-real fused hand function rehabilitation training system and method Download PDFInfo
- Publication number
- CN102184342B CN102184342B CN201110160698XA CN201110160698A CN102184342B CN 102184342 B CN102184342 B CN 102184342B CN 201110160698X A CN201110160698X A CN 201110160698XA CN 201110160698 A CN201110160698 A CN 201110160698A CN 102184342 B CN102184342 B CN 102184342B
- Authority
- CN
- China
- Prior art keywords
- hand
- virtual scene
- real
- training system
- dimensional model
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012549 training Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 50
- 230000003993 interaction Effects 0.000 claims abstract description 10
- 230000000694 effects Effects 0.000 claims abstract description 9
- 238000012545 processing Methods 0.000 claims abstract description 7
- 230000004927 fusion Effects 0.000 claims abstract description 6
- 230000035876 healing Effects 0.000 claims description 31
- 230000008569 process Effects 0.000 claims description 21
- 230000000007 visual effect Effects 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 9
- 230000008713 feedback mechanism Effects 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 7
- 238000010205 computational analysis Methods 0.000 claims description 5
- 238000013507 mapping Methods 0.000 claims description 4
- 238000011084 recovery Methods 0.000 claims 1
- 230000006378 damage Effects 0.000 abstract description 8
- 238000007654 immersion Methods 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000007781 pre-processing Methods 0.000 abstract 4
- 238000005516 engineering process Methods 0.000 description 6
- 238000011160 research Methods 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 238000000605 extraction Methods 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000011410 subtraction method Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Landscapes
- Processing Or Creating Images (AREA)
Abstract
The invention discloses a virtual-real fused hand function rehabilitation training system and method. The rehabilitation training system comprises an image acquisition device and a background processing device, wherein the image acquisition device is used for carrying out real-time acquisition on multi-viewpoint hand images of users, then preprocessing the multi-viewpoint hand images, and sending the processed multi-viewpoint preprocessing images to the background processing device; and the background processing device is used for receiving the multi-viewpoint preprocessing images, carrying out three-dimensional modeling on the received multi-viewpoint preprocessing images so as to generate a three-dimensional hand model, then arranging the hand model in a virtual scene, and after the virtual scene produces a real-time feedback for the hand input, displaying the obtained output. By using the rehabilitation training system disclosed by the invention, the training on hand motion abilities is implemented through virtual-real interaction so as to speed up the rehabilitation of hand functions without increasing hand burden; the rehabilitation training system is simple in equipment structure and small in occupied space; the rehabilitation training method is easy to operate; users can carry out training by using the system and method disclosed by the invention without the guidance of professional doctors, and no damage to the users is caused; and the system has the advantages of good immersion sense and good instantaneity, and a good training effect can be achieved through virtual-real fusion.
Description
Technical field
The present invention relates to the healing hand function training system that a kind of actual situation merges, belong to computer vision and medical science virtual reality technology field.
Background technology
The patient that some limbs sustain damage, except the clinical treatment of necessity, also needs auxiliary rehabilitation training with science, and damage location is recovered preferably.Along with the progress of scientific and technological level, the research of medical science virtual reality technology has also obtained certain progress, and it can make up the deficiency of existing medical condition and resource, and the danger of avoiding true experiment or operation may bring to the patient, improve the integral level of medical services.At present, some research institutions mainly concentrate on the research of healing robot technology, and it is based on the apparatus rehabilitation therapy, are aided with virtual reality and Robotics, carry out patient's limb function training.But the healing robot apparatus expensive, take up room large, trains dullly, and needs the doctor to instruct.The rehabilitation department of large hospital still carries out rehabilitation training with the auxiliary method of apparatus at present.
Also have some by the usage data gloves, the patient to be carried out to the hand function training, this device is by arranging data acquisition element in gloves, hand motion to the patient gathers, because electronic devices and components are too much, cause gloves heavy, patient wear trouble, and heavy gloves likely can damage the patient, the rehabilitation training poor effect.
Based on this, how to research and develop a kind of healing hand function training system, use safety, convenient, take up room little, and can assist the patient to obtain rehabilitation efficacy preferably, be the technical problem underlying that the present invention need to solve.
