TWI662437B - Smart glove and method using the same - Google Patents

Abstract

A smart glove includes a glove carrier, a sensing module, a plurality of conductive blocks, and a plurality of conductive fabric structures. The sensing module is disposed on the glove carrier and includes a processor and a space sensor electrically connected to the processor. The conductive block is disposed on the glove carrier. The conductive fabric structure connects the conductive block and the processor.

Description

   Smart gloves and method for applying the same   

The present disclosure relates to a wearing device and an application method thereof, in particular to a smart glove and an application method thereof.

Traditional control equipment, such as remote control equipment, game joysticks, etc., are mostly rigid and have a specific shape, and are operated by human touch and remote control. However, traditional remote control devices still have many disadvantages, such as less intuition, limited space and time, and fatigue caused by weight or excessive operation.

On the other hand, human body language is mainly through the gesture of two hands. In daily life, all kinds of human behaviors cannot be separated from the use of gestures. If a wearable device that combines gestures and control devices can be provided, convenience will be greatly improved. For example, intuitive operation, unlimited time and space, and the advantages of lightweight.

An embodiment of the present disclosure is a smart glove, which includes a glove carrier, a sensor module, a plurality of conductive blocks, and a plurality of conductive fabric structures. The sensing module is disposed on the glove carrier and includes a processor and a space sensor electrically connected to the processor. The conductive block is disposed on the glove carrier. The conductive fabric structure connects the conductive block and the processor.

The disclosure further provides a method for operating a smart glove, which includes using a space sensor to convert a hand's rotation into a rotation vector, and transmitting the rotation vector to a processor. A space perceptron is used to convert the movement of the hand into a motion vector and transmit the motion vector to the processor. The impedance change of the conductive fabric structure caused by the conductive blocks contacting each other is transmitted to the processor. The processor determines a hand gesture according to the rotation vector, the movement vector, and the impedance change.

The disclosed smart gloves can directly translate the thoughts in the brain into manipulation instructions through gestures, and then manipulate the object. Compared with traditional hard controllers, the smart gloves disclosed herein provide users with a more intuitive response. The disclosed smart gloves have a lightweight textile structure, especially a conductive fabric structure that can be integrally woven, which is not only comfortable in use, does not have a foreign body sensation, and is more suitable for long-term use.

100‧‧‧Smart gloves

200‧‧‧ glove carrier

200A, 200B, 200C, 200D, 200E‧‧‧finger part

300‧‧‧ Sensor Module

301, 302, 303, 304‧‧‧ connection structure

310‧‧‧ processor

320‧‧‧space sensor

330‧‧‧Wireless Transmission Module

400‧‧‧ Power

500, 510‧‧‧ conductive fabric structure

502‧‧‧ conductive fabric layer

504‧‧‧Isolation

520‧‧‧ suture

600, 600A, 600B1, 600B2 ‧‧‧ conductive blocks

IO1, IO2, ION‧‧‧ signals

Read the following detailed description and the corresponding drawings to understand the various aspects of this disclosure. It should be noted that according to standard practice in the industry, multiple features are not drawn to scale. In fact, the dimensions of multiple features can be arbitrarily increased or decreased to facilitate clarity of discussion.

FIG. 1A is a schematic diagram of the back of a hand of a smart glove according to some embodiments of the disclosure.

FIG. 1B is a schematic diagram of a palm of a smart glove according to some embodiments of the disclosure.

FIG. 2 is a schematic diagram of a conductive fabric structure of a smart glove according to some embodiments of the disclosure.

FIG. 3 is a block diagram of a sensing module of a smart glove according to some embodiments of the disclosure.

Figures 4A, 4B, and 4C are schematic diagrams of how to use the smart gloves in some embodiments of the disclosure.

FIG. 5 is a diagram of an operation method of a smart glove according to some embodiments of the disclosure.

Figures 6A to 6J are hand movements corresponding to the graphs in Figure 7.

FIG. 7 is a schematic diagram of a smart glove according to some embodiments of the disclosure.

FIG. 8 is a schematic diagram of a smart glove according to some embodiments of the disclosure.

