CN111610857A - Gloves with interactive installation is felt to VR body - Google Patents
Gloves with interactive installation is felt to VR body Download PDFInfo
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- CN111610857A CN111610857A CN202010378479.8A CN202010378479A CN111610857A CN 111610857 A CN111610857 A CN 111610857A CN 202010378479 A CN202010378479 A CN 202010378479A CN 111610857 A CN111610857 A CN 111610857A
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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
- 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
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/006—Mixed reality
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Abstract
The invention relates to the technical field of VR (virtual reality), in particular to a glove with a VR body feeling interaction device, which comprises a glove body and the VR body feeling interaction device, wherein the glove body comprises a finger sleeve part, a back part and a wrist part, the VR body feeling interaction device comprises a control module, a sensor module, a vibration module, a wireless module, a display module and a power supply module, the sensor module, the vibration module and the wireless module power supply module are all connected with the control module through wires, the control module is connected with the display module through the wireless module, and the control module, the wireless module and the power supply module are all arranged at the back part of the glove body. The invention takes gloves as wearable input equipment, takes mobile phones, computers, watches, glasses and the like as display output equipment, takes a vibration module and a sound playing module as output equipment for feedback of touch sense, hearing sense and the like and a control module, and the four equipment together form a virtual reality simulation scene with strong interactivity and deep immersion.
Description
Technical Field
The invention relates to the technical field of VR (virtual reality), in particular to a glove with a VR somatosensory interaction device.
Background
Virtual reality technology (VR) is a computer simulation system that can create and experience a virtual world, using a computer to create a simulated environment into which a user is immersed. The virtual reality technology is to combine electronic signals generated by computer technology with data in real life to convert the electronic signals into phenomena which can be felt by people, wherein the phenomena can be true and true objects in reality or substances which can not be seen by the naked eyes, and the phenomena are expressed by a three-dimensional model. These phenomena are called virtual reality because they are not directly visible but a real world simulated by computer technology.
With the rapid development of technology, VR devices for capturing gestures are presented in the market, which are mainly classified into three types: static gesture capture based on data gloves, motion capture based on somatosensory handles, and dynamic gesture tracking based on images. The data gloves are easy to manufacture, comfortable to wear, high in sensitivity, good in real-time performance and the like, so that the data gloves are widely applied to various occasions, such as the fields of sign language recognition, virtual social interaction, virtual teaching and the like. However, this type of glove also presents some drawbacks:
(1) the spatial position of the gesture is limited to a fixed point, is used for static gesture recognition, and is not suitable for dynamic interaction environment, and if the spatial position needs to be changed, a special and expensive position sensor needs to be equipped, so that the cost is high;
(2) the flexible sensor of the traditional data glove has high cost, poor material durability and easy damage;
(3) incomplete gesture analysis and incapability of capturing complete actions of hands;
(4) feedback information in the aspect of touch is lacked, interaction mainly depends on visual display, and experience is poor;
(5) and a relatively perfect secondary development platform is lacked, and the expansibility is poor.
Disclosure of Invention
The invention aims to overcome the defects and provide a glove with a VR somatosensory interaction device.
In order to achieve the purpose, the technical solution of the invention is as follows: the utility model provides a gloves with interactive installation is felt to VR body, feels interactive installation including gloves body, VR body, the gloves body includes finger sleeve portion, back of the hand portion, wrist portion, interactive installation is felt to VR body includes control module, sensor module, vibrations module, wireless module, display module, power module, sensor module, vibrations module, wireless module power module all are connected with control module through the wire, control module passes through wireless module and display module wireless connection, control module, wireless module, power module all set up back of the hand portion or wrist portion at the gloves body.
Preferably, the wrist portion of the glove body is provided with a sleeve extending therefrom, and the sleeve includes a small arm portion and a large arm portion.
Preferably, the sensor modules are a plurality of inertial sensor modules, and the inertial sensor modules are arranged on the finger sleeve part of the glove body.
Preferably, the sensor module is an inertial sensor module, and the inertial sensor module is arranged at the back of the hand or the wrist of the glove body.
Preferably, the sensor modules are a plurality of inertial sensor modules, and the inertial sensor modules are arranged on the small arm part and the large arm part of the sleeve.