Summary of the invention
The present invention is directed to existing rehabilitation training system, the healing hand function training system that provides a kind of actual situation to merge, cost is low, take up room little, to the patient without injury.
In order to solve the problems of the technologies described above, the present invention is achieved by the following technical solutions:
The healing hand function training system that a kind of actual situation merges comprises:
Image capture device, for many viewpoints of Real-time Collection user hand images, and carry out being sent to background process equipment after pre-service;
Background process equipment, the generating virtual scene also shows output, described many viewpoints pretreatment image is carried out to three-dimensional modeling and generate the hand three-dimensional model, is shown in virtual scene, and sets up the man-machine interaction feedback mechanism.
Further, described image capture device comprises: at least two for the video camera from different viewpoints collection images, be used to the support that supports described video camera and the client that connects one to one with video camera, the image of described client camera acquisition, and to the image pre-service.
For the ease of regulating the angle of video camera, on described support, be provided with and the described video camera The Cloud Terrace of corresponding flexible connection one by one.
Due to needs, gather the multi aspect images of user's hand, described video camera preferably adopts 5.
Further, described background process equipment comprises server and display, described server generating virtual scene, and export display to and show, server receives simultaneously pretreatment image and carries out three-dimensional modeling, and the hand three-dimensional model of foundation is shown in virtual scene, and sets up the man-machine interaction feedback mechanism.
Wherein, described man-machine interaction feedback mechanism is: server carries out computational analysis to the variation of hand three-dimensional model, and virtual scene is made to corresponding change and shown output.
Based on above-mentioned healing hand function training system, the healing hand function training method that the present invention provides a kind of actual situation to merge simultaneously comprises the following steps:
(1), image capture device gathers background information, and stores;
(2), many viewpoints of image capture device Real-time Collection user hand images, and carry out being sent to background process equipment after pre-service;
(3), background process equipment shows the output virtual scene, and to described many viewpoints pretreatment image Real-time modeling set, the hand three-dimensional model of foundation is shown in virtual scene;
(4), virtual scene is made corresponding change and is shown output according to the variation of hand three-dimensional model.
Further, described background process equipment comprises server and display, and step (3) comprises following sub-step:
(31), at the display end, show initial virtual scene;
(32), server receives in real time many viewpoints pretreatment image, and sets up the hand three-dimensional model;
(33), the hand three-dimensional model of foundation is shown in virtual scene.
Further again, in step (3), the Real-time modeling set method is:
(a), according to the Octree modeling principle, initial space is carried out to successively subdivision, obtain the voxel visual shell model of hand;
(b), utilize the cube method of advancing to carry out the gridding processing to voxel visual shell model surface;
(c), utilization is carried out texture based on the visual shell model of the texture mapping method effects on surface gridding of viewpoint.
Further, in step (31), also comprise before the step of the inside and outside parameter of calibrating camera.
Compared with prior art, advantage of the present invention and good effect are: the healing hand function training system that actual situation of the present invention merges, by building a virtual training environment, the guiding user action, make it in actual situation is mutual, realize the training of hand motion ability, accelerate healing hand function, and can not increase the weight of the hand burden, accomplished the hand not damaged; Device structure is simple, takes up room little; Cost of manufacture is low; The healing hand function training method that actual situation of the present invention merges, simple to operate; The user also can suitably train under the guidance without specialist, to the user without injury; Adopt the actual situation interactive system of immersion to train in real time, obtain training effect preferably.
After reading by reference to the accompanying drawings the detailed description of embodiment of the present invention, it is clearer that the other features and advantages of the invention will become.