Figures 9A to 10B are experimental data charts of some embodiments of the disclosure.

The following disclosure provides many different embodiments or examples for implementing the different features of the main content provided in this case. The components and configurations of a specific example are described below to simplify this disclosure. Of course, this example is only illustrative and is not intended to be limiting. For example, the following description "the first feature is formed on or above the second feature", in the embodiment may include the first feature and the second feature in direct contact, and may also be included in the first feature and the second feature Additional features are formed between the first feature and the second feature without direct contact. In addition, the disclosure may reuse component symbols and / or letters in various examples. The purpose of this repetition is to simplify and clarify, and does not itself define the relationship between the embodiments and / or configurations discussed.

In addition, spatially relative terms such as "beneath", "below", "lower", "above", "upper", etc. are used herein to simplify the description To describe the relationship between one element or feature and another element or feature as illustrated in the drawings. In addition to the orientation depicted, spatial relative terms also include the different orientations of an element in use or operation. This device can be oriented in other ways (rotated 90 degrees or at other orientations), and the spatially relative descriptors used in this case can be interpreted accordingly.

FIG. 1A is a schematic diagram of the back of a hand of a smart glove according to some embodiments of the disclosure. FIG. 1B is a schematic diagram of a palm of a smart glove according to some embodiments of the disclosure. The present disclosure provides a smart glove 100. The smart glove 100 includes a glove carrier 200, a sensing module 300, a power source 400, a plurality of conductive fabric structures 500, and a plurality of conductive blocks 600.

In some embodiments, the induction module 300 and the power source 400 are connected through the conductive fabric structure 510. The power source 400 may be a replaceable battery, a rechargeable battery, a solar battery, or the like, and is used to provide a power source for the induction module 300.

The glove carrier 200 further includes finger portions 200A, 200B, 200C, 200D, and 200E. In this embodiment, the finger portions 200A, 200B, 200C, 200D, and 200E correspond to the thumb, index finger, middle finger, ring finger, and little finger of the human body, respectively.

The position of the sensor module 300 is disposed on the back of the hand of the glove carrier 200 and corresponds to the position between the third metacarpal and the fourth metacarpal. In other words, the third metacarpal and the fourth metacarpal corresponding to the sensing module 300 are the positions of the metacarpals below the finger portions 200C and 200D. The advantage of the sensor module 300 disposed between the third metacarpal and the fourth metacarpal is that, due to the structure of the human body, the position between the third metacarpal and the fourth metacarpal is less likely to produce a large degree when the user performs a hand movement. Muscle stretching or displacement. Therefore, in practical applications, the sensor module 300 can have better stability because it is less affected by hand movements. It should be noted that the shape of the sensing module 300 shown here is only schematic, and the user can design the desired appearance and size of the sensing module 300 according to the actual situation.

One end of the conductive fabric structure 500 is connected to the sensing module 300. In this embodiment, the number of conductive fabric structures 500 is five, which are respectively extended from the induction module 300 and disposed above the finger portions 200A, 200B, 200C, 200D, and 200E, and the other end of the conductive fabric structure 500 extends to each finger. The position of part of the fingertip is connected to the conductive block 600 on the palm side in FIG. 1B. In other words, the conductive block 600 is electrically connected to the conductive fabric structure 500 at the fingertips. That is, the conductive block 600 is connected to the sensing module 300 through the conductive fabric structure 500.

Referring to FIG. 1B, the conductive block 600 can be subdivided into conductive blocks 600A, 600B1, and 600B2, where the conductive block 600A corresponds to the finger portion 200A, which is the portion of the thumb. In this embodiment, the conductive block 600A substantially covers the entire position of the digit of the thumb to provide a larger sensing area. Since most of the human body's hand movements are related to the thumb, the setting of the conductive block 600A can increase the sensing area of the hand movement of the smart glove 100 and further increase the sensitivity of the smart glove 100. On the other hand, the conductive blocks 600B1 and 600B2 correspond to the finger portion 200B, that is, the portion of the index finger. The conductive block 600B1 is substantially located at the position of the fingertip of the finger part 200B, and the conductive block 600B1 is located substantially at the position of the first knuckle of the finger part 200B. The conductive blocks 600B1 and 600B2 are connected to each other. In this embodiment, the arrangement of the conductive blocks 600B1 and 600B2 is close to a cross, but it is not limited to this. The advantage of this configuration is that it can save the use of the materials of the conductive blocks, and also improve the vertical and horizontal directions. The sensing area to avoid problems with poor contact.