Preferably, the inertial sensor module comprises a three-axis accelerometer, a three-axis gyroscope, a three-axis magnetometer, a data filtering sensor and a microprocessor, the three-axis accelerometer, the three-axis gyroscope and the three-axis magnetometer are all connected with the data filtering sensor, the data filtering sensor is connected with the microprocessor, and the microprocessor is connected with the control module.
Preferably, a shell is arranged on the back of the hand of the glove body, the vibration module is arranged in the shell, the vibration device comprises a driving motor, a vibration plate, a first magnet, a second magnet and a third magnet, the driving motor is connected with the control module, one end of the vibration plate is connected with the driving motor, the first magnet is arranged on the vibration plate, the second magnet is arranged at the bottom of the shell and is positioned below the first magnet, the third magnet is arranged at the top of the shell and is positioned above the first magnet, the first magnet respectively generates repulsion with the second magnet and the third magnet, the driving motor is used for driving the vibration plate to move up and down, and when the vibration plate moves up, the first magnet on the vibration plate contacts with the third magnet to generate repulsion so as to enable the vibration plate to move down; when the vibrating plate moves downwards, the first magnet and the second magnet on the vibrating plate are contacted to generate a repulsive action, so that the vibrating plate moves upwards; under the combined action of the driving motor, the first magnet, the second magnet and the third magnet, the vibration plate moves up and down repeatedly in the shell, so that the hands of a user vibrate, the vibration sense in a game is experienced, the reality sense of the game is really experienced, and feedback information in the aspect of touch can be obtained.
Preferably, the vibration module comprises a vibration box arranged in the glove body and a micro vibration motor arranged in the vibration box, and the micro vibration motor is connected with the control module. The vibration box is made of TPU, and the micro vibration motor is arranged in the vibration box, so that the influence of pressure from a person on the micro vibration motor during vibration is reduced, the vibration effect is amplified, and meanwhile, noise sound heard from the outside during vibration is reduced.
Preferably, interactive installation is felt to VR body still includes sound playing module, wireless transmitting module, sound playing module is connected with control module, sound playing module is connected with wireless earphone through wireless transmitting module. The setting of wireless earphone when guaranteeing that the user experiences the feedback information of sense of hearing, still can not cause noise pollution.
Preferably, the display module is one of a mobile phone, a computer, a watch and glasses.
The working principle of the invention is as follows: after a user wears the glove body and the sleeve, the three-axis accelerometer, the three-axis gyroscope and the three-axis magnetometer in the inertial sensors on the glove body and the sleeve collect data according to the motion postures of the fingers and the arms and transmit the collected data to the data filtering sensor, the data filtering sensor performs primary filtering on the received data and transmits the filtered data to the microprocessor, the microprocessor performs further filtering on the received data and transmits the filtered data to the control module, the control module performs data processing and transmits the data to the display module, the sound playing module and the vibration module to perform visual, auditory and tactile feedback, so that the user can experience visual, auditory and tactile scenes, and the immersion degree of the user is greatly improved (the immersion degree refers to the reality degree of the user who feels as a main angle in a simulation environment, the ideal simulation environment can make the user be physically and mentally involved in the three-dimensional virtual environment created by the computer, so that the user is difficult to distinguish true from false, and the interactivity (the interactivity refers to the degree of operability of the user on objects in the simulation environment and the natural degree of feedback from the simulation environment in the virtual reality) is enhanced.
By adopting the technical scheme, the invention has the beneficial effects that:
(1) the invention takes gloves and sleeves as wearable input equipment, takes mobile phones, computers, watches, glasses and the like as display output equipment, takes a vibration module and a sound playing module as output equipment for feedback of touch sense, hearing sense and the like and a control module, and the four equipment together form a virtual reality simulation scene with strong interactivity and deep immersion.
(2) According to the motion rule of fingers and arms of a user, the gloves and the sleeves are provided with the plurality of inertial sensors, so that the hand gesture can be completely analyzed to form a natural and effective input mode, and the gloves are provided with the vibration module and the sound playing module with touch and auditory feedback to form an experience of being personally on the scene, so that the user can be immersed in a virtual environment in a real sense.
(3) The invention has small volume, high wearing comfort, no space limitation, low requirement on user environment and capability of better meeting the input and output conditions of virtual reality.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of embodiment 3 of the present invention;
FIG. 3 is a diagram illustrating the movement of the index finger according to the present invention;
fig. 4 is a layout view of an inertial sensor according to embodiment 1 of the present invention;
fig. 5 is a layout view of an inertial sensor according to embodiment 2 of the present invention;
fig. 6 is a layout view of an inertial sensor according to embodiment 3 of the present invention;
FIG. 7 is a schematic structural diagram of a vibration module according to the present invention;
fig. 8 is a schematic structural diagram of a vibration module in embodiment 2 of the present invention;
FIG. 9 is a schematic diagram of the operation of the present invention;
fig. 10 is a working principle diagram of embodiment 2 of the present invention.
Description of the main reference numerals: (1, glove body; 11, finger sleeve part; 12, hand back part; 13, wrist part; 14, shell; 2, control module; 3, inertial sensor module; 31, three-axis accelerometer; 32, three-axis gyroscope; 33, three-axis magnetometer; 34, data filtering sensor; 4, vibration module; 41, driving motor; 42, vibration plate; 43, first magnet; 44, second magnet; 45, third magnet; 46, vibration box; 47, micro vibration motor; 5, wireless module; 6, display module; 7, power supply module; 8, oversleeve; 81, forearm part; 82, forearm part; 9, sound playing module; 91, wireless transmitting module; 92, wireless earphone; 10, far phalanx; 101, near phalanx; 102, middle phalanx; 103, far phalanx; 104, near phalanx joint; 105, metacarpal joint).
Detailed Description
The invention is further described below with reference to the figures and the specific embodiments.
The directional phrases used in this disclosure include, for example: upper, lower, inner, outer, etc., are referred to in the description only in the direction of fig. 1. Accordingly, the directional terminology used is intended to be illustrative only and is not intended to be limiting of the invention.
Example 1
As shown in fig. 1, interactive installation is felt to gloves with interactive installation is felt to VR, feel interactive installation including gloves body 1, VR body, gloves body 1 includes finger sleeve portion 11, back of the hand 12, wrist portion 13, interactive installation is felt to VR body includes control module 2, sensor module, vibrations module 4, wireless module 5, display module 6, power module 7, sensor module, vibrations module 4, wireless module 5, power module 7 all are connected with control module 2 through the wire, control module 2 passes through wireless module 5 and 6 wireless connection of display module, control module 2, wireless module 5, power module 7 all set up back of the hand 12 or wrist portion 13 at gloves body 1.
The sensor modules are a plurality of inertial sensor modules 3, and the inertial sensor modules 3 are arranged on the finger stall parts 11 of the glove body 1.
The inertial sensor module 3 in this embodiment is set according to the movement characteristics of the fingers, and the movement characteristics of the index finger are described in detail below:
the motion of the index finger involves a metacarpal joint 105, a proximal knuckle 104 and a distal knuckle 103, wherein the metacarpal joint 105 is a root joint of the index finger, the proximal knuckle 104 is a sub-joint, and the distal knuckle 103 is a sub-joint. The proximal phalanx 101 is movable about the metacarpal joint 105, the middle phalanx 102 is movable about the proximal phalanx joint, and the distal phalanx 10 is movable about the distal phalanx joint 103. The motion of the middle phalanx 102 and the distal phalanx 10 around the corresponding joints can be controlled by human consciousness, and the motion belongs to active motion. However, the movement of the distal phalanx 10 around the distal phalanx joint 103 is hardly controlled by human consciousness, and is a non-independent movement. That is, the distal phalanx 10 cannot move independently around the distal phalanx joint 103 without causing movement of the middle phalanx 102 without external force, but movement of the middle phalanx 102 necessarily moves the distal phalanx 10. Therefore, the finger sleeve 11 of the glove body 1 includes three parts, namely a distal phalanx 10, a middle phalanx 102 and a proximal phalanx 101.
According to the motion law of the finger, as shown in fig. 3, there is a certain mathematical relationship between the motion of the distal phalanx 10 and the motion of the middle phalanx 102
That is, in the case of a known motion state of the middle phalanx 102, the motion state of the distal phalanx 10 can be based on the middle fingerThe state of motion of the bone 102.
For the index finger, the inertial sensor module 3 is arranged on the middle phalanx 102 and the near phalanx 101, the posture data of the motion of the near phalanx 101 and the middle phalanx 102 around the respective joints are measured, and then the posture data of the far phalanx 10 is calculated by using the above formula, so that the complete motion state of the index finger is obtained.
For the thumb, generally, only the motion states of the distal phalanx 10 and the proximal phalanx 101 are focused, and therefore, the inertial sensor module 3 is disposed on the distal phalanx 10 and the proximal phalanx 101, respectively.
As shown in fig. 4, therefore, the layout of the inertial sensor module 3 of the hand in the present embodiment is as follows: the inertial sensor modules 3 are respectively arranged on the near phalanx 101 and the middle phalanx 102 of the index finger, the middle finger, the ring finger and the little finger, and the inertial sensor modules 3 are respectively arranged on the far phalanx 10 and the near phalanx 101 of the thumb, so that 10 inertial sensor modules 3 are arranged in total, and the gesture condition of the gesture can be completely calculated by the layout scheme.
The posture of the finger in bending can be calculated from the state quantities measured by the 10 inertial sensor modules 3, and the function performed by the device at this time corresponds to the function of static gesture recognition of a data glove.
As shown in fig. 7, a housing 14 is provided on the back portion 12 of the glove body 1, the vibration module 4 is provided in the housing 14, the vibration device includes a driving motor 41, a vibration plate 42, a first magnet 43, a second magnet 44, and a third magnet 45, the driving motor 41 is connected to the control module 2, one end of the vibration plate 42 is connected to the driving motor 41, the first magnet 43 is provided on the vibration plate 42, the second magnet 44 is provided at the bottom of the housing 14 and is located below the first magnet 43, the third magnet 45 is provided at the top of the housing 14 and is located above the first magnet 43, the first magnet 43 respectively generates repulsion with the second magnet 44 and the third magnet 45, the driving motor 41 is used for driving the vibration plate 42 to move up and down, when the vibration plate 42 moves up, the first magnet 43 on the vibration plate 42 contacts with the third magnet 45 to generate repulsion, the vibration plate 42 is urged to move downwards; when the vibration plate 42 moves downwards, the first magnet 43 on the vibration plate 42 contacts with the second magnet 44 to generate repulsion action, so that the vibration plate 42 moves upwards; under the combined action of the driving motor 41, the first magnet 43, the second magnet 44 and the third magnet 45, the vibration plate 42 repeatedly moves up and down in the shell 14, so that the hands of the user vibrate, the vibration sense in the game is experienced, the reality sense of the game is really experienced, and the feedback information in the aspect of touch sense can be obtained.
Interaction device is felt to VR body still includes sound playback module 9, wireless transmitting module 91, sound playback module 9 is connected with control module 2, sound playback module 9 is connected with wireless earphone 92 through wireless transmitting module 91. The wireless earphone 92 is arranged, so that the user can not cause noise pollution while the user can experience auditory feedback information.
The display module 6 is one of a mobile phone, a computer, a watch and glasses.
As shown in fig. 9, the working principle of the present embodiment is as follows: after a user wears the glove body 1, by bending fingers and the like, the three-axis accelerometer 31, the three-axis gyroscope 32 and the three-axis magnetometer 33 in the 10 inertial sensor modules 3 of the finger sleeve part 11 on the glove body 1 collect data according to the motion gestures of the fingers and transmit the collected data to the data filtering sensor 34, the data filtering sensor 34 performs preliminary filtering on the received data and transmits the data to the microprocessor 35, the microprocessor 35 performs further filtering on the received data and transmits the data to the control module 2, the control module 2 performs data processing and transmits the data to the display module 6, the sound playing module 9 and the vibration module 4 to perform visual, auditory and tactile feedback, namely, the user can experience visual, auditory and tactile scenes, and the immersion degree of the user is greatly improved (the immersion degree refers to the degree that the user feels to exist in a simulated environment as a main angle, the ideal simulation environment can make the user be physically and mentally involved in the three-dimensional virtual environment created by the computer, so that the user is difficult to distinguish true from false, and the interactivity (the interactivity refers to the degree of operability of the user on objects in the simulation environment and the natural degree of feedback from the simulation environment in the virtual reality) is enhanced.
Example 2
As shown in fig. 1, interactive installation is felt to gloves with interactive installation is felt to VR, feel interactive installation including gloves body 1, VR body, gloves body 1 includes finger sleeve portion 11, back of the hand 12, wrist portion 13, interactive installation is felt to VR body includes control module 2, sensor module, vibrations module 4, wireless module 5, display module 6, power module 7, sensor module, vibrations module 4, wireless module 5, power module 7 all are connected with control module 2 through the wire, control module 2 passes through wireless module 5 and 6 wireless connection of display module, control module 2, wireless module 5, power module 7 all set up back of the hand 12 or wrist portion 13 at gloves body 1.
The sensor modules are a plurality of inertial sensor modules 3, and the inertial sensor modules 3 are arranged on the finger stall parts 11 of the glove body 1.
The sensor module is an inertial sensor module 3, and the inertial sensor module 3 is arranged at the back of the hand 12 or the wrist 13 of the glove body 1.
The inertial sensor module 3 in this embodiment is set according to the movement characteristics of the fingers, and the movement characteristics of the index finger are described in detail below:
the motion of the index finger involves a metacarpal joint 105, a proximal knuckle 104 and a distal knuckle 103, wherein the metacarpal joint 105 is a root joint of the index finger, the proximal knuckle 102 is a sub-joint, and the distal knuckle 103 is a sub-joint. The proximal phalanx 101 is movable about the ball joint 105, the middle phalanx 102 is movable about the proximal phalanx joint 104, and the distal phalanx 10 is movable about the distal phalanx joint 103. The motion of the middle phalanx 102 and the distal phalanx 10 around the corresponding joints can be controlled by human consciousness, and the motion belongs to active motion. However, the movement of the distal phalanx 10 around the distal phalanx joint 103 is hardly controlled by human consciousness, and is a non-independent movement. That is, the distal phalanx 10 cannot move independently around the distal phalanx joint 103 without causing movement of the middle phalanx 102, but movement of the middle phalanx 101 necessarily moves the distal phalanx 10. Therefore, the finger sleeve 11 of the glove body 1 includes three parts, namely a distal phalanx 10, a middle phalanx 102 and a proximal phalanx 101.
According to the motion law of the finger, as shown in fig. 3, there is a certain mathematical relationship between the motion of the distal phalanx 10 and the motion of the middle phalanx 102
That is, in the case where the motion state of the middle phalange 102 is known, the motion state of the distal phalange 10 can be calculated from the motion state of the middle phalange 102.
For the index finger, the inertial sensor module 3 is arranged on the middle phalanx 102 and the near phalanx 101, the posture data of the motion of the near phalanx 101 and the middle phalanx 102 around the respective joints are measured, and then the posture data of the far phalanx is calculated by using the formula, so that the complete motion state of the index finger is obtained.
For the thumb, generally, only the motion states of the distal phalanx 10 and the proximal phalanx 101 are focused, and therefore, the inertial sensor module 3 is disposed on the distal phalanx 10 and the proximal phalanx 101, respectively. The root of the palm is a wrist joint, and the motion state of the palm relative to the wrist joint needs to be measured by installing the inertial sensor module 3 on the back 12 or the wrist 13 of the hand.
As shown in fig. 5, therefore, the layout of the inertial sensor module 3 of the hand in the present embodiment is as follows: the layout scheme can completely calculate the gesture condition of the gesture by arranging one inertial sensor module 3 on the near phalanx 101 and the middle phalanx 102 of the index finger, the middle finger, the ring finger and the little finger respectively, arranging one inertial sensor module 3 on the far phalanx 10 and the near phalanx 101 of the thumb respectively, and arranging one inertial sensor module 3 on the back 12 or the wrist 13 of the hand, wherein 11 inertial sensor modules 3 are used in total.
The bending posture of the fingers and the spatial overturning posture of the palm can be calculated according to the state quantities measured by the 11 inertial sensor modules 3, and the function finished by the device at this moment is equivalent to the static gesture recognition function of the data glove.
As shown in fig. 8, the vibration module 4 includes a vibration box 46 disposed in the glove body 1, and a micro vibration motor 47 disposed in the vibration box 46, and the micro vibration motor 47 is connected to the control module 2. The vibration box 46 is made of TPU, and the micro vibration motor 47 is installed in the vibration box 46, so that the micro vibration motor 47 is less affected by pressure from a person when being vibrated, the vibration effect is amplified, and noise sound heard from the outside when being vibrated is reduced.
Interaction device is felt to VR body still includes sound playback module 9, wireless transmitting module 91, sound playback module 9 is connected with control module 2, sound playback module 9 is connected with wireless earphone 92 through wireless transmitting module 91. The wireless earphone 92 is arranged, so that the user can not cause noise pollution while the user can experience auditory feedback information.
The display module 6 is one of a mobile phone, a computer, a watch and glasses.
As shown in fig. 10, the working principle of the present embodiment is as follows: after a user wears the glove body 1, the three-axis accelerometer 31, the three-axis gyroscope 32 and the three-axis magnetometer 33 in the 11 inertial sensor modules 3 on the glove body 1 collect data according to the motion postures of the fingers and the palm and transmit the collected data to the data filtering sensor 34, the data filtering sensor 34 performs preliminary filtering on the received data and transmits the filtered data to the microprocessor 35, the microprocessor 35 performs further filtering on the received data and transmits the filtered data to the control module 2, the control module 2 performs data processing and transmits the data to the display module 6, the sound playing module 9 and the vibration module 4 to perform visual, auditory and tactile feedback, namely, the user can experience visual, auditory and tactile scenes, and the immersion degree of the user is greatly improved (the immersion degree refers to the degree that the user feels that the real degree exists in a simulation environment as a main angle, the ideal simulation environment can make the user be physically and mentally involved in the three-dimensional virtual environment created by the computer, so that the user is difficult to distinguish true from false, and the interactivity (the interactivity refers to the degree of operability of the user on objects in the simulation environment and the natural degree of feedback from the simulation environment in the virtual reality) is enhanced.
Example 3
As shown in fig. 1-2, interactive installation is felt to gloves with interactive installation is felt to VR, feel interactive installation including gloves body 1, VR body, gloves body 1 includes finger sleeve portion 11, dorsum manus portion 12, wrist portion 13, interactive installation is felt to VR body includes control module 2, sensor module, vibrations module 4, wireless module 5, display module 6, power module 7, sensor module, vibrations module 4, wireless module 5, power module 7 all are connected with control module 2 through the wire, control module 2 passes through wireless module 5 and display module 62 wireless connection, control module 2, wireless module 5, power module 7 all set up dorsum manus portion 12 or wrist portion 13 at gloves body 1.
The wrist portion 13 of the glove body 1 is provided with a sleeve 8 in an extending manner, and the sleeve 8 includes a small arm portion 81 and a large arm portion 82.
The sensor modules are a plurality of inertial sensor modules 3, and the inertial sensor modules 3 are arranged on the finger stall parts 11 of the glove body 1.
The sensor module is an inertial sensor module 3, and the inertial sensor module 3 is arranged at the back of the hand 12 or the wrist 13 of the glove body 1.
The sensor modules are a plurality of inertial sensor modules 3, and the inertial sensor modules 3 are provided on the small arm portion 81 and the large arm portion 82 of the cuff 8.
The inertial sensor module 3 in this embodiment is set according to the movement characteristics of the fingers, and the movement characteristics of the index finger are described in detail below:
the motion of the index finger involves a metacarpal joint 105, a proximal knuckle 104 and a distal knuckle 103, wherein the metacarpal joint 105 is a root joint of the index finger, the proximal knuckle 104 is a sub-joint, and the distal knuckle 103 is a sub-joint. The proximal phalanx 101 is movable about the ball joint 105, the middle phalanx 102 is movable about the proximal phalanx joint 104, and the distal phalanx 10 is movable about the distal phalanx joint 103. The motion of the middle phalanx 102 and the distal phalanx 10 around the corresponding joints can be controlled by human consciousness, and the motion belongs to active motion. However, the movement of the distal phalanx 10 around the distal phalanx joint 103 is hardly controlled by human consciousness, and is a non-independent movement. That is, the distal phalanx 10 cannot move independently around the distal phalanx joint 103 without causing movement of the middle phalanx 102 without external force, but movement of the middle phalanx 102 necessarily moves the distal phalanx 10. Therefore, the finger sleeve 11 of the glove body 1 includes three parts, namely a distal phalanx 10, a middle phalanx 102 and a proximal phalanx 101.
According to the motion law of the finger, as shown in fig. 3, there is a certain mathematical relationship between the motion of the distal phalanx 10 and the motion of the middle phalanx 102
That is, in the case where the motion state of the middle phalange 102 is known, the motion state of the distal phalange 10 can be calculated from the motion state of the middle phalange 102.
For the index finger, the inertial sensor module 3 is arranged on the middle phalanx 102 and the near phalanx 101, the posture data of the motion of the near phalanx 101 and the middle phalanx 102 around the respective joints are measured, and then the posture data of the far phalanx 10 is calculated by using the above formula, so that the complete motion state of the index finger is obtained.
For the thumb, generally, only the motion states of the distal phalanx 10 and the proximal phalanx 101 are focused, and therefore, the inertial sensor module 3 is disposed on the distal phalanx 10 and the proximal phalanx 101, respectively. The root of the palm is a wrist joint, and the motion state of the palm relative to the wrist joint needs to be measured by installing the inertial sensor module 3 on the back 12 or the wrist 13 of the hand.
As shown in fig. 6, therefore, the layout of the inertial sensor module 3 of the hand in the present embodiment is as follows: the layout scheme can completely calculate the gesture condition of the gesture by arranging one inertial sensor module 3 on the near phalanx 101 and the middle phalanx 102 of the index finger, the middle finger, the ring finger and the little finger respectively, arranging one inertial sensor module 3 on the far phalanx 10 and the near phalanx 101 of the thumb respectively, and arranging one inertial sensor module 3 on the back 12 or the wrist 13 of the hand, wherein 11 inertial sensor modules 3 are used in total.
In addition, in human body movement, the extending ends of the hand movement are the lower arm, the upper arm, the shoulder and the trunk in sequence, and the hand movement is driven to pass through three steps, namely the upper arm moves around the shoulder joint, the lower arm moves around the elbow joint and the hand moves around the wrist joint. Without considering the limitation of the angle of the human joint, the motion range of the human hand in the space can be approximately regarded as a spherical space with the shoulder joint as the origin and the arm length as the radius. Therefore, in combination with the real movement characteristics of human hands, the inertial sensor modules 3 are also arranged on the large arm part 81 and the small arm part 82 to acquire the movement states of the large arm and the small arm, and the shoulder joints are used as the initial positions of motion capture, so that a virtual hand driving mode capable of changing the spatial position is provided. At this time, the gesture controller includes 13 inertial sensor modules 3 in total.
According to the state quantities measured by the 13 inertial sensor modules 3, the bending posture of the fingers, the space overturning posture of the palms and the motion posture of the whole arms can be calculated, and at the moment, the function finished by the device is a static gesture and dynamic gesture recognition function, so that the function of virtual interaction is realized.
As shown in fig. 7, a housing 14 is provided on the back portion 12 of the glove body 1, the vibration module 4 is provided in the housing 14, the vibration device 4 includes a driving motor 41, a vibration plate 42, a first magnet 43, a second magnet 44, and a third magnet 45, the driving motor 41 is connected to the control module 2, one end of the vibration plate 42 is connected to the driving motor 41, the first magnet 43 is provided on the vibration plate 42, the second magnet 44 is provided at the bottom of the housing 14 and is located below the first magnet 43, the third magnet 45 is provided at the top of the housing 14 and is located above the first magnet 43, the first magnet 43 respectively generates repulsion with the second magnet 44 and the third magnet 45, the driving motor 41 is used for driving the vibration plate 42 to move up and down, when the vibration plate 42 moves up, the first magnet 43 on the vibration plate 42 contacts with the third magnet 45 to generate repulsion, the vibration plate 42 is urged to move downwards; when the vibration plate 42 moves downwards, the first magnet 43 on the vibration plate 42 contacts with the second magnet 44 to generate repulsion action, so that the vibration plate 42 moves upwards; under the combined action of the driving motor 41, the first magnet 43, the second magnet 44 and the third magnet 45, the vibration plate 42 repeatedly moves up and down in the shell 14, so that the hands of the user vibrate, the vibration sense in the game is experienced, the reality sense of the game is really experienced, and the feedback information in the aspect of touch sense can be obtained.
Interaction device is felt to VR body still includes sound playback module 9, wireless transmitting module 91, sound playback module 9 is connected with control module 2, sound playback module 9 is connected with wireless earphone 92 through wireless transmitting module 91. The wireless earphone 92 is arranged, so that the user can not cause noise pollution while the user can experience auditory feedback information.
The display module 6 is one of a mobile phone, a computer, a watch and glasses.
As shown in fig. 9, the working principle of the present embodiment is as follows: after a user wears the glove body 1 and the sleeve 8, the three-axis accelerometer 31, the three-axis gyroscope 32 and the three-axis magnetometer 33 in the 13 inertial sensor modules 3 on the glove body 1 and the sleeve 8 collect data according to the motion postures of the fingers, the palm and the arms and transmit the collected data to the data filtering sensor 34, the data filtering sensor 34 primarily filters the received data and transmits the filtered data to the microprocessor 35, the microprocessor 35 further filters the received data and transmits the filtered data to the control module 2, the control module 2 transmits the data to the display module 6, the sound playing module 9 and the vibration module 4 for visual, auditory and tactile feedback after data processing, namely, the user can experience visual, auditory and tactile scenes, the immersion degree of the user is greatly improved (the immersion degree refers to the reality degree which the user feels to exist in the simulation environment as a main character, the ideal simulation environment can enable the user to be put into a three-dimensional virtual environment created by a computer in a whole body and mind mode, and the user is difficult to distinguish true from false), and the interactivity (the interactivity refers to the operability degree of the user on objects in the simulation environment and the natural degree of feedback from the simulation environment in the virtual reality mode).
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the scope of the present invention, and all equivalent variations and modifications made in the claims of the present invention should be included in the scope of the present invention.
Claims (10)
1. The utility model provides a gloves with interactive installation is felt to VR body which characterized in that: including gloves body, VR body feeling interaction device, the gloves body includes finger sleeve portion, back of the hand portion, wrist portion, VR body feeling interaction device includes control module, sensor module, vibrations module, wireless module, display module, power module, sensor module, vibrations module, wireless module power module all are connected with control module through the wire, control module passes through wireless module and display module wireless connection, control module, wireless module, power module all set up back of the hand portion or the wrist portion at the gloves body.
2. The glove with the VR somatosensory interaction device according to claim 1, wherein: the wrist part of the glove body is provided with a sleeve in an extending mode, and the sleeve comprises a small arm part and a large arm part.
3. The glove with the VR somatosensory interaction device according to claim 1, wherein: the sensor modules are a plurality of inertial sensor modules, and the inertial sensor modules are arranged on the finger sleeve part of the glove body.
4. The glove with the VR somatosensory interaction device according to claim 1, wherein: the sensor module is an inertial sensor module, and the inertial sensor module is arranged at the back of the hand or the wrist of the glove body.
5. The glove with the VR somatosensory interaction device according to claim 2, wherein: the sensor modules are a plurality of inertial sensor modules, and the inertial sensor modules are arranged on the small arm part and the large arm part of the oversleeve.
6. The glove with the VR somatosensory interaction device according to any one of claims 3-5, wherein: the inertial sensor module comprises a three-axis accelerometer, a three-axis gyroscope, a three-axis magnetometer, a data filtering sensor and a microprocessor, wherein the three-axis accelerometer, the three-axis gyroscope and the three-axis magnetometer are all connected with the data filtering sensor, the data filtering sensor is connected with the microprocessor, and the microprocessor is connected with the control module.
7. The glove with the VR somatosensory interaction device according to claim 1, wherein: the gloves are characterized in that a shell is arranged on the back of the hand of the glove body, the vibration module is arranged in the shell, the vibration device comprises a driving motor, a vibration plate, a first magnet, a second magnet and a third magnet, the driving motor is connected with the control module, one end of the vibration plate is connected with the driving motor, the first magnet is arranged on the vibration plate, the second magnet is arranged at the bottom of the shell and below the first magnet, the third magnet is arranged at the top of the shell and above the first magnet, and the first magnet generates repulsion action with the second magnet and the third magnet respectively.
8. The glove with the VR somatosensory interaction device according to claim 1, wherein: the vibration module comprises a vibration box arranged in the glove body and a micro vibration motor arranged in the vibration box, and the micro vibration motor is connected with the control module.
9. The glove with the VR somatosensory interaction device according to claim 1, wherein: interaction device is felt to VR body still includes sound play module, wireless transmitting module, sound play module is connected with control module, sound play module is connected with wireless earphone through wireless transmitting module.
10. The glove with the VR somatosensory interaction device according to claim 1, wherein: the display module is one of a mobile phone, a computer, a watch and glasses.
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| CN202010378479.8A CN111610857A (en) | 2020-05-07 | 2020-05-07 | Gloves with interactive installation is felt to VR body |
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| CN202010378479.8A CN111610857A (en) | 2020-05-07 | 2020-05-07 | Gloves with interactive installation is felt to VR body |
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