CN210776590U - Stretchable flexible attached hand fine motion capture device - Google Patents
Stretchable flexible attached hand fine motion capture device Download PDFInfo
- Publication number
- CN210776590U CN210776590U CN201922232221.2U CN201922232221U CN210776590U CN 210776590 U CN210776590 U CN 210776590U CN 201922232221 U CN201922232221 U CN 201922232221U CN 210776590 U CN210776590 U CN 210776590U
- Authority
- CN
- China
- Prior art keywords
- flexible
- axis attitude
- finger
- main control
- attitude sensor
- 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
Images
Landscapes
- Position Input By Displaying (AREA)
Abstract
The utility model discloses a flexible attached formula hand meticulous motion trapping apparatus can stretch. The device comprises a nine-axis attitude sensor and a main control board, wherein the main control board is integrated on a flexible main control circuit board, and the flexible main control circuit board is attached to the back of a hand; five finger branches and one wrist branch corresponding to the five fingers and the wrist direction are respectively extended from the flexible main control circuit board; nine-axis attitude sensors II and III are respectively arranged at the proximal joints and the middle joints of the branches of the index finger, the middle finger, the ring finger and the little finger, and nine-axis attitude sensors II and III are respectively arranged at the proximal joints and the distal joints of the branches of the big finger; the wrist branches are attached to the wrist parts, and nine-axis attitude sensors IV are arranged at wrist joints of the wrist branches; the nine-axis attitude sensor IV is integrated on the flexible branch circuit board; the whole device is encapsulated by flexible insulating latex. The utility model discloses can attach in the staff and carry out the gesture data of each joint of real-time accurate detection hand.
Description
Technical Field
The utility model belongs to the technical field of electronic information, concretely relates to attached formula hand meticulous action trapping apparatus of can stretching.
Background
The human hand is the most flexible organ of the human body and plays a very important role in the daily life of the human. The human hand can easily complete a series of fine actions of grabbing, holding pens, typing, holding chopsticks and the like. Therefore, the influence of human hands on the daily life of people is large, and the research on the fine movement of the hands has very important significance in many fields. For example, in the field of sports, badminton and table tennis have high demands on hand movements. When a player plays a ball to generate force, the hand usually has a delicate motion which is difficult to observe, and in order to better study the force generation condition of the hand of the player and optimize the motion technology structure, a motion capture system with higher precision is needed to restore the delicate motion of the hand of the player. In the field of medical rehabilitation, some stroke patients are usually accompanied by hand dysfunction, and a rehabilitation therapist can perform specific rehabilitation treatment on the patients according to different disease conditions. The method for evaluating the rehabilitation effect of hand functions is to measure the joint activity of hands. Therefore, the evaluation of the rehabilitation effect can be performed quickly and conveniently using the hand motion capture system. In the military field, a virtual reality system is usually used for carrying out simulated actual combat training on soldiers, so that the hand motions of the soldiers need to be recognized, and the soldiers can be mapped into a virtual reality scene in real time to realize good human-computer interaction. The hand motion capture system also has certain application value in the field.