In this embodiment, the configuration of the conductive blocks of the finger portions 200C, 200D, and 200E is the same as that of the finger portion 200B, and will not be described again for the sake of simplicity. In other embodiments, the conductive block of the first knuckle (ie, conductive block 600B2) may be omitted, and the conductive block of the second knuckle may also be added. In other embodiments, the configuration of the conductive blocks of the finger portions 200B, 200C, 200D, and 200E may be the same as or different from those of the finger portion 200A.

The conductive block 600A of the finger portion 200A is connected to the sensing module 300 through the conductive fabric structure 500. On the other hand, the conductive blocks 600B1 and 600B2 of the finger portion 200B are also connected to the sensing module 300 through a conductive fabric structure. Therefore, when the user contacts the thumb with the index finger, that is, when the conductive block 600A of the finger portion 200A contacts the conductive block 600B1 or 600B2 of the finger portion 200B, a current loop is generated. For example, the direction of current flow can be transmitted from the induction module 300 along the conductive fabric structure 500 passing through the finger portion 200A to the conductive block 600A, and then through the conductive block 600B1 or 600B2 in contact with the conductive block 600A The conductive fabric structure 500 along the finger portion 200B flows back to the induction module 300. The current loop means a change in impedance. The value of the change in impedance is transmitted to the processor in the induction module 300. The processor analyzes the signal and converts it into a manipulation command. The manipulation command is transmitted through the wireless transmission module connected to the processor. To other devices.

In this embodiment, the conductive blocks 600B1 and 600B2 of the finger portion 200B are respectively located at different positions (for example, a fingertip and a first knuckle). Therefore, when the conductive block 600A is in contact with the conductive block 600B1 or 600B2 (that is, the thumb is in contact with the fingertips or the thumb is in contact with the first knuckle), different sizes of impedance will be generated due to the difference in the length of the circuit. Different signals of different sizes can generate different signals. Therefore, the processor of the sensor module 300 can convert different signals into different manipulation instructions, thereby achieving the effect of multiple manipulation instructions. Similarly, when the thumb is pinched with other fingers, different loops and impedance changes of different sizes will occur. Therefore, according to the configuration disclosed in this disclosure, a variety of gesture instructions can be generated through various gesture actions, which enriches the application range and performance of the smart glove 100.

FIG. 2 is a schematic diagram of a conductive fabric structure of a smart glove according to some embodiments of the disclosure. As shown, the conductive fabric structure 500 includes a conductive fabric layer 502 and an isolation layer 504, and the isolation layer 504 covers the conductive fabric layer 502. The conductive fabric layer 502 is used for electrical transmission. On the other hand, the isolation layer 504 is used to protect the conductive fabric layer 502 and prevent the conductive fabric layer 502 from leaking electricity. In some embodiments, the conductive fabric structure 500 can be woven into the glove carrier 200 (FIG. 1A). The method of integral weaving is to knit the flexible conductive fabric structure 500 together with common textile materials to form the glove carrier 200. . That is, the conductive fabric structure 500 is part of a fabric woven into the glove carrier 200. The advantage of this configuration is that the method of incorporating the conductive fabric structure 500 into the fabric can be used to replace traditional electrical wires, provide a soft, non-stiff electrical conductive fabric carrier, and can completely transmit the signal of the hand to the sensor module 300. On the other hand, in other embodiments, the conductive fabric structure 500 is separate from the glove carrier 200, and the conductive fabric structure 500 can be sewn to the glove carrier 200 through a seam 520 to fix the conductive fabric structure 500 to the glove carrier 200. On the surface. The suture 520 may be a yarn or a suitable wire. In other embodiments, the structure of the conductive fabric structure 500 may also be a yarn and a conductive paint provided on the yarn.

As mentioned above, since the conductive blocks 600 (FIG. 1B) are used to contact each other and generate impedance changes. Therefore, the structure of the conductive block 600 is also a conductive fabric, and the conductive fabric of the conductive block 600 may be the same as the conductive fabric layer 502 of the conductive fabric structure 500. Compared with the conductive fabric structure 500, since the structure of the conductive block 600 does not have an isolation layer (such as an insulating structure) covering the outer layer, the conductive fabric of the conductive block 600 is exposed to the air, which can facilitate the conductive block 600. Contact with each other and change in impedance. Similarly, in some embodiments, the conductive fabric constituting the conductive block 600 may be woven into the glove carrier 200 directly as the fabric of the glove carrier 200 by using the integrated weaving method as the conductive fabric structure 500. Part of it. Similarly, the conductive fabric of the conductive block 600 and the glove carrier 200 may be separated, and then fixed to the surface of the glove carrier 200 by other methods. In other embodiments, the structure of the conductive block 600 may also be a yarn and a conductive paint disposed on the yarn.

FIG. 3 is a block diagram of a smart glove according to some embodiments of the disclosure. The sensing module 300 of the smart glove 100 includes a processor 310, a space sensor 320, and a wireless transmission module 330. The processor 310 is connected to the spatial sensor 320 and is configured to receive signals generated by the spatial sensor 320. The processor 310 is electrically connected to the wireless transmission module 330, and transmits signals and further controls other devices through wireless transmission. In some embodiments, the wireless transmission module 330 may be Bluetooth, infrared, wifi, near field communication (NFC), or the like. The smart glove 100 further includes a power source 400. The power source 400 can provide the power required by the induction module 300 through the conductive fabric structure 510 (as shown in FIG. 1A).

The processor 310 is configured to receive signals IO1, IO2, ... ION, where the signals IO1, IO2, ... ION are generated by impedance changes caused by the conductive blocks 600 (Figure 1B) contacting each other, and the signal IO1 , IO2 .... ION correspond to different impedance values. For example, IO1 may correspond to the impedance value generated by the thumb and index finger contact, and IO2 may correspond to the impedance value generated by the thumb and middle finger contact. The number of signals depends on the number of conductive blocks 600. As mentioned above, those skilled in the art can achieve the input of different signals by setting conductive blocks on the fingertips or knuckles of different fingers.

In this embodiment, the space sensor 320 of the sensing module 300 may include a gyroscope, a magnetometer, an accelerometer, or a combination thereof. For example, after the user puts on the smart glove 100, the gyroscope can be used to sense the angle of the hand's rotation, the accelerometer can be used to sense the inertia of the hand's movement, and the magnetometer can sense the direction of the hand. . More details will be discussed later. Therefore, the processor 310 of the sensing module 300 can not only receive signals of impedance changes generated by the conductive blocks 600 in contact with each other, but also receive gesture changes (such as movement and rotation) generated by the space sensor 320. Signal. After the processor 310 receives the control signal, the processor 310 may convert the control signal into a manipulation instruction, and then transmit the manipulation instruction to other devices through the wireless transmission module 330, thereby achieving the hand movement of the smart glove 100 through the present disclosure. Change to manipulate other devices.

FIG. 4A to FIG. 4C are schematic diagrams of using the smart gloves according to some embodiments of the disclosure. To simplify the description, some elements will be omitted. As mentioned above, the smart glove 100 can manipulate other devices through impedance changes caused by “contact”. For example, in FIG. 4A, after the finger portions 200A and 200B are in contact with each other (that is, the thumb is in contact with the index finger), the conductive blocks thereon cause the impedance of the conductive fabric structure 500 of the smart glove 100 to change due to the contact with each other. Then, the impedance change is transmitted to the processor 310, and then converted into a manipulation instruction by the internal processor to achieve the effect of manipulating other devices. However, the above example is only one aspect of the present disclosure. In other embodiments, the gesture may have various changes. For example, the finger portion 200A may be brought into contact with other finger portions (such as the finger portions 200C, 200D, or 200E, etc.). Alternatively, it can be produced through contact with different positions of the finger part (such as fingertips or knuckles), so as to generate multiple signals. The detailed operation mode can refer to the discussion of FIG. 1A and FIG. 1B, which will not be repeated here.

