CN110888528B - Wearable interphalangeal opening angle measuring device - Google Patents
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- CN110888528B CN110888528B CN201911112608.2A CN201911112608A CN110888528B CN 110888528 B CN110888528 B CN 110888528B CN 201911112608 A CN201911112608 A CN 201911112608A CN 110888528 B CN110888528 B CN 110888528B
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- 238000005259 measurement Methods 0.000 claims abstract description 13
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- 238000000605 extraction Methods 0.000 description 1
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- 210000001145 finger joint Anatomy 0.000 description 1
- 210000005224 forefinger Anatomy 0.000 description 1
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- 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
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- A—HUMAN NECESSITIES
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- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
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Abstract
The invention discloses a wearable inter-finger opening angle measuring device, which comprises 4 finger sleeves which are sequentially arranged, wherein spring pieces are arranged on the adjacent side walls of the finger sleeves, each spring piece is provided with a resistance strain gauge, the resistance strain gauges on the adjacent spring pieces are oppositely arranged, the adjacent spring pieces are connected through a thrust bearing, the thrust bearing comprises a seat ring I, a shaft ring and a seat ring II which are sequentially connected through rivets, the adjacent spring pieces relatively rotate by taking the rivets as shafts, and the adjacent spring pieces can be opened in an angle; the invention has low cost, and can realize the measurement of the inter-finger angle only by the spring piece, the resistance strain gauge and the thrust bearing.
Description
Technical Field
The invention belongs to the technical field of gesture measurement, and particularly relates to a wearable inter-finger opening angle measuring device.
Background
Nowadays, several ways of human-computer interaction, such as motion capture, virtual reality, teleoperation, gesture recognition, etc., have gradually penetrated into various fields of animation, medical treatment, education, games, etc. Taking gesture recognition as an example, some devices capable of realizing the sign language recognition function, such as data gloves, can be worn on the hands of the deaf-mute, and the gestures made by the deaf-mute are recognized and finally converted into voice signals, so that the communication barriers can be reduced for the groups, and the effect of freely communicating with the common people is achieved. However, some of the existing commercialized data gloves such as 5DT and CyberGlove can only measure the bending angle of the joint of the finger itself, and due to the lack of measurement of the opening angle between the fingers, the obtained information related to the movement of the finger is less, and the ability to recognize more diversified gestures is still insufficient. Therefore, a wearable device capable of measuring the opening angle between fingers is developed, the gesture recognition capability is improved, the human-computer interaction experience can be greatly improved, and the wearable device has important application value.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a wearable interphalangeal opening angle measuring device, which acquires the information of interphalangeal opening angles in the motion process of fingers and combines the information with the information of finger joint bending angles measured by a data glove to improve the gesture recognition capability.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides a wearable indicates that opens angle measuring device within a definite time, includes the 4 dactylotheca that set gradually, all is provided with the spring leaf on the adjacent lateral wall of dactylotheca, all is provided with resistance strain gauge on every spring leaf, and resistance strain gauge on the adjacent spring leaf sets up relatively, connects through thrust bearing between the adjacent spring leaf, thrust bearing includes seat circle I, ring of axes and seat circle II that connect gradually through the rivet, and adjacent spring leaf uses the rivet to rotate relatively as the axle, can be the angle between the adjacent spring leaf and open.
Furthermore, the shaft rings are all shaft rings with balls.
Furthermore, an elastic band is arranged below the finger stall.
Furthermore, a through hole is formed in one end of each spring piece, each thrust bearing is connected with the adjacent spring piece through the through hole, a resistance strain gauge is arranged on the side wall of the other end of each spring piece, and the resistance strain gauges on the adjacent spring pieces are arranged oppositely.
A wearable inter-finger opening angle measuring device comprises a first finger stall 1, a second finger stall 2, a third finger stall 3 and a fourth finger stall 4 which are sequentially arranged, wherein a first spring leaf 5 and a second spring leaf 6 are respectively arranged on the adjacent side walls of the first finger stall 1 and the second finger stall 2, a third spring leaf 7 and a fourth spring leaf 8 are respectively arranged on the adjacent side walls of the second finger stall 2 and the third finger stall 3, a fifth spring leaf 9 and a sixth spring leaf 10 are respectively arranged on the adjacent side walls of the third finger stall 3 and the fourth finger stall 4, the first spring leaf 5 and the second spring leaf 6 are connected through a first thrust bearing, the third spring leaf 7 and the fourth spring leaf 8 are connected through a second thrust bearing, the fifth spring leaf 9 and the sixth spring leaf 10 are connected through a third thrust bearing, a first strain gauge 14 and a second strain gauge 15 are respectively arranged on the first spring leaf 5 and the second spring leaf 6, the first resistance strain gauge 14 and the second resistance strain gauge 15 are arranged oppositely, the third spring piece 7 and the fourth spring piece 8 are respectively provided with a third resistance strain gauge 16 and a fourth resistance strain gauge 17, the third resistance strain gauge 16 and the fourth resistance strain gauge 17 are arranged oppositely, the fifth spring piece 9 and the sixth spring piece 10 are respectively provided with a fifth resistance strain gauge 18 and a sixth resistance strain gauge 19, and the fifth resistance strain gauge 18 and the sixth resistance strain gauge 19 are arranged oppositely.
Further, the first thrust bearing comprises a first race 20, a first shaft ring 26 and a second race 21 which are sequentially connected through a first rivet 11, the second thrust bearing comprises a third race 22, a second shaft ring 27 and a fourth race 23 which are sequentially connected through a second rivet 12, and the third thrust bearing comprises a fifth race 24, a third shaft ring 28 and a sixth race 25 which are sequentially connected through a third rivet 13.
Further, the first rivet 11 sequentially penetrates through a through hole in the first spring plate 5, a through hole in the first seat ring 20, a through hole in the first shaft ring 26, a through hole in the second seat ring 21, and a through hole in the second spring plate 6, the second rivet 12 sequentially penetrates through a through hole in the third spring plate 7, a through hole in the third seat ring 22, a through hole in the second shaft ring 27, a through hole in the fourth seat ring 23, and a through hole in the fourth spring plate 8, and the third rivet 13 sequentially penetrates through a through hole in the fifth spring plate 9, a through hole in the fifth seat ring 24, a through hole in the third shaft ring 28, a through hole in the sixth seat ring.
Further, the first spring plate 5 and the second spring plate 6 rotate relative to each other with the first rivet 11 as an axis, the third spring plate 7 and the fourth spring plate 8 rotate relative to each other with the second rivet 12 as an axis, and the fifth spring plate 9 and the sixth spring plate 10 rotate relative to each other with the third rivet 13 as an axis.
Further, the first shaft ring 26, the second shaft ring 27 and the third shaft ring 28 are all shaft rings with balls.
Further, a first elastic band 29, a second elastic band 30, a third elastic band 31 and a fourth elastic band 32 are respectively arranged below the first finger cot 1, the second finger cot 2, the third finger cot 3 and the fourth finger cot 4.
Compared with the prior art, the invention has the following beneficial effects:
1. more detailed finger motion state information can be acquired. Some data gloves exist such as: 5DT, CyberGlove, CyberWorld P5 only install bending sensor on 5 fingers respectively, cause two fingers to be in the same bending angle, finger motion state information that measuring under the condition of the different degree of opening and shutting between the fingers is basically the same, and this device can distinguish this motion state through measuring the opening angle between the fingers in order to obtain more detailed finger motion state information.
2. The gesture recognition effect based on the device is not limited by external environment and range. Some existing gesture recognition devices based on vision, such as Leap Motion, have recognition functions affected by external environments such as illumination, skin color and hand shadow, and need to recognize within the action range of the camera device.
3. The invention has the advantages of concealment and instantaneity in the aspect of information transmission. Some existing devices with secret intelligence delivery function, such as "silent communicator" alternao, are relatively exposed and bulky to wear. In addition, the AlterEgo is trained and recognized by extracting characteristic values of electroencephalogram signals and mandible and facial electromyogram signals, on one hand, the extraction of information may not be accurate due to the weakness of the electroencephalogram and electromyogram signals; on the other hand, because of the individual difference of the electroencephalogram and the electromyogram signals, the device can be adapted only by training a user model, and the instantaneity of use is slightly insufficient. The wearing of the device is more concealed and light, in addition, the electric signal obtained by the resistance value change of the strain gauge is irrelevant to the physiological structure characteristics, so the information is easy to extract, the individual difference is small, and the real-time negotiation of the information can be carried out without training.
4. The invention is portable, portable and wearable, and can accurately measure the interphalangeal angle without influencing the free movement of human joints.
5. The invention has low cost, and can realize simple inter-finger angle measurement only through the spring piece, the resistance strain gauge and the thrust bearing.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a rear view of the present invention;
FIG. 3 is a right side elevation view of the present invention;
FIG. 4 is a schematic view showing a connecting structure of a thrust bearing and a rivet according to the present invention;
FIG. 5 is a schematic view of the relative rotation of two spring plates according to the present invention;
FIG. 6 is a schematic view of the relative rotation of the first finger cuff and the second finger cuff about the axis of the first rivet in accordance with the present invention;
FIG. 7 is a schematic view of the present invention showing the first finger cuff and the second finger cuff rotated relative to each other about the axis of the first rivet;
FIG. 8 is a schematic view of the present invention as worn with fingers straightened and closed;
FIG. 9 is a schematic view of the present invention worn with the fingers extended open;
FIG. 10 is a schematic view of the present invention in a state where the index finger is straightened and the remaining three fingers are bent, with the fingers open;
FIG. 11 is a schematic view of the present invention in a state where the index finger is straight and the remaining three fingers are bent, with the fingers open;
FIG. 12 is a schematic view of the present invention worn with the four fingers in flexion and with the fingers open;
FIG. 13 is a schematic view of the present invention worn with the four fingers in flexion and with the fingers open;
FIG. 14 is a schematic view of the present invention in a state where four fingers are bent, the index finger and the middle finger are rotated relatively and the fingers are opened;
FIG. 15 is a block diagram of a resistance strain gauge signal measurement processing unit according to the present invention;
fig. 16 is a schematic diagram of a bridge amplifier circuit according to the present invention.
Detailed Description
The present invention will be further described with reference to the following examples.
A wearable interphalangeal opening angle measuring device comprises 4 finger sleeves which are sequentially arranged, spring pieces are arranged on the adjacent side walls of the finger sleeves, each spring piece is provided with a resistance strain gauge, the resistance strain gauges on the adjacent spring pieces are oppositely arranged, the adjacent spring pieces are connected through a thrust bearing, the thrust bearing comprises a seat ring I, a shaft ring and a seat ring II which are sequentially connected through rivets, adjacent spring pieces rotate relative to each other by taking the rivets as shafts, the adjacent spring pieces can be opened at an angle, preferably, the shaft rings are all shaft rings with rolling balls, and furthermore, elastic bands are arranged below the finger sleeves, specifically, the spring piece one end is provided with the through-hole, and thrust bearing passes through the through-hole and connects adjacent spring piece, is provided with resistance strain gauge on the other end lateral wall of spring piece, and the resistance strain gauge on the adjacent spring piece sets up relatively. Specifically, 4 finger sleeves are sequentially sleeved in the second joints of the index finger, the middle finger, the ring finger and the little finger, so that the finger sleeves do not influence the normal bending of the fingers, the spring pieces can be separated by the opening angle between the fingers along with the separation of the fingers, namely, the adjacent spring pieces can be opened at an angle, the spring pieces can be rotated by the angle between the fingers along with the relative rotation of the fingers, namely, the adjacent spring pieces rotate relative to each other by taking the rivet as a shaft.
As shown in fig. 15, the resistance strain gauge is connected to the bridge amplifier circuit, so that the change of the resistance strain gauge can be converted into a voltage signal, the voltage signal output by the bridge amplifier circuit is sent to a microcontroller with an AD converter for processing, so that the inter-finger opening angle can be obtained, and the microcontroller sends the obtained inter-finger opening angle information to a computer or other equipment through wireless communication.
As shown in fig. 16, the first resistance strain gauge and the second resistance strain gauge are connected to the first bridge amplifying circuit, the third resistance strain gauge and the fourth resistance strain gauge are connected to the second bridge amplifying circuit, the fifth resistance strain gauge and the sixth resistance strain gauge are connected to the third bridge amplifying circuit, R1, R4, R5, R8, R9 and R12 respectively represent the resistances of the first resistance strain gauge, the second resistance strain gauge, the third resistance strain gauge, the fourth resistance strain gauge, the fifth resistance strain gauge and the sixth resistance strain gauge, R2, R3, R6, R7, R10 and R11 are resistors with constant resistances, when the first resistance strain gauge, the second resistance strain gauge, the third resistance strain gauge, the fourth resistance strain gauge, the fifth resistance strain gauge and the sixth resistance strain gauge are not subjected to bending action, satisfy R1/R2= R3/R4, R5/R6= R7/R8, R9/R10= R11/R12. Taking the first bridge amplifying circuit as an example, when fingers are closed, the resistance strain gauge is not subjected to bending action, the resistance meets the proportional requirement of R1/R2= R3/R4, at the moment, the bridge is balanced, the potential V1= V2, the output voltage Vo1 amplified by A1 is 0, when the fingers are gradually opened, the bending degree of the resistance strain gauge is increased, the resistance value is increased, the corresponding resistances R1 and R4 are increased, the potential at the point V1 is decreased, the potential at the point V2 is increased, the output voltage Vo1 amplified by A1 is increased, when the fingers are gradually closed, the bending degree of the resistance strain gauge is decreased, the resistance values of the corresponding resistances R1 and R4 are decreased, the potential at the point V1 is increased, the potential at the point V2 is decreased, the output voltage Vo1 amplified by A1 is decreased to 0, and the three amplifying circuits respectively convert the angle between the fingers, the angle between the middle finger and the angle between the ring finger, the angle between the ring finger and the ring between the finger and the small finger 1, Vo2, Vo 3.
Before use, a plurality of interphalangeal opening angles and corresponding voltage values output by the bridge amplification circuit are recorded, a relational expression of the output voltage of the bridge amplification circuit and the interphalangeal opening angles is obtained by adopting a least square method, and the relational expression is stored in the microcontroller.
When the device is used, the microcontroller substitutes data obtained by AD sampling into a relational expression of output voltage of the bridge amplifying circuit and the finger opening angle to obtain the finger opening angle.
Preferably, the first resistance strain gauge, the second resistance strain gauge, the third resistance strain gauge, the fourth resistance strain gauge, the fifth resistance strain gauge and the sixth resistance strain gauge are strain gauges with a resistance value of 350 ohms, the R2, the R3, the R6, the R7, the R10 and the R11 are resistors with a resistance value of 350 ohms, the instrumentation amplifiers a1, a2 and A3 in the first bridge amplification circuit, the second bridge amplification circuit and the third bridge amplification circuit are AD620, the gain adjusting resistors Rf1, Rf2 and Rf3 are resistors with a resistance value of 500 ohms, the microcontroller is an STM32F103C8T6 single chip microcomputer, and the wireless communication module is a bluetooth module with a UART interface.
As shown in fig. 1-6, 11, 13 and 14, in particular, a wearable inter-finger opening angle measuring device comprises a first finger cot 1, a second finger cot 2, a third finger cot 3 and a fourth finger cot 4 which are sequentially arranged, wherein a first spring leaf 5 and a second spring leaf 6 are respectively arranged on the adjacent side walls of the first finger cot 1 and the second finger cot 2, a third spring leaf 7 and a fourth spring leaf 8 are respectively arranged on the adjacent side walls of the second finger cot 2 and the third finger cot 3, a fifth spring leaf 9 and a sixth spring leaf 10 are respectively arranged on the adjacent side walls of the third finger cot 3 and the fourth finger cot 4, the first spring leaf 5 and the second spring leaf 6 are connected through a first thrust bearing, the third spring leaf 7 and the fourth spring leaf 8 are connected through a second thrust bearing, the fifth spring leaf 9 and the sixth spring leaf 10 are connected through a third thrust bearing, the first spring piece 5 and the second spring piece 6 are respectively provided with a first resistance strain gauge 14 and a second resistance strain gauge 15, the first resistance strain gauge 14 and the second resistance strain gauge 15 are oppositely arranged, the third spring piece 7 and the fourth spring piece 8 are respectively provided with a third resistance strain gauge 16 and a fourth resistance strain gauge 17, the third resistance strain gauge 16 and the fourth resistance strain gauge 17 are oppositely arranged, the fifth spring piece 9 and the sixth spring piece 10 are respectively provided with a fifth resistance strain gauge 18 and a sixth resistance strain gauge 19, and the fifth resistance strain gauge 18 and the sixth resistance strain gauge 19 are oppositely arranged.
As a preferable mode, the first thrust bearing includes a first race 20, a first race 26, and a second race 21 that are sequentially connected by a first rivet 11, the second thrust bearing includes a third race 22, a second race 27, and a fourth race 23 that are sequentially connected by a second rivet 12, the third thrust bearing includes a fifth race 24, a third race 28, and a sixth race 25 that are sequentially connected by a third rivet 13, specifically, the first rivet 11 sequentially passes through a through hole on the first spring plate 5, a through hole on the first race 20, a first race 26, a second race 21, and a through hole on the second spring plate 6, the second rivet 12 sequentially passes through a through hole on the third spring plate 7, a through hole on the third race 22, a second race 27, a through hole on the fourth race 23, and a through hole on the fourth spring plate 8, and the third rivet 13 sequentially passes through a through hole on the fifth spring plate 9, a fifth race 24, a through hole on the fifth race 25, And through holes are formed in the third shaft ring 28, the sixth shaft ring 25 and the sixth spring plate 10, so that the first spring plate 5 and the second spring plate 6 rotate relative to each other with the first rivet 11 as an axis, the third spring plate 7 and the fourth spring plate 8 rotate relative to each other with the second rivet 12 as an axis, and the fifth spring plate 9 and the sixth spring plate 10 rotate relative to each other with the third rivet 13 as an axis.
Preferably, the first, second and third races 26, 27 and 28 are ball-bearing races.
Preferably, a first elastic band 29, a second elastic band 30, a third elastic band 31 and a fourth elastic band 32 are respectively disposed under the first finger cuff 1, the second finger cuff 2, the third finger cuff 3 and the fourth finger cuff 4.
When the device of the present invention is used, the moving states of the index finger and the middle finger are taken as an example.
1. As shown in fig. 5 and 6, relative rotation is generated between the index finger and the middle finger, and the first spring piece and the second spring piece can rotate relatively around the axis of the first rivet, so that the first finger sleeve and the second finger sleeve are driven to rotate relatively around the axis of the first rivet.
2. As shown in fig. 9, 10 and 12, when the index finger and the middle finger are opened by a certain angle, the first finger sleeve and the second finger sleeve are respectively driven to move, the first finger sleeve and the second finger sleeve respectively pull the first spring piece and the second spring piece to bend the spring pieces, so that the resistance strain gauges on the spring pieces are bent, and the opening angle between the fingers can be obtained by measuring the change of the resistance values of the strain gauges.
3. As shown in figures 11, 13 and 14, the forefinger and the middle finger can be bent freely under the two motion states of relative rotation and certain opening angle, and the measurement of the opening angle between the fingers is not influenced.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (10)
1. The utility model provides a wearable indicates that opens angle measurement device within a definite time which characterized in that: including the 4 dactylotheca that set gradually, all be provided with the spring leaf on the adjacent lateral wall of dactylotheca, all be provided with resistance strain gauge on every spring leaf, and resistance strain gauge on the adjacent spring leaf sets up relatively, connects through thrust bearing between the adjacent spring leaf, thrust bearing includes seat circle I, ring axle and the seat circle II that connects gradually through the rivet, and adjacent spring leaf uses the rivet to rotate relatively as the axle, can be the angle between the adjacent spring leaf and open.
2. A wearable inter-digital spread angle measuring device according to claim 1, characterized in that: the shaft rings are all shaft rings with balls.
3. A wearable inter-digital spread angle measuring device according to claim 1, characterized in that: an elastic band is arranged below the finger stall.
4. A wearable inter-digital spread angle measuring device according to claim 1, characterized in that: the spring piece one end is provided with the through-hole, and thrust bearing passes through the through-hole and connects adjacent spring piece, is provided with resistance strain gauge on the other end lateral wall of spring piece, and the resistance strain gauge on the adjacent spring piece sets up relatively.
5. The utility model provides a wearable indicates that opens angle measurement device within a definite time which characterized in that: comprises a first finger stall (1), a second finger stall (2), a third finger stall (3) and a fourth finger stall (4) which are arranged in sequence, wherein a first spring leaf (5) and a second spring leaf (6) are respectively arranged on the adjacent side walls of the first finger stall (1) and the second finger stall (2), a third spring leaf (7) and a fourth spring leaf (8) are respectively arranged on the adjacent side walls of the second finger stall (2) and the third finger stall (3), a fifth spring leaf (9) and a sixth spring leaf (10) are respectively arranged on the adjacent side walls of the third finger stall (3) and the fourth finger stall (4), the first spring leaf (5) and the second spring leaf (6) are connected through a first thrust bearing, the third spring leaf (7) and the fourth spring leaf (8) are connected through a second thrust bearing, and the fifth spring leaf (9) and the sixth spring leaf (10) are connected through a third thrust bearing, the spring structure is characterized in that a first resistance strain gauge (14) and a second resistance strain gauge (15) are arranged on the first spring piece (5) and the second spring piece (6) respectively, the first resistance strain gauge (14) and the second resistance strain gauge (15) are arranged oppositely, a third resistance strain gauge (16) and a fourth resistance strain gauge (17) are arranged on the third spring piece (7) and the fourth spring piece (8) respectively, the third resistance strain gauge (16) and the fourth resistance strain gauge (17) are arranged oppositely, a fifth resistance strain gauge (18) and a sixth resistance strain gauge (19) are arranged on the fifth spring piece (9) and the sixth spring piece (10) respectively, and the fifth resistance strain gauge (18) and the sixth resistance strain gauge (19) are arranged oppositely.
6. A wearable inter-digital spread angle measurement device according to claim 5, characterized by: the first thrust bearing comprises a first seat ring (20), a first shaft ring (26) and a second seat ring (21) which are sequentially connected through a first rivet (11), the second thrust bearing comprises a third seat ring (22), a second shaft ring (27) and a fourth seat ring (23) which are sequentially connected through a second rivet (12), and the third thrust bearing comprises a fifth seat ring (24), a third shaft ring (28) and a sixth seat ring (25) which are sequentially connected through a third rivet (13).
7. A wearable inter-digital spread angle measurement device according to claim 6, characterized by: the rivet is characterized in that the first rivet (11) sequentially penetrates through a through hole in the first spring piece (5), a first seat ring (20), a first shaft ring (26), a second seat ring (21) and a through hole in the second spring piece (6), the second rivet (12) sequentially penetrates through a through hole in the third spring piece (7), a through hole in the third seat ring (22), a second shaft ring (27), a fourth seat ring (23) and a through hole in the fourth spring piece (8), and the third rivet (13) sequentially penetrates through a through hole in the fifth spring piece (9), a through hole in the fifth seat ring (24), a through hole in the third shaft ring (28), a through hole in the sixth seat ring (25) and a through hole in the sixth spring piece (10).
8. A wearable inter-digital spread angle measurement device according to claim 7, characterized in that: the first spring piece (5) and the second spring piece (6) rotate relatively by taking the first rivet (11) as a shaft, the third spring piece (7) and the fourth spring piece (8) rotate relatively by taking the second rivet (12) as a shaft, and the fifth spring piece (9) and the sixth spring piece (10) rotate relatively by taking the third rivet (13) as a shaft.
9. A wearable inter-digital spread angle measurement device according to claim 6, characterized by: the first shaft ring (26), the second shaft ring (27) and the third shaft ring (28) are all shaft rings with balls.
10. A wearable inter-digital spread angle measurement device according to claim 5, characterized by: a first elastic band (29), a second elastic band (30), a third elastic band (31) and a fourth elastic band (32) are respectively arranged below the first finger stall (1), the second finger stall (2), the third finger stall (3) and the fourth finger stall (4).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911112608.2A CN110888528B (en) | 2019-11-14 | 2019-11-14 | Wearable interphalangeal opening angle measuring device |
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| CN201911112608.2A CN110888528B (en) | 2019-11-14 | 2019-11-14 | Wearable interphalangeal opening angle measuring device |
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| CN110888528A CN110888528A (en) | 2020-03-17 |
| CN110888528B true CN110888528B (en) | 2021-06-15 |
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| CN111984112A (en) * | 2020-04-08 | 2020-11-24 | 海尔（青岛）国际智慧教育网络有限公司 | Gesture recognition device and recognition method |
| CN114081473B (en) * | 2022-01-18 | 2022-04-08 | 东莞市维斯德新材料技术有限公司 | Wearable equipment based on carbon fiber technology |
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