The accompanying drawing explanation
Fig. 1 is a kind of example structure schematic diagram of the healing hand function training system that merges of actual situation proposed by the invention;
Fig. 2 is a kind of embodiment process flow diagram of the healing hand function training method that merges of actual situation proposed by the invention.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in further detail.
the present invention likely can cause mechanical damage to the patient in order to solve the auxiliary Rehabilitation training of existing apparatus, and present healing robot apparatus expensive, take up room large, and the problem that practical application has little significance, the healing hand function training system that provides a kind of actual situation to merge, use many viewpoints hand images of a plurality of video camera Real-time Collection users, carry out the hand three-dimensional modeling, generate the hand three-dimensional model and be shown in virtual scene, when actual hand motion, the hand three-dimensional model moves thereupon, and virtual scene is made real-time response, realized the seamless fusion of actual hand and virtual environment, user's feeling of immersion is good, equipment is simple, take up room little, and to user's not damaged.
embodiment mono-, the healing hand function training system that the actual situation of the present embodiment merges, comprise: image capture device and background process equipment, described image capture device Real-time Collection user hand images, and the hand images that gathers is carried out being sent to background process equipment after pre-service, described background process equipment receives pretreatment image, utilize dimensional Modeling Technology, described pretreatment image is carried out to three-dimensional modeling and generate the hand three-dimensional model, and demonstration output virtual scene and hand three-dimensional model, this hand three-dimensional model is placed in virtual scene, with the seamless fusion of virtual scene.Hand images modeling due to image capture device Real-time Collection user, therefore, when user's hand motion, its three-dimensional model is action thereupon also, background process equipment is by setting up the man-machine interaction feedback mechanism, computational analysis is carried out in variation to the hand three-dimensional model, and virtual scene is made to corresponding change and shown output.The healing hand function training system that this actual situation merges is by building a virtual scene, this virtual scene can produce to the variation of hand corresponding feedback, form the rehabilitation training environment of an actual situation fusion, positive guide, the guiding user action, make it in actual situation is mutual, realize the training of hand motion ability, accelerate healing hand function, and can not increase the weight of the hand burden, accomplished the hand not damaged.
As a specific embodiment, shown in Figure 1, described image capture device comprises: be used to video camera 1-1, support 1-2 and the client 1-3 that gathers image, described video camera 1-1 is arranged on support 1-2, by support 1-2 support cameras 1-1, because video camera 1-1 must gather hand information from a plurality of visual angles, therefore video camera 1-1 is at least two, in order to obtain the image of many viewpoints, be convenient to after three-dimensional modeling truer, and consider simultaneously the saving cost, and reducing operand, described video camera 1-1 preferably adopts 5.The number of described client 1-3 equates with the number of video camera 1-1, and client 1-3 and video camera 1-1 connect one to one, and described client 1-3 receives the image that video camera 1-1 gathers, and image is carried out being sent to background process equipment after pre-service.The image pre-service comprises denoising, the extraction of hand foreground information etc.
Described background process equipment comprises server 2-1 and display 2-2, described server 2-1 generating virtual scene, and export display 2-2 to and show, server 2-1 receives the pretreatment image that client 1-3 sends simultaneously, because pretreatment image is multi-view image, therefore server 2-1, by analytical calculation, can adopt certain modeling method to carry out three-dimensional modeling to hand, and the hand three-dimensional model of foundation seamlessly is shown in virtual scene.Due to video camera 1-1 Real-time Collection user's hand images and by server 2-1 Real-time modeling set, therefore, when user's hand motion, its three-dimensional model is action thereupon also, server 2-1, by calculating, makes corresponding change by virtual scene, scene that is virtually reality like reality, realize man-machine interaction, the guiding user better completes the hand function training in virtual training environment.By display 2-2, show virtual scene and hand three-dimensional model, the user can observe the hand exercise situation of oneself, can, according to the guiding positive action of the virtual scene that shows, more be conducive to functional rehabilitation.The communication of client 1-3 and server 2-1 preferably adopts the LAN transmission to realize, therefore, between described client 1-3 and server 2-1, is provided with the network switch 3.
For the ease of regulating the angle of video camera 1-1, on described support 1-2, be provided with and the described video camera The Cloud Terrace 1-4 of corresponding flexible connection one by one.Those skilled in the art can easily be known: The Cloud Terrace is the installation of specialty, the fastening of fixed cameras, can to the supervision angle of video camera, adjust flexibly, at this, does not elaborate.
Based on above-mentioned healing hand function training system, the healing hand function training method that the present embodiment provides a kind of actual situation to merge simultaneously comprises the following steps:
S1, image capture device gather background information, and storage;
Many viewpoints hand images of S2, image capture device Real-time Collection user, and carry out being sent to background process equipment after pre-service;
S3, background process equipment show the output virtual scene, and to described many viewpoints pretreatment image Real-time modeling set, and the hand three-dimensional model of foundation is shown in virtual scene;
S4, virtual scene are made corresponding change and are shown output according to the variation of hand three-dimensional model.
Wherein, image capture device gathers background information, for the ease of in step S2, extracting user's hand images information, at first gather background image, and storage, when user's hand is placed in space, utilize the background subtraction method very easily the hand foreground information to be extracted, the image pre-service comprises the foreground information extraction of image denoising and hand images etc.
As a specific embodiment, described background process equipment comprises server and display, and step S3 comprises following sub-step:
S31, at the display end, show initial virtual scene;
S32, server receive many viewpoints pretreatment image in real time, and set up the hand three-dimensional model;
S33, the hand three-dimensional model of foundation is shown in virtual scene.
In step S31, because virtual scene is set up by server end, and when user's hand motion, its three-dimensional model is action thereupon also, server, by computational analysis, is made corresponding change by virtual scene, and shows output at display, therefore, at first server shows initial virtual scene by display.
Wherein, in step S3, the Real-time modeling set method is:
(a), according to the Octree modeling principle to the space subdivision, obtain the voxel visual shell model of hand;
(b), utilize the cube method of advancing to carry out the gridding processing to voxel visual shell model surface;
(c), utilization is carried out texture based on the visual shell model of the texture mapping method effects on surface gridding of viewpoint.
Due to Octatree technique fast operation in modeling, the present embodiment preferably adopts the Octree modeling principle to carry out modeling, meet the requirement of real-time of the healing hand function training method of this actual situation fusion, Octatree technique is modeled as prior art, at this, does not elaborate.
In order to make the hand of setting up three-dimensional model surface smoothing, precision is higher, and the voxel visual shell model that the present embodiment preferably adopts the cube method of advancing to set up previous step carries out the gridding processing.
In order to make the hand three-dimensional model have more verisimilitude and feeling of immersion, more near real human body skin, the visual shell model that also comprises the effects on surface gridding in the present embodiment carries out texture, the texture source is the many viewpoints hand images after pre-service, make it seem more approaching true, the method of texture is the texture mapping method based on viewpoint, and the method is prior art, at this, does not elaborate.
In addition, because the shooting angle of video camera may be adjusted, some parameters (such as the inside and outside parameter of video camera etc.) can change accordingly, therefore, before step S31, also comprise the step of the inside and outside parameter of calibrating camera, this step is arranged between other steps, can processed offline.Camera calibration can be realized in the following ways: with a uniform black and white checkerboard pattern as destination object, after video camera fixes, gather the image of the template of diverse location and angle, with this group image, carry out extraction and the calculating of angle point, thereby obtain the model of video camera, i.e. the inside and outside parameter of video camera.
The healing hand function training method that the actual situation of the present embodiment merges, simple to operate, the user also can suitably train under the guidance without specialist, to the user without injury, adopt immersion and interactively actual situation to merge scene and train, obtain training effect preferably.
Certainly; this actual situation merges the healing hand function training system and not only is confined to carry out the hand function rehabilitation training; also can be by transformation; for other position function rehabilitation trainings of human body; above-mentioned explanation is not limitation of the present invention; the present invention also is not limited in above-mentioned giving an example, and those skilled in the art make in essential scope of the present invention variation, remodeling, interpolation or replacement, also should belong to protection scope of the present invention.
Claims (6)
1. the healing hand function training system that actual situation merges, is characterized in that, comprising:
Image capture device, for many viewpoints of Real-time Collection user hand images, carry out being sent to background process equipment after pre-service;
Background process equipment, the generating virtual scene also shows output, described many viewpoints pretreatment image is carried out to three-dimensional modeling and generate the hand three-dimensional model, be shown in virtual scene, and set up the man-machine interaction feedback mechanism, when user's hand motion, its three-dimensional model is action thereupon also;
The healing hand function training system that described actual situation merges adopts following recovery training method:
(1), image capture device gathers background information, and stores;
(2), many viewpoints of image capture device Real-time Collection user hand images, and carry out being sent to background process equipment after pre-service;
(3), background process equipment shows the output virtual scene, and to described many viewpoints pretreatment image Real-time modeling set, and the hand three-dimensional model of foundation is shown in virtual scene;
(4), virtual scene responds according to the variation of hand three-dimensional model, and shows output, namely virtual scene is that variation with user's gesture motion changes; Set up the man-machine interaction feedback mechanism; computational analysis is carried out in variation to the hand three-dimensional model, and virtual scene is made to corresponding change and shown output, and this virtual scene produces corresponding feedback to the variation of hand; form the rehabilitation training environment of an actual situation fusion, positive guide, the guiding user action;
Described background process equipment comprises server and display, described server generating virtual scene, and export display to and show, server receives simultaneously pretreatment image and carries out three-dimensional modeling, and the hand three-dimensional model of foundation is shown in virtual scene, and sets up the man-machine interaction feedback mechanism;
Wherein, described man-machine interaction feedback mechanism is: server carries out computational analysis to the variation of hand three-dimensional model, and virtual scene is made to corresponding change and shown output;
In step (3), the Real-time modeling set method is:
(a), according to the Octree modeling principle, initial space is carried out to successively subdivision, obtain the voxel visual shell model of hand;
(b), utilize the cube method of advancing to carry out the gridding processing to voxel visual shell model surface;
(c), utilization is carried out texture based on the visual shell model of the texture mapping method effects on surface gridding of viewpoint.
2. the healing hand function training system that merges of described actual situation according to claim 1, it is characterized in that, described image capture device comprises: at least two for the video camera from different viewpoints collection images, be used to the support that supports described video camera and the client that connects one to one with video camera, the image of described client camera acquisition, and to the image pre-service.
3. the healing hand function training system that merges according to the described actual situation of claim 2, is characterized in that, on described support, is provided with and the described video camera The Cloud Terrace of corresponding flexible connection one by one.
4. the healing hand function training system that merges according to the described actual situation of claim 2 is characterized in that described video camera is 5.
5. the healing hand function training system that merges of described actual situation according to claim 1, is characterized in that, step (3) comprises following sub-step:
(31), at the display end, show initial virtual scene;
(32), server receives in real time many viewpoints pretreatment image, and sets up the hand three-dimensional model;
(33), the hand three-dimensional model of foundation is shown in virtual scene.
6. the healing hand function training system that merges of described actual situation according to claim 5, is characterized in that, in step (31), also comprises before the step of the inside and outside parameter of calibrating camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110160698XA CN102184342B (en) | 2011-06-15 | 2011-06-15 | Virtual-real fused hand function rehabilitation training system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110160698XA CN102184342B (en) | 2011-06-15 | 2011-06-15 | Virtual-real fused hand function rehabilitation training system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102184342A CN102184342A (en) | 2011-09-14 |
| CN102184342B true CN102184342B (en) | 2013-11-20 |
Family
ID=44570518
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110160698XA Active CN102184342B (en) | 2011-06-15 | 2011-06-15 | Virtual-real fused hand function rehabilitation training system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102184342B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102650906B (en) * | 2012-04-06 | 2015-11-04 | 深圳创维数字技术有限公司 | A kind of control method of user interface and device |
| DE102012216193B4 (en) * | 2012-09-12 | 2020-07-30 | Continental Automotive Gmbh | Method and device for operating a motor vehicle component using gestures |
| CN103279191B (en) * | 2013-06-18 | 2016-01-06 | 北京科技大学 | A kind of 3D virtual interacting method based on Gesture Recognition and system |
| CN104000586B (en) * | 2014-05-12 | 2017-12-29 | 燕山大学 | Patients with cerebral apoplexy rehabilitation training system and method based on brain myoelectricity and virtual scene |
| US20180060333A1 (en) * | 2016-08-23 | 2018-03-01 | Google Inc. | System and method for placement of virtual characters in an augmented/virtual reality environment |
| CN110503710A (en) * | 2019-09-04 | 2019-11-26 | 北京国润视光科技有限公司 | A kind of complex scene recovery training method based on real enhancing technology |
| CN111047708B (en) * | 2019-11-26 | 2022-12-13 | 中国人民解放军空军工程大学 | Complex equipment high-risk project training system based on mixed reality |
| CN110890148B (en) * | 2019-12-19 | 2022-05-17 | 上海金矢机器人科技有限公司 | Safety protection system and method based on rehabilitation training device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101539804A (en) * | 2009-03-11 | 2009-09-23 | 上海大学 | Real time human-machine interaction method and system based on augmented virtual reality and anomalous screen |
| CN101650834A (en) * | 2009-07-16 | 2010-02-17 | 上海交通大学 | Three dimensional reconstruction method of human body surface under complex scene |
-
2011
- 2011-06-15 CN CN201110160698XA patent/CN102184342B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101539804A (en) * | 2009-03-11 | 2009-09-23 | 上海大学 | Real time human-machine interaction method and system based on augmented virtual reality and anomalous screen |
| CN101650834A (en) * | 2009-07-16 | 2010-02-17 | 上海交通大学 | Three dimensional reconstruction method of human body surface under complex scene |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102184342A (en) | 2011-09-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102184342B (en) | Virtual-real fused hand function rehabilitation training system and method | |
| CN111460875B (en) | Image processing method and apparatus, image device, and storage medium | |
| CN109003301B (en) | Human body posture estimation method based on OpenPose and Kinect and rehabilitation training system | |
| CN104699247B (en) | A kind of virtual reality interactive system and method based on machine vision | |
| JP2021103564A (en) | Method for driving virtual object, device, electronic apparatus, and readable storage medium | |
| CN101231752B (en) | Mark-free true three-dimensional panoramic display and interactive apparatus | |
| CN102801994B (en) | Physical image information fusion device and method | |
| CN104656893B (en) | The long-distance interactive control system and method in a kind of information physical space | |
| CN104050859A (en) | Interactive digital stereoscopic sand table system | |
| CN105243375B (en) | A kind of motion characteristic extracting method and device | |
| CN105739703A (en) | Virtual reality somatosensory interaction system and method for wireless head-mounted display equipment | |
| CN110931121A (en) | Remote operation guiding device based on Hololens and operation method | |
| CN109821239A (en) | Implementation method, device, equipment and the storage medium of somatic sensation television game | |
| CN105006011B (en) | The body feeling interaction formula drawing system and method for sense of reality three-dimensional scenic | |
| CN105955483A (en) | Virtual reality terminal and visual virtualization method and device thereof | |
| Wei et al. | Multi-view merging for robot teleoperation with virtual reality | |
| CN109785415A (en) | A kind of movement acquisition system and its method based on ectoskeleton technology | |
| CN103679712A (en) | Human body posture estimation method and human body posture estimation system | |
| CN105487660A (en) | Immersion type stage performance interaction method and system based on virtual reality technology | |
| CN117697717A (en) | Exoskeleton physical man-machine two-way interaction simulation system | |
| Tan et al. | Virtual reality based immersive telepresence system for remote conversation and collaboration | |
| CN107038682B (en) | Scaling system and method of three-dimensional human body model | |
| CN112069873A (en) | LeapMotion gesture recognition-based screen control system and method | |
| CN107038756B (en) | Rotating system and method of three-dimensional human body model | |
| Anvari et al. | 3D human body pose estimation in virtual reality: a survey |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211008 Address after: 266000 Room 305, building 2, No. 153, Zhuzhou Road, Laoshan District, Qingdao, Shandong Patentee after: Qingdao Shuji Technology Co.,Ltd. Address before: 266061 Songling Road, Laoshan District, Qingdao, Shandong Province, No. 99 Patentee before: QINGDAO University OF SCIENCE AND TECHNOLOGY |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211126 Address after: Room 1101-70, No. 379, Tayuan Road, high tech Zone, Suzhou, Jiangsu 215000 Patentee after: Suzhou Jimu Technology Co.,Ltd. Address before: 266000 Room 305, building 2, No. 153, Zhuzhou Road, Laoshan District, Qingdao, Shandong Patentee before: Qingdao Shuji Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right |