At present, there are two methods, contact and noncontact, mainly for fine motion capture of a human hand. Among them, the non-contact method usually uses the computer image capture method, which has the advantage of being able to perform real-time gesture recognition and joint angle measurement without affecting the human hand activity, but this method usually has high requirements on the environment, and once it is interfered by the environment, for example, the image is blocked, gesture recognition or fine motion measurement is not accurate. In order to overcome this problem, it is currently popular to use a contact-type hand motion capture method, and it is generally necessary for a subject to wear a motion capture device, and such a device is generally designed in a glove shape, and various sensors are mounted on the glove, and by wearing such a data glove, motion capture of a human hand is performed. Therefore, optical fiber sensors, curvature sensors, hall sensors, magnetometers, and inertial sensors are generally mounted on data gloves, and the curvature sensors are most widely used. The curvature sensor has the advantages of being simple in structure, convenient to assemble and capable of being rapidly deployed in data gloves, but the precision is misaligned after the data gloves are bent for many times, the curvature sensor cannot be used for precise measurement of fine movement, and angle information of only one degree of freedom can be measured. The inertial sensor can measure the motion attitude of an object, has high response rate and good reliability, can measure the angle information of a plurality of degrees of freedom of the object, and is applied to various data glove products by domestic and foreign manufacturers based on the advantages of the inertial sensor. However, the conventional data gloves have more defects in hand motion capture, such as: when a human hand grasps or touches an object, friction force is generated, and the hand part touch is misaligned after the data glove is worn, so that the hand information measurement is not accurate. In addition, when the data glove is used for fine motion capture of a human hand, sliding friction is also generated between the glove and the skin of the human hand, which causes the sensor unit for measurement to be displaced, so that the final fine motion capture is not accurate.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem in the background art, the utility model provides a portable, high accuracy, the attached formula hand meticulous action trapping apparatus of flexible of stretching, various gesture data of each joint of hand when the meticulous action is being done to the detectable staff.
The utility model adopts the technical scheme as follows:
the utility model discloses a nine attitude sensor and main control board, nine attitude sensor include nine attitude sensor I, nine attitude sensor II, nine attitude sensor III and nine attitude sensor IV, and the main control board includes main control chip and the nine attitude sensor I that link to each other with main control chip, and the main control board is integrated on flexible main control circuit board, and flexible main control circuit board is attached in the back of the hand.
Five finger branches and one wrist branch corresponding to the five fingers and the wrist direction are respectively extended from the flexible main control circuit board; the five finger branches are respectively attached to the index finger branch, the middle finger branch, the ring finger branch, the little finger branch and the thumb branch of an index finger, a middle finger, a ring finger and a thumb, the proximal joint and the middle joint of the index finger, the middle finger, the ring finger and the little finger branch are respectively provided with a nine-axis attitude sensor II and a nine-axis attitude sensor III, and the proximal joint and the distal joint of the thumb branch are respectively provided with a nine-axis attitude sensor II and a nine-axis attitude sensor III; the wrist branches are attached to the wrist parts, and nine-axis attitude sensors IV are arranged at the wrist joints of the wrist branches.
The nine-axis attitude sensor II, the nine-axis attitude sensor III and the nine-axis attitude sensor IV are integrated on the flexible branch circuit board, the flexible branch circuit boards of the nine-axis attitude sensor II and the nine-axis attitude sensor III are connected in parallel through a serpentine wire, and the flexible branch circuit boards of the nine-axis attitude sensor II and the nine-axis attitude sensor IV are connected with the flexible main control circuit board through the serpentine wire.
The flexible main control circuit board, the flexible branch circuit board and the meandering lead are all encapsulated by flexible insulating latex.
The nine-axis attitude sensor II and the nine-axis attitude sensor III of each finger branch form a measuring unit for measuring the attitude data of the first interphalangeal joint of each finger, the nine-axis attitude sensor I respectively forms a measuring unit with each nine-axis attitude sensor II for measuring the attitude data of the metacarpophalangeal joint of each finger, and the nine-axis attitude sensor IV and the nine-axis attitude sensor I form a measuring unit for measuring the attitude data of the wrist joint.
The attitude data includes euler angles, accelerations, angular velocities, and geomagnetic angles of the respective joints.
The main control board further comprises a WiFi radio frequency unit, and the main control chip transmits attitude data acquired by all the nine-axis attitude sensors to the upper computer through the WiFi radio frequency unit.
The whole device is packaged by flexible insulating latex and has the bending and extending properties.
When the hand joints are bent, the flexible insulating latex and the serpentine wire are malleable, so that the flexible insulating latex can be tightly attached to the skin surface without redundancy or wrinkles.
The winding wire adopts double-row wires or single-row wires, and each row of wires is arranged in a winding shape.
The smooth surface of the flexible insulating latex is adhered with a viscous material, and the flexible main control circuit board, the flexible branch circuit board and the meandering lead are attached to the skin surfaces of the back, fingers and wrist of a person through the flexible insulating latex without falling off.