In FIG. 4B, as mentioned in FIG. 3, the sensing module 300 has a space sensor 320 therein, and the space sensor 320 may include a gyroscope, a magnetometer, an accelerometer, or a combination of two or more thereof. In this embodiment, the space sensor 320 converts the “movement” of the smart glove 100 into a motion vector, and transmits the motion vector to the processor 310. In some embodiments, the spatial sensor 320 is a three-axis vector (ie, x, y, and z directions) sensing system. Each axis can provide at least two types of intuitive identification. For example, in the x direction, a smart glove can have at least two recognition directions such as forward (x +) or backward (x-). In some embodiments, the space sensor 320 can provide at least 8 bits of space in each direction, that is, 256 types of movement state recognition are provided, so that the application of the smart glove 100 has unlimited possibilities.

In this embodiment, the smart glove 100 uses the human right hand as an example. When the user's hand is in a "horizontal stationary" state that has not moved, it is defined as an initial state. The "horizontal stationary" state here is that the user lays his hands flat with his palms facing down and his back facing up. That is, the palm is parallel to the xy plane and perpendicular to the z direction. More specifically, the x-direction is a direction extending outward along the index finger, middle finger, ring finger, and the like. Therefore, according to this embodiment, the x, y, and z directions substantially correspond to the forward, backward, left, right, and up and down directions of the hand, respectively. However, this disclosure is not limited to this, the user can set the desired initial state according to the actual situation.

Any kind of "moving" state can be represented by a three-axis acceleration vector (a _x , a _y , a _z ), which corresponds to a change amount in each direction, such as a change amount of acceleration. When in the initial state (horizontal stationary), the corresponding three-axis acceleration vector is (0,0,0). Taking this embodiment as an example, when the user's hand moves in the x direction (that is, moves back and forth), the acceleration vector of the corresponding state is (a _{x '} , 0,0). On the other hand, when the user's hand moves in the y direction (that is, moves left and right), the acceleration vector of the corresponding state is (0, a _{y '} , 0). Similarly, when the user's hand moves in the z direction (that is, moves up and down), the acceleration vector of the corresponding state is (0,0, a _{z '} ). In some embodiments, the three axes can be independently defined or multiplied. For example, when the used hand moves in direction A, if it is independently defined, it can be regarded as (a _{x '} , 0,0), (0, a _y' , 0), (0,0, a _{z '} ) Three independent movement states. On the contrary, if it is defined as multiplication, it can be regarded as a state of movement combining three directions (a _{x '} , a _y' , a _{z '} ). In actual application, the user can set the desired mode according to the operation purpose, but this disclosure is not limited to this.

In FIG. 4C, as mentioned in FIG. 3, the sensing module 300 has a space sensor 320 therein, and the space sensor 320 may include a gyroscope, a magnetometer, an accelerometer, or a combination of two or more thereof. In this embodiment, the space sensor 320 converts the “rotation” of the smart glove 100 into a rotation vector, and transmits the rotation vector to the processor 310. In some embodiments, the space sensor 320 provides a three-axis coordinate system (ie, x, y, and z directions) sensing system. Each axis can provide at least two types of intuitive identification. For example, in the x direction, the smart gloves can have at least two recognition directions such as forward or reverse along the x axis.

In this embodiment, the smart glove 100 uses the human right hand as an example. When the user's hand is in a "horizontal stationary" state that has not moved, it is defined as the initial state. The definition of the “horizontal stationary” state is the same as that described in FIG. 6B, which will not be repeated here.

Any "rotation" state can be represented by a three-axis rotation vector (θ _x , θ _y , θ _z ), which corresponds to the amount of angular change in each direction. When in the initial state (horizontal stationary), the corresponding three-axis acceleration rotation vector is (0,0,0). Taking this embodiment as an example, when the user's hand is rotated along the x-axis (that is, left and right), the rotation vector of the state is (θ _{x '} , 0,0). On the other hand, when the user's hand rotates along the y-axis (ie, rotates up and down), the rotation vector of the corresponding state is (0, θ _{y '} , 0). Similarly, when the user's hand is rotated along the z-axis (that is, the plane is rotated), the rotation vector of the corresponding state is (0,0, θz _' ). In some embodiments, the three axes can be independently defined or multiplied. For example, when the used hand is rotated along each axis, if it is independently defined, it can be regarded as (θ _{x '} , 0,0), (0, θ _y' , 0), (0,0, θ _{z '} ) three independent rotation states. Conversely, if it is defined as multiplication, it can be regarded as a state of rotation combining three directions (θ _{x ′} , θ _{y ′} , θ _{z ′} ). In actual application, the user can set the desired mode according to the operation requirements, but this disclosure is not limited to this.

Figures 4A, 4B, and 4C respectively describe an operation method of the smart gloves disclosed in the present disclosure, and provide identification methods of "contact," "movement," and "rotation," respectively. The smart glove transmits the impedance of the conductive fabric structure caused by the conductive blocks contacting each other to the processor. The space perceptron converts the movement of the hand into a motion vector and transmits the motion vector to the processor. The space sensor converts the rotation of the hand into a rotation vector, and transmits the rotation vector to the processor. Finally, the processor determines the hand gesture based on the impedance change, the movement vector, and the rotation vector.

The operation method of the smart glove disclosed in the present disclosure further includes manipulating the object according to the gesture determined by the processor. FIG. 5 is a diagram of an operation method of a smart glove according to some embodiments of the disclosure. Figures 6A to 6J are hand movements corresponding to the graphs in Figure 7. Please refer to FIG. 5. In this embodiment, a multi-axis machine (or: an aerial camera) is used as the object of the smart glove operation, but it is not limited to this. As mentioned above, the sensing module 300 inside the smart glove 100 can convert gestures into manipulation instructions, and then transmit them to the object through the wireless transmission module 330 for corresponding operations. In this embodiment, the smart glove 100 uses the right hand of a human body as an example, and for the purpose of describing the movement of the hand, some components will be omitted. The action of the smart glove 100 combines contact, movement, and rotation, and its sensing principle is the same as described in Figures 4A, 4B, and 4C.

The determination of rotation in this embodiment depends on a critical value, and the critical value is an angle, such as 30 degrees, but is not limited thereto. For example, when the angle of hand rotation is greater than 30 degrees, it is defined as hand rotation. Similarly, when the angle of downspin is greater than 30 degrees, it is defined as downspin. However, if both the up and down rotation angles are less than 30 degrees, it is defined as a "no rotation" state.

During the process of controlling the object, the moving speed of the object may depend on the angle value, the angular acceleration value of the hand movement, or a combination of the two. For example, when the hand is turned up to 60 degrees, the lifting acceleration of the multi-axis machine will be greater than that when the hand is turned up to 30 degrees. In addition, when the user spins his hand up or down with a faster angular acceleration, the multi-axis machine can also obtain faster lifting or falling acceleration. Thereby, the acceleration of the multi-axis machine during lifting / landing can have more changes, and the same operating principle is also applied to left-right or plane rotation. It should be understood that the determination method described here is only an example, and the desired mode should mainly be set according to user operation requirements, and is not used to limit the disclosure.

In FIG. 6A, the take-off instruction of the multi-axis machine is: contact the thumb with the index finger, move the hand in the z + direction (that is, upward), and the hand does not rotate. In contrast, the multi-axis machine's landing instruction is: contact the thumb with the index finger, move the hand in the z-direction (that is, downward), and the hand does not rotate.

In Fig. 6B, the forward instruction of the multi-axis machine is: there is no finger contact, the hand moves in the x + direction (that is, forward), and the hand rotates downward.

In Fig. 6C, the multi-axis machine back command is: there is no finger contact, the hand moves in the x-direction (that is, backward), and the hand rotates upward.

In Fig. 6D, the right flight instruction of the multi-axis machine is: no contact of the fingers, the hand moves to the y-direction (that is, to the right), and the hand rotates to the right.

In Figure 6E, the multi-axis machine's left-flight instruction is: no finger contact, the hand moves in the y + direction (that is, left), and the hand rotates left.

In Figure 6F, the multi-axis machine's rising instruction is: contact the thumb with the middle finger, move the hand in the z + direction (that is, upward), and rotate the hand upward.

In Fig. 6G, the descending instruction of the multi-axis machine is: contact the thumb with the middle finger, move the hand in the z-direction (that is, downward), and rotate the hand downward.

In Figure 6H, the left-hand instruction of the multi-axis machine is: contact the thumb with the middle finger, move the hand in the z + direction (that is, upward), and turn the hand to the left.

In Figure 6I, the right-handed instruction of the multi-axis machine is: contact the thumb with the middle finger, move the hand in the z-direction (that is, downward), and turn the hand to the right.

In Figure 6J, the emergency stop command of the multi-axis machine is: contact the thumb with the index finger, the middle finger, move the hand in the z-direction (that is, downward), and the hand does not rotate. In addition, in some embodiments, the space sensor of the sensor module has an acceleration gauge for detecting the motion inertia of the hand. Therefore, when the kinetic energy (or acceleration) of the hand is greater than a certain critical value, an emergency stop command can be given to the multi-axis machine. In other words, when the user encounters some special conditions (such as: tension or danger) and a large hand movement occurs, the multi-axis machine will stop to ensure safety.

It should be understood that the above-mentioned method for operating a multi-axis machine is only one embodiment of the present disclosure, and is not intended to limit the present disclosure. In practical applications, users can design the required hand movements to correspond to the required operations.

FIG. 7 is a schematic diagram of a smart glove 100 according to some embodiments of the disclosure. The sensing module 300 of the smart glove 100 is detachably configured. The sensing module 300 has a connection structure 301 and the glove carrier 200 has a connection structure 302. The connection structures 301 and 302 can be coupled to each other and electrically connected. In some embodiments, the connection structures 301 and 302 can be buckle rings, magnets or connecting devices that can be easily disassembled. Through the design of the detachable sensor module, users can replace different sensor modules according to the devices they want to operate, which expands the scope of application of this disclosure. It should be noted that the connection structures 301 and 302 depicted in the drawings are merely schematic and are not intended to limit the present disclosure.

FIG. 8 is a schematic diagram of a smart glove 100 according to some embodiments of the disclosure. Different from the foregoing embodiment, in this embodiment, the induction module 300 is directly sewn on the glove carrier 200, that is, directly disposed on the glove carrier 200 without passing through other external carrier boards. In some embodiments, the sensing module 300 may be a general circuit board, or a flexible printed circuit board. The advantage of sewing the sensor module directly on the glove carrier is that, because the cloth has better deflection and has a larger amount of vibration, the sensor module can sense a larger amplitude of vibration, so smart gloves can Has high sensitivity and measurement accuracy.

For example, please refer to Figs. 8, 9A, and 9B together. Since the cloth surface vibration can have forward and reverse directions, the setting of sewing the sensor module 300 directly on the glove carrier 200 is directly related to the x direction. With more sensing resolution. Figures 9A and 9B are experimental data diagrams for measuring the vibration amplitude in the x direction, where the abscissa is time, and the ordinate is the amplitude detected by the acceleration gauge, and then obtained by computer operations (such as magnification analysis processing). value. Fig. 9A is the circuit board of the induction module is sewn directly on the glove carrier (cloth), while Fig. 9B is the circuit board of the induction module is first arranged on the external carrier (hard board), and then on the Gloves on the carrier. From the experimental data, it can be found that directly sewing the circuit board directly on the glove carrier (cloth) has higher sensitivity.

Please refer to Figures 8, 10A, and 10B together. Since most of the human hand movements come from left and right lateral movements, smart gloves can also have high sensing resolution in the y direction. Figures 10A and 10B are experimental data graphs for measuring the vibration amplitude in the y direction, where the abscissa is time, and the ordinate is the amplitude detected by the acceleration gauge, and then obtained by computer calculation (such as magnification analysis processing). value. Fig. 10A is the circuit board of the induction module is sewn directly on the glove carrier (cloth), while Fig. 10B is the circuit board of the induction module is first arranged on the external carrier (hard board), and then on the Gloves on the carrier. From the experimental data, it can be found that directly sewing the circuit board directly on the glove carrier (cloth) has higher sensitivity.

On the other hand, compared with the first embodiment (FIG. 1A) of the present case, since the induction module 300 is directly sewn on the glove carrier 200, the position of the power source 400 can directly correspond to the induction module 300. In this embodiment, the power source 400 is detachably disposed on the glove carrier 200 and is connected to the induction module 300 through the connection structures 303 and 304 to provide power. In this embodiment, the detachable power source 400 can be a replaceable battery or a rechargeable battery, and can be disassembled to facilitate charging. In other embodiments, the power supply 400 and the induction module 300 can also be designed as an integrated structure through a package.

The disclosure provides a smart glove including a glove carrier, a sensor module, a plurality of conductive blocks, and a plurality of conductive fabric structures. The sensing module is disposed on the glove carrier and includes a processor and a space sensor electrically connected to the processor. The conductive block is disposed on the glove carrier. The conductive fabric structure connects the conductive block and the processor. In addition, the space sensor of the smart glove disclosed in this disclosure can convert the rotation of the hand into a rotation vector, and convert the movement into a movement vector. In addition, when the conductive blocks are in contact with each other, the impedance change of the conductive fabric structure can be generated. The rotation vector, movement vector, and impedance change generated by the gesture change are transmitted to the processor, and the processor determines the hand gesture according to the rotation vector, movement vector, and impedance change, and then performs corresponding operations.

The features of several embodiments are summarized above so that those skilled in the art can better understand the aspects of the present disclosure. Those skilled in the art should understand that they can easily use this disclosure as a basis to design or modify other processes and structures to achieve the same purpose and / or achieve the same advantages. Those skilled in the art should also understand that such equivalent structures do not depart from the spirit and scope of this disclosure, and that they can make various changes to this article without departing from the spirit and scope of this disclosure, Supersedes and changes.

Claims (9)

A smart glove includes: a glove carrier; an induction module disposed on the glove carrier, including a processor and a space sensor electrically connected to the processor; a plurality of conductive blocks, wherein the conductive blocks are One of them is provided at the fingertip of the thumb carrier of the glove carrier and is used to cover the entire fingertip of the thumb, and two of the conductive blocks are respectively arranged at the non-thumbnail fingers of the glove carrier. The fingertip and the first knuckle are connected in a cross-shaped cross arrangement; and a plurality of conductive fabric structures are connected to the conductive block and the processor. The smart glove according to claim 1, wherein the space sensor comprises a gyroscope, a magnetometer, an accelerometer, or a combination thereof. The smart glove according to claim 1, wherein the sensing module is disposed at the back of the hand of the glove carrier, and corresponds to between the third metacarpal and the fourth metacarpal. The smart glove according to claim 1, wherein the conductive fabric structure includes a conductive fabric layer and an isolation layer covering the conductive fabric layer. The smart glove according to claim 1, wherein the conductive fabric structure includes a yarn and a conductive paint provided on a surface of the yarn. The smart glove according to claim 1, further comprising a wireless transmission module disposed in the induction module and electrically connected to the processor. The smart glove according to claim 1, further comprising a connection structure, which can detachably connect the sensing module and the glove carrier. A method for operating a smart glove. The smart glove is as described in any one of claims 1 to 7. The method for operating a smart glove includes: using the space sensor to convert the rotation of a hand into a rotation vector, And transmitting the rotation vector to the processor; converting the movement of the hand into a motion vector using the space sensor, and transmitting the motion vector to the processor; when the conductive blocks are in contact with each other The resulting impedance change of the conductive fabric structure is transmitted to the processor; and the processor determines a hand gesture based on the rotation vector, the movement vector, and the impedance change. The method for operating a smart glove according to claim 8, further comprising: controlling the object according to the gesture.