CN107219918A - A kind of design method of data glove interface module - Google Patents
A kind of design method of data glove interface module Download PDFInfo
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- CN107219918A CN107219918A CN201710295166.4A CN201710295166A CN107219918A CN 107219918 A CN107219918 A CN 107219918A CN 201710295166 A CN201710295166 A CN 201710295166A CN 107219918 A CN107219918 A CN 107219918A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/455—Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines
- G06F9/45504—Abstract machines for programme code execution, e.g. Java virtual machine [JVM], interpreters, emulators
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Abstract
The invention discloses a kind of design method of data glove interface module, the present invention is designed data glove ports based on Simulink, and data are handled by normalization algorithm and slip averaging method.So that data stabilization and effectively.Then data glove is combined with Simulink by writing serial ports function, it is effectively interacted, add the operability of the virtual reality technology under Simulink.
Description
【Technical field】
The present invention relates to a kind of design method of data glove interface module.
【Background technology】
In recent years, with the continuous development of scientific technology, people serve life for advanced technology and increasingly paid attention to.It is empty
It is to realize this desired good approach to intend reality technology.Virtual reality technology be using computer set up one it is true to nature
Virtual world, user can wherein by listening, depending on, touch, the sense organ such as smell and obtain perception to surrounding environment, have on the spot in person
Feel.Virtual reality technology has in the many-side such as military affairs, education, amusement, scientific research to be widely applied very much.In virtual reality technology
The inside, data glove is critically important interactive tool, and user more can interact naturally and really with virtual environment.It can
To capture action and the attitude information of human hand.The outward appearance of data glove is similar with the outward appearance of ordinary glove, but in its material
It is different from ordinary glove, wherein equipped with the sensor for catching attitude information, by computer interface data transfer to computer
It is interior, complete the action of virtual hand and the real-time update of posture.So as to more directly perceived and real progress virtual reality operation.
The key of data glove be the bending of each active component of palm, finger and wrist, abduction etc. measurement with
And outer on the basis of this is drilled.Substantial amounts of work has been done in terms of the research and development of data glove by domestic and international many units and company,
And different types of data glove is released, some introductions are done to these below：
1) Dataglove is the earliest data glove that VPL companies release in 1990s, and the glove structure is tight
Gather, comfortable wearing is light easy-to-use, using desktop control module, can support to be four gloves simultaneously；But it is susceptible to user
The influence of hand size.Be designed to try out medical application in VR, can as medical application input equipment.
2) Virtual Technologies companies were proposed Cyberglove data glove in 1991, the glove weight
Relatively light, comfortable structure is complete, and right to use resistive technologies send real-time angular data, and CyberGloveTouch systems are provided
Shake haptic technology.
3) Polytechnics of PLA successfully developed a data glove in 2002, and the bending and abduction for joint are ground
Study carefully optics stroke sensor and optical fibre bending sensor, it is high with precision, the features such as small volume, and use the double slow of OpenGL
Rush technology receipt 3-D view.In use because the difference of user wants opponent's set to be corrected.
4) the WISEGLOVE data glove of Beijing what comes into a driver's scientific and technological development is usually used in measurement finger action, is widely used in
Motion-captured, the field such as game movie making and medical evaluation of human hand.
Simulink is one of most important component in Matlab, it can provide a Modelling of Dynamic System, emulation and
The integration environment of comprehensive analysis.It is widely used in linear system, nonlinear system, digital control and Digital Signal Processing builds
In mould and emulation.Can be existing in three-dimensional using Matlab virtual reality toolbox (Virtual Reality Toolbox)
In real environment carry out visualized operation and dynamical system interaction, using the VRML technologies of standard, can carry out Matlab and
Simulink interaction, dynamical system can be changed with time Simulink models with what comes into a driver's by virtual reality toolbox
Interacted with patterned way, this can be well understood by model object, very easily carry out the simulation of pseudo operation.
The structure chart of system is set up in Simulink, selects suitable reality environment to be connected in Simulink structure charts, virtually
Reality module will go out the virtual world that can be driven by Simulink for effective VRML node scans.
At present, the data glove exploitation for Simulink virtual reality technologies is fewer so that virtual existing under it
Realize and lacked very big operability.Can not be really realize man-machine interaction, strengthen feeling of immersion, realize more life-like virtual
Reality.
【The content of the invention】
The purpose of the present invention is that using deficient situation, there is provided one kind under Simulink for data glove
The design method of data glove interface module under Simulink, realizes use of the data glove under Simulink, is
Simulink virtual reality operation technologies lay the first stone.
To reach above-mentioned purpose, the present invention is achieved using following technical scheme：
A kind of design method of data glove interface module, comprises the following steps：
1) data glove normalized is carried out, the maximum and minimum value of gloves is demarcated；Define maximum be A and
One minimum value is B, and the numerical value of data glove is C, and C meets following relation between A and B：
The angle of bend of data glove is calculated by linear algorithm, the activity point of view of some finger of addition gloves is
E, its angle of bend is：
E*(C-B)/(A-B) (2)
Then the data of data glove are demarcated with slip averaging method, slides averaging method and take continuous n data glove
Data are as average value and then are set as current value, are expressed as follows：
S=(S1+S2+…+Sn)÷n (3)
Wherein, S is the value of current sensor, and n is its number and is integer；
2) scan each serial ports and judge whether gloves connect, read the model of data glove, then a newly-built data hand
Sets of data structure, is demarcated using manual demarcation to data glove；Profit is entered to data glove data with the aforedescribed process simultaneously
Rower is determined, to obtain correct sensing data；At the same time sampling time and input/output interface are designed；Complete
S function writes work；
3) driving S function makes it be run under Simulink and reads the data of data glove；S function is compiled as one
The individual dynamic link library that can be called, the use of S function can be just carried out using this dynamic link library；
4) build the module for calling S function and be packaged, input is set directly on interface；Building structure block diagram,
Secondary module is run, starts to collect the data read, gesture posture is then obtained by the numerical value of data glove；
5) hand model is built on Virtual Realization operating platform, father and son joint is defined, then data are passed to corresponding each
On individual joint, the driving of hand is realized, virtual reality operation is completed.
Further improve of the invention is：
Step 2) in, demarcation manually is to determine the posture of the hand of initial time.
Step 4) in, input is the serial port of sampling time and data glove.
Step 5) in, Virtual Realization operating platform includes Simulink virtual reality toolbox, Unity3D or OSG.
Compared with prior art, the invention has the advantages that：
The present invention is designed data glove ports based on Simulink, passes through normalization algorithm and slip averaging method
Data are handled.So that data stabilization and effectively.Then by writing serial ports function data glove and Simulink
With reference to alloing it effectively to interact, add the operability of the virtual reality technology under Simulink.
【Brief description of the drawings】
It is to be based on Simulink Interface design flow charts that Fig. 1, which is,；
Fig. 2 is S-FUNCTION operational mode flow charts；
Fig. 3 is thumb data glove data；
Fig. 4 is forefinger data glove data；
Fig. 5 is middle finger data glove data；
Fig. 6 is nameless data glove data；
Fig. 7 is little finger data glove data.
【Embodiment】
The present invention is further detailed explanation with reference to the accompanying drawings and examples：
As shown in Figure 1-2, S function realizes various functions mainly in the form of call back function in Simulink.Its
The module of design may be reused, and considerably increase efficiency.
The characteristics of present invention is directed to Simulink, is based on using the interface method of data glove there is provided one kind
The design method of Simulink data glove interface module, comprises the following steps：
The first step is normalization data gloves value.Data glove maximum and minimum value are demarcated, it is ensured that data hand
The activity of set is in the range of some.Simultaneously because the data of data glove might have shake in actual test, therefore
Need to be filtered data glove data, it is filtered using averaging method is slided, it is ensured that data accurate and stably.Tool
Body method is as follows：
Data glove normalized is carried out, the maximum and minimum value of gloves is demarcated.Define a maximum A and one
Minimum value B, the numerical value of data glove is C, then to meet C between A and B, as follows：
The value of data glove is ensured that above in defined Gesture scope, i.e., between A and B, by linearly calculating
Method can be calculated the angle of bend of data glove, and the activity point of view of some finger of addition gloves is E, then its angle of bend
Spend and be：
E*(C-B)/(A-B) (2)
Then the data of data glove are demarcated with slip averaging method, slides averaging method and take continuous n data glove
Data are as average value and then are set as current value, are expressed as follows：
S=(S1+S2+…Sn)÷n (3)
Wherein S is the value of current sensor, SiIt is the value of continuous adjacent sensors.N is its number.
Second step writes S function, obtains the port of data glove and opens data glove, uses previous scaling method pair
Data glove is demarcated.Setting sensor data structure reads the value of sensor.The data of data glove are carried out simultaneously defeated
Go out, determine gesture.Specific method is as follows：
First, scan each serial ports and judge whether gloves connect, read the model of data glove, then a newly-built data
Gloves data structure, is demarcated, manual demarcation here is mainly to determine initial time using manual demarcation to data glove
Hand posture, so can just define specific gesture.Profit is demarcated to data glove data with the aforedescribed process simultaneously,
To obtain correct sensing data.At the same time sampling time and input/output interface can be carried out according to their needs
Design.Thus tentatively complete S function and write work.
3rd step is mainly to be compiled to the S function write, the dynamic link text that generation Simulink can be used
Compiled dynamic link file, then imported into the S function module that we pre-establish by part, and becoming one can be with
The module used.Specific method is as follows：
There is S function, then can constantly call call back function therein to carry out the reading of data.Here is exactly to drive
S function allows it to be run under Simulink and reads the data of data glove.S function, which is compiled as one, to be called
Dynamic link library, the use of S function is can be carried out using this dynamic link library.
4th step is that block diagram is packaged and built to S function module, meets data glove making under Simulink
With can correctly define gesture by the data of data glove, be subsequently used for virtual reality operation.Specific method is as follows：
The module built is packaged, input is set directly on interface, sampling time during input here
With the serial port of data glove.There is input, building structure block diagram runs secondary module, it is possible to start to collect the number read
According to then just gesture posture can be known by the numerical value of data glove.
5th step is the certain methods for being applied to some common virtual reality operation platforms, allow its with it is virtual
Reality technology is combined, and improves the interactivity of virtual reality.Specific method is as follows：
Data glove can be used for many virtual reality operation platforms, such as Simulink virtual reality toolbox,
Unity3D and OSG (OpenSourceGraph) etc..Basic procedure is all first to build hand model on these platforms, definition
Father and son joint, then passes to data on each corresponding joint, realizes the driving of hand, virtual reality operation is completed with this.
Embodiment：
The present invention has practicality and exploitativeness, passes through simulating, verifying.Fig. 3 to Fig. 7 is to have carried out simulation example
Checking, connect data glove, then design module selection gloves connection serial port, driver operation, pass through opponent
The initial alignment (what is defined here is that posture when palm is stretched out is initial attitude) of gesture, then can be carried out gesture attitude angle
Reading, here, Fig. 3 to Fig. 7 is that thumb, forefinger, middle finger, the third finger and little finger stretch out process in palm grip respectively
Attitude angle information.Wherein abscissa is the time, and ordinate is the angle using initial attitude as reference.
The technological thought of above content only to illustrate the invention, it is impossible to which protection scope of the present invention is limited with this, it is every to press
According to technological thought proposed by the present invention, any change done on the basis of technical scheme each falls within claims of the present invention
Protection domain within.
Claims (4)
1. a kind of design method of data glove interface module, it is characterised in that comprise the following steps：
1) data glove normalized is carried out, the maximum and minimum value of gloves is demarcated；It is A and one to define a maximum
Minimum value is B, and the numerical value of data glove is C, and C meets following relation between A and B：
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The angle of bend of data glove is calculated by linear algorithm, the activity point of view of some finger of addition gloves is E, its
Angle of bend is：
E*(C-B)/(A-B) (2)
Then the data of data glove are demarcated with slip averaging method, slides averaging method and take continuous n data glove data
Then it is set as current value as average value, is expressed as follows：
S=(S1+S2+…+Sn)÷n (3)
Wherein, S is the value of current sensor, and n is its number and is integer；
2) scan each serial ports and judge whether gloves connect, read the model of data glove, then a newly-built data glove number
According to structure, data glove is demarcated using manual demarcation；Profit enters rower to data glove data with the aforedescribed process simultaneously
It is fixed, to obtain correct sensing data；At the same time sampling time and input/output interface are designed；Complete S letters
Number writes work；
3) driving S function makes it be run under Simulink and reads the data of data glove；S function is compiled as an energy
The dynamic link library enough called, the use of S function can be just carried out using this dynamic link library；
4) build the module for calling S function and be packaged, input is set directly on interface；Building structure block diagram, operation
Secondary module, starts to collect the data read, then obtains gesture posture by the numerical value of data glove；
5) hand model is built on Virtual Realization operating platform, father and son joint is defined, data are then passed to each corresponding pass
On section, the driving of hand is realized, virtual reality operation is completed.
2. the design method of data glove interface module according to claim 1, it is characterised in that step 2) in, manually
Demarcation is to determine the posture of the hand of initial time.
3. the design method of data glove interface module according to claim 1, it is characterised in that step 4) in, input
It is the serial port of sampling time and data glove.
4. the design method of data glove interface module according to claim 1, it is characterised in that step 5) in, virtually
Realize that operating platform includes Simulink virtual reality toolbox, Unity3D or OSG.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113157093A (en) * | 2021-04-20 | 2021-07-23 | 沈阳工程学院 | Virtual character object posture synchronous control system |
| CN113407034A (en) * | 2021-07-09 | 2021-09-17 | 呜啦啦(广州)科技有限公司 | Sign language inter-translation method and system |
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Application publication date: 20170929 |