The utility model has the advantages that:
1. the flexible insulating latex and the meandering lead adopted by the utility model both have stretching extensibility, so the system can not break and can be adapted to hands with different sizes and shapes; when the hand joints are bent, the hand joint can be tightly attached to the surface of the skin without redundancy or wrinkles, and the measurement accuracy is improved.
2. The utility model discloses attached in people's back, the sense of touch that can not lead to the hand is misaligned, has avoided wearing traditional data gloves simultaneously to lead to the problem that measuring sensor unit takes place to shift, can detect the gesture data of each joint of hand when doing meticulous action of staff.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of a single-row serpentine wire connection according to the present invention.
In the figure: the flexible electronic control unit comprises a main control board (1), a flexible main control circuit board (2), a nine-axis attitude sensor III (3), a flexible branch circuit board (4), a meandering lead (5), flexible insulating latex (6), a nine-axis attitude sensor II (7), a nine-axis attitude sensor I (8), a nine-axis attitude sensor IV (9) and a single-row meandering lead structure (10).
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the stretchable flexible attachable hand fine motion capture device of the present invention is composed of 12 nine-axis attitude sensors and a main control board 1. Each nine-axis attitude sensor is connected with the main control board 1 through a winding lead 5 and is packaged by flexible insulating emulsion 6. The main control panel 1 comprises a main control chip, a WiFi radio frequency unit and a nine-axis attitude sensor. The 12 nine-axis attitude sensors consist of five nine-axis attitude sensors III 3 positioned at the middle joint part of the fingers, five nine-axis attitude sensors II 7 positioned at the proximal joint part of the fingers, a nine-axis attitude sensor I8 integrated on the main control board 1 and a nine-axis attitude sensor IV 9 positioned at the wrist joint.
Nine-axis attitude sensors II 7 and nine-axis attitude sensors III 3 are respectively arranged at the proximal joints and the middle joints of the branches of the index finger, the middle finger, the ring finger and the little finger, nine-axis attitude sensors II 7 and nine-axis attitude sensors III 3 are respectively arranged at the proximal joints and the distal joints of the branches of the big finger, and the nine-axis attitude sensors III 3 and the nine-axis attitude sensors II 7 are connected by adopting a winding lead 5. The nine-axis attitude sensor II 7 and the nine-axis attitude sensor IV 9 are connected with the main control flexible circuit board 1 by adopting a winding lead 5.
All the nine-axis attitude sensors, the meandering lead 5, the main control board 1, the flexible main control circuit board 2 and the flexible branch circuit board 4 are packaged by adopting flexible insulating emulsion 6. After the adhesive material is adhered to the smooth surface, the flexible insulating latex 6 can be directly attached to the surface of the skin of a human body without falling off or position change.
The meandering wire 5 has a double-row symmetrical structure, and the meandering wire 5 of the double-row structure may be replaced with a single-row meandering wire structure 10 as shown in fig. 2.
The specific implementation method comprises the following steps:
a user attaches double faced adhesive tape on the smooth surface of the flexible insulating latex 6 and attaches the utility model on the right position of the hand, namely, the corresponding nine-axis attitude sensor is fixed at the near joint, the middle joint and the near wrist position of the upper arm of each finger; and the power supply is turned on, the user moves hands, and the main control chip transmits the acquired attitude data of all the nine-axis attitude sensors to the upper computer through the WiFi radio frequency unit.
Two nine-axis attitude sensors on each finger form a measuring unit, and attitude data of a first interphalangeal joint of each finger is measured; a measuring unit is formed between the nine-axis attitude sensor II 7 and the nine-axis attitude sensor I8, and attitude data of each finger metacarpophalangeal joint is measured; a measuring unit is formed between the nine-axis attitude sensor IV 9 and the nine-axis attitude sensor I8, and attitude data of the wrist joint is obtained through measurement; thereby completing the gesture data acquisition of the hand motion.
Claims (6)
1. The utility model provides a fine motion capture device of attached formula hand of can stretching which characterized in that: the flexible electronic scale comprises nine-axis attitude sensors and a main control board (1), wherein the nine-axis attitude sensors comprise a nine-axis attitude sensor I (8), a nine-axis attitude sensor II (7), a nine-axis attitude sensor III (3) and a nine-axis attitude sensor IV (9), the main control board comprises a main control chip and the nine-axis attitude sensor I (8) connected with the main control chip, the main control board (1) is integrated on a flexible main control circuit board (2), and the flexible main control circuit board (2) is attached to the back of a hand;
five finger branches and one wrist branch corresponding to the five fingers and the wrist direction respectively extend out of the flexible main control circuit board (2); the five finger branches are respectively attached to the index finger branch, the middle finger branch, the ring finger branch, the little finger branch and the thumb branch of an index finger, a middle finger, a ring finger, a little finger and a thumb, the proximal joint and the middle joint of the index finger, the middle finger, the ring finger and the little finger branch are respectively provided with a nine-axis posture sensor II (7) and a nine-axis posture sensor III (3), and the proximal joint and the distal joint of the thumb branch are respectively provided with a nine-axis posture sensor II (7) and a nine-axis posture sensor III (3); the wrist branches are attached to the wrist parts, and nine-axis attitude sensors IV (9) are arranged at the wrist joints of the wrist branches;
the nine-axis attitude sensor II (7), the nine-axis attitude sensor III (3) and the nine-axis attitude sensor IV (9) are integrated on the flexible branch circuit board (4), the nine-axis attitude sensor II (7) and the flexible branch circuit board (4) of the nine-axis attitude sensor III (3) are connected in parallel through a meandering lead, and the nine-axis attitude sensor II (7) and the flexible branch circuit board (4) of the nine-axis attitude sensor IV (9) are connected with the flexible main control circuit board (2) through a meandering lead;
the flexible main control circuit board (2), the flexible branch circuit board (4) and the meandering lead are all encapsulated by flexible insulating latex (6).
2. A stretchable flexible cling-type hand fine motion capture device as claimed in claim 1, wherein: a measurement unit consisting of a nine-axis attitude sensor II (7) and a nine-axis attitude sensor III (3) of each finger branch is used for measuring attitude data of a first interphalangeal joint of each finger, a measurement unit consisting of the nine-axis attitude sensor I (8) and each nine-axis attitude sensor II (7) is used for measuring attitude data of a metacarpophalangeal joint of each finger, and a measurement unit consisting of a nine-axis attitude sensor IV (9) and a nine-axis attitude sensor I (8) is used for measuring attitude data of a wrist joint.
3. A stretchable flexible cling-type hand fine motion capture device as claimed in claim 2, wherein: the main control board further comprises a WiFi radio frequency unit, and the main control chip transmits attitude data acquired by all the nine-axis attitude sensors to the upper computer through the WiFi radio frequency unit.
4. A stretchable flexible cling-type hand fine motion capture device as claimed in claim 1, wherein: the whole device is packaged by flexible insulating latex (6) and has the bending and extending properties.
5. A stretchable flexible cling-type hand fine motion capture device as claimed in claim 1, wherein: the meandering wire (5) adopts a double-row wire or a single-row wire, and each row of wires is arranged in a meandering shape.
6. A stretchable flexible cling-type hand fine motion capture device as claimed in claim 1, wherein: the smooth surface of the flexible insulating latex (6) is adhered with a viscous material, and the flexible main control circuit board (2), the flexible branch circuit board (4) and the meandering lead are attached to the skin surfaces of the back, the finger and the wrist of a person through the flexible insulating latex (6) without falling off.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922232221.2U CN210776590U (en) | 2019-12-13 | 2019-12-13 | Stretchable flexible attached hand fine motion capture device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922232221.2U CN210776590U (en) | 2019-12-13 | 2019-12-13 | Stretchable flexible attached hand fine motion capture device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210776590U true CN210776590U (en) | 2020-06-16 |
Family
ID=71047754
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922232221.2U Active CN210776590U (en) | 2019-12-13 | 2019-12-13 | Stretchable flexible attached hand fine motion capture device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210776590U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112589818A (en) * | 2020-11-02 | 2021-04-02 | 中南大学 | Manipulator sensor |
| CN112589819A (en) * | 2020-11-02 | 2021-04-02 | 中南大学 | Manipulator sensor |
| CN113157087A (en) * | 2021-02-19 | 2021-07-23 | 浙江大学 | Finger pressure and gesture bimodal flexible sensing system |
| CN113291080A (en) * | 2021-04-13 | 2021-08-24 | 刘子民 | Method for correcting pen holding posture and wearable device |
-
2019
- 2019-12-13 CN CN201922232221.2U patent/CN210776590U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112589818A (en) * | 2020-11-02 | 2021-04-02 | 中南大学 | Manipulator sensor |
| CN112589819A (en) * | 2020-11-02 | 2021-04-02 | 中南大学 | Manipulator sensor |
| CN112589819B (en) * | 2020-11-02 | 2021-11-16 | 中南大学 | Manipulator sensor |
| CN112589818B (en) * | 2020-11-02 | 2022-02-25 | 中南大学 | Manipulator sensor |
| CN113157087A (en) * | 2021-02-19 | 2021-07-23 | 浙江大学 | Finger pressure and gesture bimodal flexible sensing system |
| CN113291080A (en) * | 2021-04-13 | 2021-08-24 | 刘子民 | Method for correcting pen holding posture and wearable device |
| CN113291080B (en) * | 2021-04-13 | 2022-09-09 | 刘子民 | Method for correcting pen holding posture and wearable device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210776590U (en) | Stretchable flexible attached hand fine motion capture device | |
| US10716510B2 (en) | Smart clothing with converging/diverging bend or stretch sensors for measuring body motion or configuration | |
| US20210217246A1 (en) | Wearable electronic devices and extended reality systems including neuromuscular sensors | |
| US10234934B2 (en) | Sensor array spanning multiple radial quadrants to measure body joint movement | |
| US9582072B2 (en) | Motion recognition clothing [TM] with flexible electromagnetic, light, or sonic energy pathways | |
| JP2019526295A (en) | Method and program product for articulated tracking combining an embedded sensor and an external sensor | |
| CN103692454B (en) | Exoskeleton wearable data glove | |
| CN101522101A (en) | Limb movement monitoring system | |
| CN104856707A (en) | Pressure sensing data glove based on machine vision and gripping process judgment method thereof | |
| Shigapov et al. | Design of digital gloves with feedback for VR | |
| CN204765652U (en) | Comprehensive data glove who detects finger motion function | |
| Saggio et al. | Sensory systems for human body gesture recognition and motion capture | |
| RU176318U1 (en) | VIRTUAL REALITY GLOVE | |
| Hu et al. | Flexible and attachable inertial measurement unit (IMU)-based motion capture instrumentation for the characterization of hand kinematics: A pilot study | |
| CN218037945U (en) | Intelligent sensing glove based on flexible sensor | |
| CN106020442A (en) | Sensing method for intelligent sensing glove | |
| CN210776589U (en) | Attached type hand motion capture system | |
| Luo et al. | A virtual reality system for arm and hand rehabilitation | |
| CN114602138A (en) | Upper limb personalized rehabilitation training method and system based on human motion model | |
| Burns et al. | Design and implementation of an instrumented data glove that measures kinematics and dynamics of human hand | |
| Kim et al. | Thumb joint angle estimation for soft wearable hand robotic devices | |
| RU186397U1 (en) | VIRTUAL REALITY GLOVE | |
| CN110236562A (en) | A kind of fingerstall to tremble for detecting patients with Parkinson disease hand | |
| JP7462610B2 (en) | Method and system for estimating the topography of at least two parts of a body - Patents.com | |
| Wang et al. | MagicGlove: Estimation for Flexion Angle of Fingers |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |