CN107301415B - Gesture acquisition system - Google Patents
Gesture acquisition system Download PDFInfo
- Publication number
- CN107301415B CN107301415B CN201710670739.7A CN201710670739A CN107301415B CN 107301415 B CN107301415 B CN 107301415B CN 201710670739 A CN201710670739 A CN 201710670739A CN 107301415 B CN107301415 B CN 107301415B
- Authority
- CN
- China
- Prior art keywords
- wrist
- arm
- gesture
- folding
- shenbei
- 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
- 210000000707 wrist Anatomy 0.000 claims abstract description 264
- 238000005452 bending Methods 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 241000251468 Actinopterygii Species 0.000 claims 2
- 230000036544 posture Effects 0.000 description 41
- 210000000245 forearm Anatomy 0.000 description 20
- 230000003993 interaction Effects 0.000 description 13
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 10
- 230000007613 environmental effect Effects 0.000 description 8
- 238000004891 communication Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000013528 artificial neural network Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000013527 convolutional neural network Methods 0.000 description 4
- 241000282575 Gorilla Species 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000010410 layer Substances 0.000 description 3
- 210000000623 ulna Anatomy 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 210000002569 neuron Anatomy 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000002356 single layer Substances 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- 206010000060 Abdominal distension Diseases 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 208000024330 bloating Diseases 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 208000003295 carpal tunnel syndrome Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- 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
-
- 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
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
-
- 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
- G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
- G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
- G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/10—Image acquisition
- G06V10/12—Details of acquisition arrangements; Constructional details thereof
- G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
- G06V10/147—Details of sensors, e.g. sensor lenses
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
- G06V40/28—Recognition of hand or arm movements, e.g. recognition of deaf sign language
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Human Computer Interaction (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Multimedia (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Psychiatry (AREA)
- Social Psychology (AREA)
- Vascular Medicine (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The invention discloses a gesture acquisition system, which comprises a wrist gesture acquisition device, wherein the wrist gesture acquisition device is used for acquiring a retraction gesture of a wrist and a flexion and extension gesture of the wrist, and the wrist gesture acquisition device comprises a wrist gesture acquisition arm which is retracted and extended along with the wrist and a sensing module for acquiring flexion and extension information and retraction information of the wrist gesture acquisition arm. According to the gesture acquisition system, the wrist gesture information is acquired in a mode that the sensing module acquires the flexion and extension information and the retraction information of the arm along with the flexion and extension of the wrist, so that the gesture of the wrist is accurately acquired.
Description
Technical Field
The invention relates to the technical field of man-machine interaction, in particular to a gesture acquisition system.
Background
With the development of technology, various intelligent devices are increasingly used. The man-machine interaction between the human and the intelligent equipment is more and more, the man-machine interaction mode is provided with two modes of contact type and non-contact type, the contact type man-machine interaction is mature and perfect, and the non-contact type man-machine interaction operation mode is in a research starting stage. In recent years, a non-contact human-computer interaction mode is always a hot point and a difficult problem to be studied in the human-computer interaction mode, and the non-contact human-computer interaction mode is well studied and has high use value.
The gestures are visual and natural interaction modes, are rapid in expression and rich in expression meaning, and are important tools for human to communicate information with each other. The gesture expression content is identified according to a certain rule during gesture identification, so that the method has strong consistency and expansibility. In an application aspect, the gesture recognition system may operate directly on software or virtual objects in the application software. However, how to recognize gestures more effectively and reach a better human-computer interaction state is a hot spot and difficult problem of research.
Disclosure of Invention
The invention aims to provide a gesture acquisition system which can accurately acquire wrist information.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a gesture collection system, includes wrist gesture collection system, wrist gesture collection system is used for gathering the receipts of wrist and stretches the gesture and bend the gesture, its characterized in that: the wrist posture acquisition device comprises a wrist posture acquisition arm which is folded and unfolded along with the wrist and a sensing module for acquiring the bending and stretching information and folding and unfolding information of the wrist posture acquisition arm.
Further, the wrist type wrist support also comprises a wrist strap, the wrist strap is sleeved on the wrist, the wrist gesture collection arm is connected with the wrist strap, and the wrist gesture collection arm is retracted and extended along with the wrist through the wrist strap.
Further, the wrist posture collection arm comprises a retraction arm retracted along with the wrist and Qu Shenbei bent along with the wrist, and the sensing module comprises two angle sensors, wherein the two angle sensors are respectively a retraction angle sensor for collecting the retraction angle of the retraction arm and a Qu Shenjiao-degree sensor for collecting the bending angle of Qu Shenbei.
Further, the folding shaft of the wrist and the wrist when folding has two intersecting points corresponding to the folding arms, the folding shaft of the wrist and the wrist when folding has two intersecting points corresponding to the Qu Shenbei, the folding arms and the Qu Shenbei each comprise a fixed end and a free end opposite to the fixed end, the fixed end of one of the folding arms and the Qu Shenbei is mounted on the wrist strap and located at one of the two intersecting points and is provided with a corresponding angle sensor, and the free end is wound along the wrist strap to the other intersecting point of the folding arms and is connected with the fixed end of the other of the folding arms and the Qu Shenbei, the connecting point of the folding arms and the Qu Shenbei has a certain included angle and is provided with the other angle sensor, and the free end of the other of the folding arms and the Qu Shenbei is arranged around the wrist strap and extends to a position close to the wrist strap to the outside.
Further, the Qu Shenjiao degree sensor is disposed along the flexion and extension axis and the retraction angle sensor is disposed along the retraction axis.
Further, the free end of the retraction arm and the Qu Shenbei at the proximal hand position of the wrist is wrapped around to the bottom of the proximal hand position of the wrist and the main acquisition module is mounted.
Further, the wrist gesture collection arm is the telescopic link, the wrist gesture collection arm with the wrist strap is connected, including being located wrist strap top or side first end and with the second end of hand rigid coupling, the wrist gesture collection arm with the intersection point of wrist strap is located between first end with the second end, first end can be centers on the intersection point swing, the sensing module is through acquireing the swing information of first end acquireing the information of buckling and stretching of wrist gesture collection arm and receipts exhibition information.
Further, the wrist gesture collection device also comprises a fixing structure, wherein the fixing structure is fixed at a position of a wrist near hand, and the second end of the wrist gesture collection arm is fixed on the fixing structure.
Further, a fish-eye bearing is arranged on the wrist strap, and the wrist dynamic collection arm is connected with the wrist strap through penetrating the fish-eye bearing.
Further, the sensing module is a hall sensor, the first end is provided with a magnet, and the sensing module obtains swing information of the first end by obtaining magnetic field information of the first end.
Due to the application of the technical scheme, the invention has the following beneficial effects:
according to the gesture acquisition system, the wrist gesture information is acquired in a mode that the sensing module acquires the flexion and extension information and the retraction information of the arm along with the flexion and extension of the wrist, so that the gesture of the wrist is accurately acquired.
Drawings
FIG. 1 is a circuit block diagram of a gesture acquisition system of the present invention.
Fig. 2 is a schematic perspective view of a gesture collection system according to a first embodiment of the present invention.
Fig. 3 is a schematic diagram of fig. 2.
Fig. 4 is a schematic diagram of another embodiment of the present invention.
Fig. 5 is a schematic perspective view of a gesture collection system according to a second embodiment of the present invention.
Fig. 6 is an enlargement at VI in fig. 5.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, the gesture collection system provided in the embodiment of the present invention includes a finger gesture collection device 1, where the finger gesture collection device 1 includes a main collection module 11 and an auxiliary collection module (not shown), the main collection module 11 is disposed below a palm and swings synchronously with the palm, the main collection module 11 may be used to collect finger gesture information, the main collection module 11 may be, for example, a camera, and the main collection module 11 collects finger gesture information by acquiring a finger image. The auxiliary acquisition module is also used for assisting in acquiring finger gesture information, and can be positioned at any position of the hand, where the finger gesture can be acquired, so that the auxiliary acquisition of the finger gesture information is realized. The auxiliary acquisition module can be, for example, a camera, and can be used for assisting in acquiring finger gesture information in a mode of acquiring finger images.
It can be appreciated that in human-computer interaction, the gesture acquisition system is required to acquire not only the finger gesture but also the wrist gesture and the forearm gesture.
In order to realize the acquisition of the wrist posture, the gesture acquisition system of the invention further comprises a wrist posture acquisition device 2, wherein the wrist posture acquisition device 2 is used for acquiring the retraction posture information of the wrist and the flexion and extension posture information of the wrist. According to the invention, the wrist posture acquisition device 2 is used for acquiring the information of the retraction and extension postures of the wrist and the information of the flexion and extension postures of the wrist, so that the acquisition of the wrist posture is realized. In terms of anatomy, the palm is extended, the wrist swings around an axis perpendicular to the palm, that is, the wrist is retracted and extended, the wrist swings around a wrist joint, that is, the wrist is extended, and the wrist posture acquisition device 2 in the present invention can acquire the retraction and extension posture information of the wrist and the extension and extension posture information of the wrist by acquiring the retraction and extension movements and the extension and extension movements of the wrist.
Referring to fig. 2-5 in combination, in the present embodiment, the wrist posture collection device 2 includes a wrist posture collection arm 22 that is configured to collect and extend along with the retraction and extension of the wrist, and the sensing module 24 collects the extension information and retraction information of the wrist posture collection arm 22, so as to collect the wrist posture information. In order to ensure that the wrist posture collection arm 22 can be folded and unfolded along with the wrist, the sensor module 24 can accurately collect the information of the bending and stretching of the wrist posture collection arm 22, and the wrist posture collection arm 22 is usually made of hard materials, so that the wrist posture collection arm 22 cannot be easily deformed, and the problem that the bending and stretching and folding actions of the wrist posture collection arm 22 are affected due to the fact that the wrist posture collection arm 22 is easily deformed, so that the collection accuracy is finally affected can be avoided.
In order to realize the acquisition of the forearm posture information, the gesture acquisition system of the invention further comprises a forearm posture acquisition device 3, for example, wherein the forearm posture acquisition device 3 is used for acquiring the forearm posture information. In this embodiment, the forearm gesture collection device 3 includes a tri-axial gyroscope, a tri-axial magnetometer and a tri-axial acceleration sensor, where the tri-axial gyroscope is used to detect the tri-axial angular velocity of the forearm, the tri-axial acceleration sensor is used to detect the tri-axial acceleration of the forearm, and the tri-axial magnetometer is used to detect the tri-axial magnetic force of the state of the forearm, so that the detected forearm gesture information is more accurate, and accurate forearm gesture information is obtained.
The gesture collection system of the present invention can also determine the electronic device to be controlled, and for example, the gesture collection system of the present invention further includes an environmental information collection device 4, where the environmental information collection device 4 is configured to find the electronic device (computer, tablet, home appliance, IOT, vehicle-mounted device, etc.) to be controlled and interact in the surrounding environment, and to implement positioning of the arm with respect to the local peripheral environment indoors or outdoors. In this embodiment, the environmental information collection device 4 is an environmental information camera. Of course, the forearm posture acquisition device 3 further includes a reflection point provided on the wrist strap, and the environmental information acquisition device 4 can acquire positional information of the reflection point.
In order to facilitate man-machine interaction, the gesture acquisition system of the invention further comprises a processor 5 and a wireless communication module 6, wherein the finger gesture acquisition device 1, the wrist gesture acquisition device 2, the forearm gesture acquisition device 3, the environment information acquisition device 4 and the wireless communication module 6 are all connected with the processor 5, the finger gesture information acquired by the finger gesture acquisition device 1, the wrist gesture information of the wrist gesture acquisition device 2, the forearm gesture information acquired by the forearm gesture acquisition device 3 and the spatial information of the electronic equipment and the forearm to be controlled, which are found by the environment information acquisition device 4, are all sent to the processor 5, the processor 5 determines the electronic equipment to be controlled according to the information and calculates the spatial coordinates of the forearm, and outputs corresponding operation instructions according to the information and sends the operation instructions to the electronic equipment to be controlled through the wireless communication module 6, so that man-machine interaction with the electronic equipment to be controlled is realized, namely, the control of the electronic equipment can be realized through gestures.
Referring to fig. 2-5, the gesture capturing system of the present invention further includes a wristband 7, where the wristband 7 is used to be worn on the wrist, and the main capturing module 11, the wrist gesture capturing device 2, the forearm gesture capturing device 3, the environmental information capturing device 4, the wireless communication module 6, and the processor 5 may be connected to the wristband 7, for example, where the connection includes a direct connection and an indirect connection, and the direct connection is directly provided on the wristband 7, and the indirect connection is connected to the wristband 7 through some element, such as a connecting rod, etc. The purpose of the wrist strap 7 is to facilitate the main acquisition module 11 swinging in synchronization with the palm, and the wrist posture acquisition arm 22 of the wrist posture acquisition apparatus 2 moves with the wrist strap. The connection between the main acquisition module 11 and the wrist posture acquisition apparatus 2 and the wrist strap 7 is described in detail below.
Of course, in other embodiments, the wrist strap 7 may not be provided, and the main acquisition module 11 may be fixed under the palm by a suction cup or the like. The wrist posture collection device 2 may also be provided on the wrist by means of a suction cup. The forearm gesture collection device 3, the environmental information collection device 4, the wireless communication module 6, the processor 5 and the like can be fixed on the arm or connected with the arm through structures such as a connecting rod and the like and positioned on the outer side of the arm, and the mounting modes of the forearm gesture collection device 3, the environmental information collection device 4, the wireless communication module 6 and the processor 5 are not limited to the above, so long as the corresponding signal collection, transmission and processing can be satisfied.
In this embodiment, the wrist strap 7 is in a sleeve shape, the wrist strap 7 is provided with a first fixing portion 71 and a second fixing portion 72 at intervals, and the first fixing portion 71 and the second fixing portion 72 are respectively matched with the body surface protruding portions of the styloid process of radius and the styloid process of ulna so as to fixedly mount the wrist strap 7 on the wrist, so as to prevent the wrist strap 7 from falling off or sliding from the wrist. Specifically, the first fixing portion 71 and the second fixing portion 72 are through holes or grooves formed in the wrist strap 7, so that the radius styloid process and the ulna styloid process can be accommodated in the through holes or grooves, so that the wrist strap 7 is fixed on the wrist. In the drawings, a wristband worn on the right hand is described as an example, with the palm of the right hand facing downward and the fingers pointing vertically on the paper surface. It will be appreciated that the wristband construction worn on the left hand is the same as that worn on the right hand, except that the first and second fastening portions 71, 72 are provided at positions that correspond to the body surface protrusion of the radius styloid process on the left hand and the body surface protrusion of the ulna styloid process on the left hand, respectively.
Specifically, referring to fig. 2, fig. 2 is a schematic perspective view of a gesture acquisition system according to a first embodiment of the present invention. In this embodiment, the wrist posture collection arm 22 includes a retraction arm 220 retracted with the wrist and a Qu Shenbei 222 extended with the wrist, the sensor module 24 includes two angle sensors, which are a retraction angle sensor 240 for collecting the retraction angle of the retraction arm 220 and a Qu Shenjiao degree sensor 242 for collecting the extension angle of the extension arm 222, respectively, and the retraction angle of the retraction arm 220 when retracted with the wrist is collected by the retraction angle sensor 240, and the extension angle of the extension arm 222 when retracted with the wrist is collected by the Qu Shenjiao degree sensor 242, so as to achieve accurate collection of the retraction angle and extension angle of the wrist, thereby obtaining the posture of the wrist.
Further, after the wrist strap 7 is worn on the wrist, the wrist strap 7 has two intersecting points corresponding to the retracting arm 220 with respect to the retracting axis when the wrist strap 7 is retracted, and has two intersecting points corresponding to Qu Shenbei with respect to the extending axis when the wrist strap 7 is extended. The retracting arm 220 comprises a fixed end and a free end opposite to the fixed end, qu Shenbei also comprises a fixed end and a free end opposite to the fixed end, wherein the fixed end of one of the retracting arm 220 and the Qu Shenbei 222 is arranged on the wrist strap 7 and positioned at one of two corresponding intersecting points and is provided with a corresponding angle sensor, the free end is wound around the wrist strap 7 to the position of the other of the retracting arm 220 and the Qu Shenbei along the wrist strap 7 and is connected with the fixed end of the other of the retracting arm 220 and the Qu Shenbei 222, the connecting point of the retracting arm 220 and the Qu Shenbei 222 has a certain included angle and is provided with another angle sensor, and the free end of the other of the retracting arm 220 and the Qu Shenbei 222 is arranged around the wrist strap 7 and extends to the outer side of the wrist strap 7 to be fixed with the position of the proximal hand of the hand in a manner of clamping the position of the proximal hand of the acquisition arm and the wrist. Thus, when the wrist is flexed and stretched, qu Shenbei 222 can sense Qu Shenbei 222 angle change along with wrist flexion and stretching, qu Shenjiao degree sensor 242 can sense Qu Shenbei 222 angle change, and thus wrist flexion and stretching gesture, and when the wrist is folded and stretched, folding arm 220 can sense 220 angle change along with wrist folding and stretching, and folding angle sensor 240 can sense wrist folding and stretching gesture.
In this embodiment, the free end of the retraction arms 220 and Qu Shenbei 222 at the proximal hand position of the wrist is wrapped around to the bottom of the proximal hand position of the wrist and the main acquisition module 11 is mounted to ensure that the main acquisition module 11 can swing with the palm. Of course, in other embodiments, a connecting rod may extend from the wristband 7 below the palm, and the main acquisition module 11 is mounted on the connecting rod.
In order to ensure accuracy of the acquired angle information, the Qu Shenjiao degree sensor 242 is disposed along the flexion and extension axes, and the retraction angle sensor 240 is disposed along the retraction axes, that is, the Qu Shenjiao degree sensor 242 and the retraction angle sensor 240 are perpendicular to a tangent line along the corresponding intersection point.
Specifically, in this embodiment, as shown in fig. 3, in the three-dimensional coordinate system, the X direction represents the flexion axis, the Z direction represents the extension axis, the Y direction is the axial direction of the wrist strap 7, when specifically set, the wrist strap 7 has two intersection points A, B with the extension axis, the wrist strap 7 has two intersection points C, D with the extension axis, one end of Qu Shenbei 222 is mounted at any intersection point of the wrist strap 7 and the flexion axis, for example, C intersection point, qu Shenjiao degree sensor 242 is connected with the fixed end of Qu Shenbei 222 and is set along the X axis, the free end of Qu Shenbei 222 is set around the wrist strap 7, then the free end of the extension arm 222 is wound to the point a, then the fixed end of the extension arm 220 is connected with the free end of Qu Shenbei, and then the free end of the extension arm 220 is wound around the outside of the wrist strap 7 and is fixed with the position of the proximal wrist in the manner, specifically, the free end of the extension arm 220 is wound toward the outside of the wrist strap 7 and is wound toward the direction C intersection point, and then the position of the proximal wrist strap 220 is wound toward the position of the proximal wrist strap where the proximal wrist is fixed with the proximal wrist. In this way, when the wrist is flexed and stretched, qu Shenbei, through the wrist strap 7, swings along with the wrist around the flexion and extension axis, qu Shenjiao degree sensor 242 swings along with Qu Shenbei 222, qu Shenjiao degree sensor 242 acquires the swing angle of flexion and extension arm 222, so as to acquire the flexion and extension posture of the wrist, at this time, the retraction arm 220 does not swing around the retraction axis, and the retraction angle sensor 240 does not acquire the retraction angle of the retraction arm 220; when the wrist is folded and unfolded, the folding and unfolding arm 220 is fixed at a position of the hand, which is close to the wrist, the folding and unfolding arm 220 swings around a folding and unfolding axis along with the wrist, the angle between the Qu Shenbei sensor 240 and the folding and unfolding arm 220 changes along with the swing of the folding and unfolding arm 220, the folding and unfolding angle sensor 240 collects the swing angle of the folding and unfolding arm 220 to obtain the folding and unfolding posture of the wrist, at the moment, qu Shenbei does not swing around a bending and stretching axis, and the Qu Shenjiao degree sensor 242 does not collect the folding and unfolding angle of the bending and unfolding arm 222.
In order to facilitate the installation of the main acquisition module 11, the free end of the retraction arm 220 may be wound to the bottom surface of the hand near the wrist, and then extended toward the palm, and the main acquisition module 11 is installed at the free end of the retraction arm 220, so as to ensure that the main acquisition module 11 swings synchronously with the palm.
In another embodiment, as shown in fig. 4, the X direction represents the flexion axis, the Z direction represents the extension axis, and the Y direction is the axial direction of the wristband 7. In this embodiment, when specifically set, the fixed end of the extension arm 220 is mounted at any intersection point, such as the a intersection point, of the wristband 7 and the extension axis, the extension angle sensor 240 is fixed at the fixed end of the extension arm 220, and the extension angle sensor 240 is set along the Z axis, the free end of the extension arm 220 is set around the wristband 7, and then the free end of the extension arm 220 is wound to, for example, the C point position. The fixed end of Qu Shenbei 222 is connected to the free end of the retraction arm 220, and the flexion and extension angle sensor 242 is mounted at the connection of the flexion and extension arm 222 to the retraction arm 220, with the Qu Shenjiao degree sensor 242 disposed along the X axis. The free end of Qu Shenbei 222 is wound around the outside of the wrist strap 7 and fixed to the position of the near wrist portion of the hand, specifically, the free end of the extending arm 222 is wound toward the point a and then toward the point D, and extends to the outside of the wrist strap 7 during the winding process, and then is wound toward the position of the hand near the wrist to the position of the near wrist portion of the hand located at the outside of the wrist strap 7 and fixed to the position of the near wrist portion of the hand, here, fixed to the position of the near wrist portion of the hand by means of the engaging of the extending arm 222 with the position of the near wrist portion of the hand. In this way, when the wrist is flexed and stretched, qu Shenbei, where the wrist is fixed at a position close to the wrist, changes along with the swing of the wrist around the flexion and extension axis, the included angle between Qu Shenbei and the extension arm 220 changes, and the Qu Shenjiao degree sensor 242 acquires the swing angle of the extension arm 222, so as to acquire the flexion and extension posture of the wrist, at this time, the extension arm 220 does not swing around the extension axis, and the extension angle sensor 240 does not acquire the extension angle of the extension arm 220; when the wrist is folded and unfolded, the folding and unfolding arm 220 swings along with the wrist around the folding and unfolding axis through the wrist strap 7, the folding and unfolding angle sensor 240 swings along with the folding and unfolding axis, the folding and unfolding angle sensor 240 collects the swinging angle of the folding and unfolding arm 220 to obtain the folding and unfolding posture of the wrist, at this time, the Qu Shenbei sensor 222 does not swing around the stretching axis, and the Qu Shenjiao degree sensor 242 does not collect the stretching angle of the stretching and bending arm 222.
In order to facilitate the installation of the main acquisition module 11, qu Shenbei, the free end of the main acquisition module 11 may be wound around the bottom surface of the hand near the wrist, and then extended toward the palm, and the main acquisition module 11 is installed at the free end of the extension arm 222, so as to ensure that the main acquisition module 11 swings synchronously with the palm.
Referring to fig. 5, fig. 5 is a schematic perspective view of a gesture collection system according to a second embodiment of the present invention, in this embodiment, the wrist gesture collection arm 22 is a telescopic rod, the wrist gesture collection arm 22 is connected to the wrist strap 7, and includes a first end located above, beside or below the wrist strap 7 and a second end fixedly connected to a position of a proximal hand of the wrist, an intersection point of the wrist gesture collection arm 22 and the wrist strap 7 is located between the first end and the second end, the first end of the wrist gesture collection arm 22 can swing around the intersection point, and the sensing module 24 obtains the flexion and extension information and the extension information of the wrist gesture collection arm 22 by obtaining the swing information of the first end.
Specifically, in this embodiment, the wrist strap 7 is provided with a fisheye bearing 75, and the wrist gesture collection arm 22 is connected to the wrist gesture collection arm 22 by penetrating the fisheye bearing 75, and the structure and the actuation principle of the fisheye bearing 75 are all of the prior art and are not described herein. The wrist gesture collection arm 22 may swing along with the wrist through a fisheye bearing 75 mounted on the wrist strap 7, specifically, a portion of the wrist gesture collection arm 22 between the fisheye bearing 75 and the second end of the wrist gesture collection arm 22 stretches and contracts as required, the first end of the wrist gesture collection arm 22 swings along with the wrist through the fisheye bearing 75, the sensor module 24 may acquire swing information of the first end to acquire a wrist gesture, more specifically, when the wrist is folded and unfolded, the first end of the wrist gesture collection arm 22 swings along with the wrist left and right through the fisheye bearing 75, the sensor module 24 acquires a left and right swing angle of the first end to acquire folding gesture information of the wrist, and when the wrist is folded and stretched, the first end of the wrist gesture collection arm 22 swings along with the wrist up and down through the fisheye bearing 75, and the sensor module 24 acquires a vertical swing angle of the first end to acquire bending and stretching gesture information of the wrist.
In this embodiment, referring to fig. 6, the sensing module 24 is a hall sensor, the first end of the wrist gesture collection arm 22 is provided with a magnet 26, the magnet 26 forms a magnetic field near the first end of the wrist gesture collection arm 22, the hall sensor senses the magnetic field formed by the magnet 26, the hall sensor can sense the change of the magnetic field, and the change of the magnetic field is formed by swinging the first end of the wrist gesture collection arm 22, so that the sensing module 24 obtains the up-down swinging angle and the left-right swinging angle of the first end of the wrist gesture collection arm 22 by obtaining the magnetic field information of the first end of the wrist gesture collection arm 22, thereby obtaining the flexion and extension gesture information and the extension gesture information of the wrist.
In the present embodiment, the sensing module 24 is located in the extending direction of the wrist gesture collection arm 22 and is further away from the second end of the wrist gesture collection arm 22 relative to the first end of the wrist gesture collection arm 22, so that the sensing module 24 accurately obtains the magnetic field information of the first end of the wrist gesture collection arm 22.
In this embodiment, the gesture capturing system of the present invention further includes a fixing structure 8, where the fixing structure 8 is in a shape of "C", and may be formed by bending a hard plastic plate, the fixing structure 8 is fixed at a position near the wrist, for example, by clamping, the fixing structure 8 is closer to the hand relative to the wrist strap 7, the second end of the wrist gesture capturing arm 22 is fixed on the fixing structure 8, the main capturing module 11 is fixed on the fixing structure 8, and in order to enable the main capturing module 11 to be located under the palm, the fixing structure 8 extends out of the connecting rod to the palm, for example, in the direction of the finger, and the main capturing module 11 is fixed on the connecting rod.
In the above description, the mounting area of the main acquisition module 11 is within 0-5 cm of the wrist joint towards the finger, within 0-3 cm of the wrist to the arm, and within 0-3 cm of the body surface skin, preferably within 0-2 cm of the body surface skin, and the main acquisition module 11 is mounted in this area, so that accurate acquisition of finger gesture information can be realized.
Compared with the prior art, the gesture acquisition system has the following advantages:
1. the cost is reduced: the conventional gesture recognition apparatus is performed by taking an image by using an external environment, and such a method may cause each controlled device to be equipped with a recognition device (keyboard and mouse hand mark). For example, there are 20 controlled devices (pad, computer, television, mobile phone, other intelligent home appliances, etc.) in the home, and each device needs to be provided with a set of gesture recognition device, which is very costly; the electronic equipment to be controlled is determined by the environment information acquisition device 4, so that the control of a plurality of controlled equipment can be realized by one set of gesture recognition equipment.
2. The gesture recognition accuracy is greatly improved:
a) In the prior art, a gesture is recognized by taking an image in an external environment, and the hand motion must be separated from a complicated and noisy background (segment), so that the false recognition rate can be reduced. According to the invention, the main acquisition module is arranged on the bottom surface of the palm and swings synchronously with the palm, namely, the view angle and the position of the main acquisition module are fixed relative to fingers, the same gesture action is only identified by using an image shot from a fixed angle, the background is not required to be separated, and the identification system can be free from the calculation consumption required by background deletion.
b) In the prior art, a system for recognizing gestures by shooting images in an external environment is required to process the size zoom, rotation, distance and shielding of separated gesture images. In the design mode, the position of the finger is fixed from the camera, and the image does not need to be subjected to size scaling and rotation processing. And large-area shielding can not be caused by different shooting angles.
c) A system for recognizing gestures by taking images in an external environment requires recognition from different angles for the same finger action gesture when using a camera in the external environment, which requires a large amount of data training (a large amount of images of the same gesture at different angles are required to train the recognition system to ensure accuracy). When the same gesture, such as the gesture of drawing up and straightening fingers, is recognized in an external environment, the images are required to be obtained from the shooting angles in different directions of 360 degrees, so that the recognition accuracy of the action from each angle can be ensured. This can greatly reduce the amount of training data and also greatly improve recognition accuracy.
d) The camera is deployed at the root of the palm, and the finger is only 15cm-20cm far away from the camera, so that the resolution of the camera can be reduced, and the image data processed by the system is greatly reduced.
3. The recognition speed is increased:
gesture recognition is required to be real-time, and if the recognition speed is too slow, the user cannot recognize.
From a) in 2 above: if a noisy background exists, the image must be traversed to locate the position of the hand, which is time consuming;
from b) in 2 above: the zooming of the gesture image is also performed, so that the image is traversed, and more time is consumed;
from c) in 2 above: for a finger gesture to be recognized from different angles, more layers of neurons are required than for single view recognition, and pictures of up to 129600 different angles than for single view recognition are required assuming that the same finger gesture is recognized in a range of 1 degree. Only 1 picture can be trained at a single visual angle. The number of the neuron weights can be greatly reduced, and the operation is obviously accelerated;
from d) in 2 above: the reduction in camera resolution results in a significant reduction in pixels of the image, and the amount of pixels processed can be much smaller. The number of device-processed pixels of 500 ten thousand pixels is reduced by approximately 80 times over 62500 pixels. In the convolutional neural network processing process, 1 graph is traversed by approximately 20 filters in a layer of neural network, the performance of a single layer is improved by 1600 times, and multiple layers are arranged in a deep neural network, so that the performance is improved more.
4. And (3) reducing power consumption:
the power consumption of the recognition system is related to the number of floating point operations (multiplication of the weights of the neural network).
From a) in 2 above: traversing the convolution check image to filter a noisy background, and consuming more power consumption;
from b) in 2 above: the scaling of the gesture image is also performed by increasing the number of nonlinear weights of the convolutional neural network, so that multiple power consumption is generated;
from c) in 2 above: the number of nonlinear weights of the convolutional neural network and the depth of the neural network can be greatly reduced by reducing the mangnolder image of the same gesture;
from d) in 2 above: the pixels of the image are greatly reduced, the processing of the pixels of the 500-ten-thousand-pixel-to-62500-pixel device is improved by 1600 times (floating point operand) in the single-layer convolutional neural network processing process, the processing of the multi-layer deep neural network is multiplied, and the power consumption is obviously reduced.
In a similar peripheral environment shooting mode of the leap motion, only 80% of computing capacity can be provided, and 20% of computing can be operated by a computer connected with a USB. And secondly the main chip computing power of the wearable device is not likely to be comparable to that of a computer. Only with this way of our invention can real-time identification be achieved in wearable devices.
5. Can be identified anywhere
When the camera is used in an external environment, the handle is required to be placed in the area where the camera is located, including the mode adopted by hollens, the arm is required to be lifted, the camera in the helmet can be ensured to irradiate hands, and the hands can be perceived in any position in a mode.
6. Prevent gorilla arm
Because of 5, the present invention does not require lifting the arm for a long time and allows the hand to be placed in the recognition area of the camera, thus preventing the arm from bloating (gorilla arm), a symptom which is quite common among users of ipad. Can also prevent the occurrence of mouse hand (carpal tunnel syndrome). In addition, the gorilla arm can cause the user to lower the handheld device, thereby causing cervical spine problems.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (9)
1. The utility model provides a gesture collection system, includes wrist gesture collection system (2), wrist gesture collection system (2) are used for gathering the receipts exhibition gesture of wrist and the flexion and extension gesture of wrist, its characterized in that: the wrist posture acquisition device (2) comprises a wrist posture acquisition arm (22) which is folded and unfolded along with the wrist and a sensing module (24) for acquiring the bending and stretching information and folding and unfolding information of the wrist posture acquisition arm (22);
the wrist posture acquisition arm (22) comprises a retracting arm (220) retracting along with the wrist and a Qu Shenbei (222) extending along with the wrist, wherein the free end of the retracting arm (220) and the free end of the Qu Shenbei (222) which are positioned at the position of the near hand of the wrist are wound to the bottom of the position of the near hand of the wrist, and a main acquisition module (11) is installed;
the main acquisition module (11) is a camera, the view angle and the position of the main acquisition module (11) are fixed relative to the palm, the main acquisition module is arranged on the bottom surface of the palm and swings synchronously with the palm, and the same gesture motion can be identified only by using an image shot from a fixed angle.
2. The gesture collection system of claim 1, wherein: the wrist gesture collection device is characterized by further comprising a wrist strap (7), wherein the wrist strap (7) is sleeved on a wrist, the wrist gesture collection arm (22) is connected with the wrist strap (7), and the wrist gesture collection arm (22) is folded and stretched along with the wrist through the wrist strap (7).
3. The gesture collection system of claim 2, wherein: the sensing module (24) comprises two angle sensors, namely a folding angle sensor (240) for collecting folding angles of the folding arms (220) and a Qu Shenjiao-degree sensor (242) for collecting bending angles of the Qu Shenbei (222).
4. A gesture acquisition system according to claim 3, characterized in that: the wrist strap (7) has two corresponding points of intersection of the folding arm (220) with a folding axis when the wrist is folded and unfolded, the wrist strap (7) has two corresponding points of intersection of the Qu Shenbei (222) with a folding axis when the wrist is folded and unfolded, the folding arm (220) and the Qu Shenbei (222) each comprise a fixed end and a free end opposite to the fixed end, the fixed end of one of the folding arm (220) and the Qu Shenbei (222) is mounted on the wrist strap (7) and is positioned at one of the corresponding points of intersection and is provided with an angle sensor corresponding to the fixed end, the free end is wound around the wrist strap (7) to the position of the other of the folding arm (220) and the Qu Shenbei (222) corresponding to the intersection of the other of the folding arm (220) and the Qu Shenbei) and is connected with the fixed end of the other of the folding arm (220) and the Qu Shenbei (222), the connecting point of the folding arm (220) and the Qu Shenbei) has an included angle sensor, and the free end of the other folding arm (220) is mounted at an included angle, and the other sensor is mounted on the wrist strap (78) and is positioned near the other wrist strap (78) and extends to the wrist strap (7).
5. The gesture collection system of claim 4, wherein: the Qu Shenjiao degree sensor (242) is disposed along the flexion and extension axes, and the retraction angle sensor (240) is disposed along the retraction axis.
6. The gesture collection system of claim 2, wherein: the wrist gesture collection arm (22) is the telescopic link, wrist gesture collection arm (22) with wrist strap (7) are connected, including being located wrist strap (7) top or side first end and the second end with hand rigid coupling, wrist gesture collection arm (22) with the intersection of wrist strap (7) is located first end with between the second end, first end can be around the intersection swing, sensing module (24) are through acquireing swing information of first end acquires the information and the receipts exhibition information of buckling of wrist gesture collection arm (22).
7. The gesture collection system of claim 6, wherein: the wrist gesture collection device further comprises a fixing structure (8), wherein the fixing structure (8) is fixed at a position near the wrist, and the second end of the wrist gesture collection arm (22) is fixed on the fixing structure (8).
8. The gesture collection system of claim 6, wherein: the wrist strap (7) is provided with a fish eye bearing (75), and the wrist dynamic collection arm (2) is connected with the wrist strap (7) through penetrating the fish eye bearing (75).
9. The gesture collection system of claim 7, wherein: the sensing module (24) is a Hall sensor, the first end is provided with a magnet (26), and the sensing module (24) acquires swing information of the first end by acquiring magnetic field information of the first end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710670739.7A CN107301415B (en) | 2017-08-08 | 2017-08-08 | Gesture acquisition system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710670739.7A CN107301415B (en) | 2017-08-08 | 2017-08-08 | Gesture acquisition system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107301415A CN107301415A (en) | 2017-10-27 |
| CN107301415B true CN107301415B (en) | 2024-03-22 |
Family
ID=60133603
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710670739.7A Active CN107301415B (en) | 2017-08-08 | 2017-08-08 | Gesture acquisition system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107301415B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112494187B (en) * | 2020-11-30 | 2023-11-21 | 上海理工大学 | Bionic wrist device |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2308657A1 (en) * | 2008-07-10 | 2011-04-13 | Kawasaki Jukogyo Kabushiki Kaisha | Robot and its teaching method |
| CN102915111A (en) * | 2012-04-06 | 2013-02-06 | 寇传阳 | Wrist gesture control system and method |
| CN203376691U (en) * | 2013-05-24 | 2014-01-01 | 徐州医学院 | Wrist strap type gesture recognition device based on human-computer interaction |
| CN103793057A (en) * | 2014-01-26 | 2014-05-14 | 华为终端有限公司 | Information processing method, device and equipment |
| CN104460992A (en) * | 2014-11-20 | 2015-03-25 | 大连理工大学 | Finger movement detection device and method adopting infrared rays for irradiating intercarpal ligament |
| CN204496431U (en) * | 2015-01-23 | 2015-07-22 | 贾岳杭 | Upper limbs wearing-type motion capture device |
| CN104814742A (en) * | 2015-05-06 | 2015-08-05 | 中国科学院深圳先进技术研究院 | Health wristwatch and working method thereof |
| CN105446461A (en) * | 2014-06-24 | 2016-03-30 | 北京创思博德科技有限公司 | Gesture recognition method, palm virtual keyboard using same, and input method |
| CN207704451U (en) * | 2017-08-08 | 2018-08-07 | 方超 | Gesture acquisition system |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6651352B2 (en) * | 2002-01-04 | 2003-11-25 | Liberty Mutual | Wrist motion measurement device |
| US10234941B2 (en) * | 2012-10-04 | 2019-03-19 | Microsoft Technology Licensing, Llc | Wearable sensor for tracking articulated body-parts |
| JP2017501469A (en) * | 2013-10-24 | 2017-01-12 | アップル インコーポレイテッド | Wristband device input using wrist movement |
| US11106273B2 (en) * | 2015-10-30 | 2021-08-31 | Ostendo Technologies, Inc. | System and methods for on-body gestural interfaces and projection displays |
-
2017
- 2017-08-08 CN CN201710670739.7A patent/CN107301415B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2308657A1 (en) * | 2008-07-10 | 2011-04-13 | Kawasaki Jukogyo Kabushiki Kaisha | Robot and its teaching method |
| CN102915111A (en) * | 2012-04-06 | 2013-02-06 | 寇传阳 | Wrist gesture control system and method |
| CN203376691U (en) * | 2013-05-24 | 2014-01-01 | 徐州医学院 | Wrist strap type gesture recognition device based on human-computer interaction |
| CN103793057A (en) * | 2014-01-26 | 2014-05-14 | 华为终端有限公司 | Information processing method, device and equipment |
| CN105446461A (en) * | 2014-06-24 | 2016-03-30 | 北京创思博德科技有限公司 | Gesture recognition method, palm virtual keyboard using same, and input method |
| CN104460992A (en) * | 2014-11-20 | 2015-03-25 | 大连理工大学 | Finger movement detection device and method adopting infrared rays for irradiating intercarpal ligament |
| CN204496431U (en) * | 2015-01-23 | 2015-07-22 | 贾岳杭 | Upper limbs wearing-type motion capture device |
| CN104814742A (en) * | 2015-05-06 | 2015-08-05 | 中国科学院深圳先进技术研究院 | Health wristwatch and working method thereof |
| CN207704451U (en) * | 2017-08-08 | 2018-08-07 | 方超 | Gesture acquisition system |
Non-Patent Citations (1)
| Title |
|---|
| 刘梁 ; 滕鹏 ; 周诗华 ; 展文豪 ; .一种手势控制小车运动系统的设计与实现.数字技术与应用.2017,(第02期),全文. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107301415A (en) | 2017-10-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20230195234A1 (en) | Gesture acquisition system | |
| EP3035164B1 (en) | Wearable sensor for tracking articulated body-parts | |
| CN103136986B (en) | Sign Language Recognition Method and system | |
| CN103677265B (en) | Intelligent sensing glove and intelligent sensing method | |
| CN202584010U (en) | Wrist-mounting gesture control system | |
| JP6301159B2 (en) | 3D fingertip tracking | |
| JP4608326B2 (en) | Instruction motion recognition device and instruction motion recognition program | |
| CN112926423B (en) | Pinch gesture detection and recognition method, device and system | |
| WO2013149586A1 (en) | Wrist-mounting gesture control system and method | |
| JP6144743B2 (en) | Wearable device | |
| CN103677289A (en) | Intelligent interactive glove and interactive method | |
| NO339941B1 (en) | System and method for a gesture-based management system | |
| KR101747892B1 (en) | Method of user interaction based gesture recognition and apparatus for the same | |
| CN107301415B (en) | Gesture acquisition system | |
| CN106598422B (en) | hybrid control method, control system and electronic equipment | |
| CN111240468A (en) | Calibration method and device for hand motion capture, electronic device and storage medium | |
| CN207704451U (en) | Gesture acquisition system | |
| CN106020442A (en) | Sensing method for intelligent sensing glove | |
| CN111399660A (en) | Gesture recognition equipment and method for sensor | |
| CN109214295B (en) | Gesture recognition method based on data fusion of Kinect v2 and Leap Motion | |
| CN107403178A (en) | Gesture acquisition system | |
| CN207817740U (en) | Gesture acquisition system | |
| JP2010086367A (en) | Positional information inputting device, positional information inputting method, program, information processing system, and electronic equipment | |
| CN212411154U (en) | Gesture recognition equipment of sensor | |
| Kefer et al. | FOR JOURNAL OF MOBILE MULTIMEDIA |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |