CN102184342A - Virtual-real fused hand function rehabilitation training system and method - Google Patents
Virtual-real fused hand function rehabilitation training system and method Download PDFInfo
- Publication number
- CN102184342A CN102184342A CN201110160698XA CN201110160698A CN102184342A CN 102184342 A CN102184342 A CN 102184342A CN 201110160698X A CN201110160698X A CN 201110160698XA CN 201110160698 A CN201110160698 A CN 201110160698A CN 102184342 A CN102184342 A CN 102184342A
- Authority
- CN
- China
- Prior art keywords
- hand
- virtual scene
- actual situation
- training system
- merges
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000012549 training Methods 0.000 title claims abstract description 53
- 230000003993 interaction Effects 0.000 claims abstract description 9
- 230000004927 fusion Effects 0.000 claims abstract description 6
- 230000035876 healing Effects 0.000 claims description 34
- 230000008569 process Effects 0.000 claims description 22
- 230000000007 visual effect Effects 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 8
- 230000008713 feedback mechanism Effects 0.000 claims description 7
- 238000010205 computational analysis Methods 0.000 claims description 4
- 238000013507 mapping Methods 0.000 claims description 4
- 230000006378 damage Effects 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 5
- 238000007654 immersion Methods 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000007781 pre-processing Methods 0.000 abstract 4
- 238000005516 engineering process Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 238000000605 extraction Methods 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000011410 subtraction method Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Images
Abstract
The invention discloses a virtual-real fused hand function rehabilitation training system and method. The rehabilitation training system comprises an image acquisition device and a background processing device, wherein the image acquisition device is used for carrying out real-time acquisition on multi-viewpoint hand images of users, then preprocessing the multi-viewpoint hand images, and sending the processed multi-viewpoint preprocessing images to the background processing device; and the background processing device is used for receiving the multi-viewpoint preprocessing images, carrying out three-dimensional modeling on the received multi-viewpoint preprocessing images so as to generate a three-dimensional hand model, then arranging the hand model in a virtual scene, and after the virtual scene produces a real-time feedback for the hand input, displaying the obtained output. By using the rehabilitation training system disclosed by the invention, the training on hand motion abilities is implemented through virtual-real interaction so as to speed up the rehabilitation of hand functions without increasing hand burden; the rehabilitation training system is simple in equipment structure and small in occupied space; the rehabilitation training method is easy to operate; users can carry out training by using the system and method disclosed by the invention without the guidance of professional doctors, and no damage to the users is caused; and the system has the advantages of good immersion sense and good instantaneity, and a good training effect can be achieved through virtual-real fusion.
Description
Technical field
The present invention relates to the healing hand function training system that a kind of actual situation merges, belong to computer vision and medical science virtual reality technology field.
Background technology
The patient that some limbs sustain damage also needs auxiliary rehabilitation training with science except the clinical treatment of necessity, damage location is recovered preferably.Along with the progress of scientific and technological level, the research of medical science virtual reality technology has also obtained certain progress, and it can remedy the deficiency of existing medical condition and resource, avoids true experiment or operation to give the patient danger that institute may bring, the integral level of raising medical services.At present, some research institutions mainly concentrate on the healing robot Study on Technology, and it is based on the apparatus rehabilitation therapy, are aided with virtual reality and Robotics, carry out patient's limb function training.But, the healing robot apparatus expensive, it is big to take up room, and trains dullly, and needs the doctor to instruct.The rehabilitation section of large hospital still carries out rehabilitation training with the auxiliary method of apparatus at present.
Also have some the patient to be carried out the hand function training by using data glove, this device is by being provided with data acquisition element in gloves, hand motion to the patient is gathered, because electronic devices and components are too much, cause gloves heavy, the patient wear trouble, and heavy gloves might damage the rehabilitation training poor effect to the patient.
Based on this, how to research and develop a kind of healing hand function training system, safe in utilization, convenient, it is little to take up room, and can assist the patient to obtain rehabilitation efficacy preferably, is the technical problem underlying that the present invention need solve.
Summary of the invention
The present invention is directed to existing rehabilitation training system, the healing hand function training system that provides a kind of actual situation to merge, cost is low, and it is little to take up room, and the patient is not had injury.
In order to solve the problems of the technologies described above, the present invention is achieved by the following technical solutions:
The healing hand function training system that a kind of actual situation merges comprises:
Image capture device is used for gathering in real time many viewpoints user hand images, and carries out being sent to background process equipment after the pre-service;
Background process equipment generates virtual scene and shows output, described many viewpoints pretreatment image is carried out three-dimensional modeling generate the hand three-dimensional model, is shown in the virtual scene, and sets up the man-machine interaction feedback mechanism.
Further, described image capture device comprises: at least two be used for from different viewpoint images acquired video camera, be used to support the support of described video camera and the client that connects one to one with video camera, described client receives the image of camera acquisition, and to the image pre-service.
For the ease of regulating the angle of video camera, described support is provided with the The Cloud Terrace with the corresponding one by one flexible connection of described video camera.
Because need to gather the multi-faceted image of user's hand, described video camera preferably adopts 5.
Further again, described background process equipment comprises server and display, described server generates virtual scene, and export display to and show, server receives pretreatment image simultaneously and carries out three-dimensional modeling, and the hand three-dimensional model of setting up is shown in the virtual scene, and sets up the man-machine interaction feedback mechanism.
Wherein, described man-machine interaction feedback mechanism is: server carries out computational analysis to the variation of hand three-dimensional model, and virtual scene is made corresponding change and shown output.
Based on above-mentioned healing hand function training system, the healing hand function training method that the present invention provides a kind of actual situation to merge simultaneously may further comprise the steps:
(1), image capture device is gathered background information, and is stored;
(2), image capture device is gathered many viewpoints user hand images in real time, and is carried out being sent to background process equipment after the pre-service;
(3), background process equipment shows the output virtual scene, and to described many viewpoints pretreatment image Real-time modeling set, the hand three-dimensional model of setting up is shown in the virtual scene;
(4), virtual scene is made corresponding change and is shown output according to the variation of hand three-dimensional model.
Further, described background process equipment comprises server and display, comprises following substep in the step (3):
(31), show initial virtual scene at the display end;
(32), server receives many viewpoints pretreatment image in real time, and sets up the hand three-dimensional model;
(33), the hand three-dimensional model of setting up is shown in the virtual scene.
Further again, the Real-time modeling set method is in the step (3):
(a), initial space is carried out subdivision successively, obtain the voxel visual shell model of hand according to the Octree modeling principle;
(b), utilizing the cube method of advancing that voxel visual shell model surface is carried out gridding handles;
(c), utilize the visual shell model of surface mesh being formatted to carry out texture based on the texture mapping method of viewpoint.
Further again, also comprise the step of the inside and outside parameter of calibrating camera before in step (31).
Compared with prior art, advantage of the present invention and good effect are: the healing hand function training system that actual situation of the present invention merges, by building a virtual training environment, the guiding user action, make it in actual situation is mutual, realize the training of hand motion ability, accelerate healing hand function, and can not increase the weight of the hand burden, accomplished the hand not damaged; Device structure is simple, and it is little to take up room; Cost of manufacture is low; The healing hand function training method that actual situation of the present invention merges, simple to operate; The user also can suitably train under the guidance of no specialist, and the user is not had injury; Adopt the actual situation interactive system of immersion to train in real time, obtain training effect preferably.
After reading the detailed description of embodiment of the present invention in conjunction with the accompanying drawings, other characteristics of the present invention and advantage will become clearer.
Description of drawings
Fig. 1 is a kind of example structure synoptic diagram of the healing hand function training system that merges of actual situation proposed by the invention;
Fig. 2 is a kind of embodiment process flow diagram of the healing hand function training method that merges of actual situation proposed by the invention.
Embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is described in further detail.
The present invention might cause mechanical damage to the patient in order to solve the auxiliary patient's rehabilitation training of existing apparatus, and present healing robot apparatus expensive, it is big to take up room, and the problem that practical application has little significance, the healing hand function training system that provides a kind of actual situation to merge, use a plurality of video cameras to gather many viewpoints hand images of user in real time, carry out the hand three-dimensional modeling, generation hand three-dimensional model also is shown in the virtual scene, when actual hand motion, the hand three-dimensional model moves thereupon, and virtual scene is made real-time response, has realized the seamless fusion of actual hand and virtual environment, user's feeling of immersion is good, equipment is simple, and it is little to take up room, and to user's not damaged.
Embodiment one, the healing hand function training system that the actual situation of present embodiment merges, comprise: image capture device and background process equipment, described image capture device is gathered user's hand images in real time, and the hand images of being gathered carried out being sent to background process equipment after the pre-service, described background process equipment receives pretreatment image, utilize dimensional Modeling Technology, described pretreatment image is carried out three-dimensional modeling generate the hand three-dimensional model, and demonstration output virtual scene and hand three-dimensional model, this hand three-dimensional model places virtual scene, with the seamless fusion of virtual scene.Because image capture device is gathered user's hand images and modeling in real time, therefore, when user's hand motion, its three-dimensional model is action thereupon also, background process equipment is by setting up the man-machine interaction feedback mechanism, computational analysis is carried out in variation to the hand three-dimensional model, and virtual scene is made corresponding change and shown output.The healing hand function training system that this actual situation merges is by building a virtual scene, this virtual scene can produce corresponding feedback to the variation of hand, form the rehabilitation training environment of an actual situation fusion, positive guide, the guiding user action, make it in actual situation is mutual, realize the training of hand motion ability, accelerate healing hand function, and can not increase the weight of the hand burden, accomplished the hand not damaged.
As a specific embodiment, referring to shown in Figure 1, described image capture device comprises: video camera 1-1, the support 1-2 and the client 1-3 that are used for images acquired, described video camera 1-1 is arranged on the support 1-2, by support 1-2 support cameras 1-1, because video camera 1-1 must gather hand information from a plurality of visual angles, therefore video camera 1-1 is at least two, in order to obtain the image of many viewpoints, be convenient to behind the three-dimensional modeling truer, and consider the saving cost simultaneously, and reducing operand, described video camera 1-1 preferably adopts 5.The number of described client 1-3 equates with the number of video camera 1-1, and client 1-3 and video camera 1-1 connect one to one, and described client 1-3 receives the image that video camera 1-1 gathers, and image is carried out being sent to background process equipment after the pre-service.The image pre-service comprises denoising, the extraction of hand foreground information etc.
Described background process equipment comprises server 2-1 and display 2-2, described server 2-1 generates virtual scene, and export display 2-2 to and show, server 2-1 receives the pretreatment image that client 1-3 sends simultaneously, because pretreatment image is a multi-view image, therefore server 2-1 can adopt certain modeling method that hand is carried out three-dimensional modeling by analytical calculation, and the hand three-dimensional model of setting up seamlessly is shown in the virtual scene.Because video camera 1-1 gathers user's hand images and in real time by server 2-1 Real-time modeling set, therefore, when user's hand motion, its three-dimensional model is action thereupon also, server 2-1 makes corresponding change with virtual scene, scene that is virtually reality like reality by calculating, realize man-machine interaction, the guiding user better finishes the hand function training in the virtual training environment.Show virtual scene and hand three-dimensional model by display 2-2, the user can observe the hand exercise situation of oneself, can help functional rehabilitation more according to the guiding positive action of the virtual scene that shows.The information transmission of client 1-3 and server 2-1 preferably adopts the LAN transmission to realize, therefore, is provided with the network switch 3 between described client 1-3 and server 2-1.
For the ease of regulating the angle of video camera 1-1, described support 1-2 is provided with the The Cloud Terrace 1-4 with the corresponding one by one flexible connection of described video camera.Those skilled in the art can be known easily: The Cloud Terrace is the installation of specialty, the fastening of fixed cameras, can adjust the supervision angle of video camera flexibly, does not do elaborating at this.
Based on above-mentioned healing hand function training system, the healing hand function training method that present embodiment provides a kind of actual situation to merge simultaneously may further comprise the steps:
S1, image capture device are gathered background information, and storage;
S2, image capture device are gathered many viewpoints hand images of user in real time, and carry out being sent to background process equipment after the pre-service;
S3, background process equipment show the output virtual scene, and to described many viewpoints pretreatment image Real-time modeling set, and the hand three-dimensional model of setting up is shown in the virtual scene;
S4, virtual scene are made corresponding change and are shown output according to the variation of hand three-dimensional model.
Wherein, image capture device is gathered background information, for the ease of in step S2, extracting user's hand images information, at first gather background image, and storage, when user's hand places the space, utilize the background subtraction method very easily the hand foreground information to be extracted, the image pre-service comprises the foreground information extraction of image denoising and hand images etc.
As a specific embodiment, described background process equipment comprises server and display, comprises following substep among the step S3:
S31, show initial virtual scene at the display end;
S32, server receive many viewpoints pretreatment image in real time, and set up the hand three-dimensional model;
S33, the hand three-dimensional model of setting up is shown in the virtual scene.
In step S31, because virtual scene is set up by server end, and when user's hand motion, its three-dimensional model is action thereupon also, server is made corresponding change by computational analysis with virtual scene, and shows output at display, therefore, server at first shows initial virtual scene by display.
Wherein, the Real-time modeling set method is among the step S3:
(a), according to the Octree modeling principle to the space subdivision, obtain the voxel visual shell model of hand;
(b), utilizing the cube method of advancing that voxel visual shell model surface is carried out gridding handles;
(c), utilize the visual shell model of surface mesh being formatted to carry out texture based on the texture mapping method of viewpoint.
Because Octree method fast operation in modeling, present embodiment preferably adopts the Octree modeling principle to carry out modeling, satisfy the real-time requirement of the healing hand function training method of this actual situation fusion, the Octree method is modeled as prior art, does not do elaborating at this.
In order to make the hand three-dimensional model surface smoothing of foundation, precision is higher, and the voxel visual shell model that present embodiment preferably adopts the cube method of advancing that previous step is set up carries out gridding to be handled.
In order to make the hand three-dimensional model have more verisimilitude and feeling of immersion, more near real human body skin, comprise also in the present embodiment that the visual shell model that surface mesh is formatted carries out texture, the texture source is the many viewpoints hand images after the pre-service, make it seem more approaching true, the method of texture is the texture mapping method based on viewpoint, and this method is a prior art, does not elaborate at this.
In addition, because the shooting angle of video camera may be adjusted, some parameters (such as the inside and outside parameter of video camera etc.) can change accordingly, therefore, the step that also comprised the inside and outside parameter of calibrating camera before step S31, this step are arranged between other steps, can processed offline.Camera calibration can be realized in the following ways: with a uniform black and white chessboard grid template as destination object, after video camera fixes, gather the image of the template of diverse location and angle, carry out the extraction and the calculating of angle point with this group image, thereby obtain the model of video camera, i.e. the inside and outside parameter of video camera.
The healing hand function training method that the actual situation of present embodiment merges, simple to operate, the user also can suitably train under the guidance of no specialist, and the user is not had injury, adopt immersion and interactively actual situation to merge scene and train, obtain training effect preferably.
Certainly; this actual situation merges the healing hand function training system and not only is confined to carry out the hand function rehabilitation training; also can be by transforming; be used for other position function rehabilitation trainings of human body; above-mentioned explanation is not to be limitation of the present invention; the present invention also is not limited in above-mentioned giving an example, and variation, remodeling, interpolation or replacement that those skilled in the art are made in essential scope of the present invention also should belong to protection scope of the present invention.
Claims (10)
1. the healing hand function training system that actual situation merges is characterized in that, comprising:
Image capture device is used for gathering in real time many viewpoints of user hand images, carries out being sent to background process equipment after the pre-service;
Background process equipment generates virtual scene and shows output, described many viewpoints pretreatment image is carried out three-dimensional modeling generate the hand three-dimensional model, is shown in the virtual scene, and sets up the man-machine interaction feedback mechanism.
2. the healing hand function training system that actual situation according to claim 1 merges, it is characterized in that, described image capture device comprises: at least two be used for from different viewpoint images acquired video camera, be used to support the support of described video camera and the client that connects one to one with video camera, described client receives the image of camera acquisition, and to the image pre-service.
3. the healing hand function training system that merges according to the described actual situation of claim 2 is characterized in that described support is provided with the The Cloud Terrace with the corresponding one by one flexible connection of described video camera.
4. the healing hand function training system that merges according to the described actual situation of claim 2 is characterized in that described video camera is 5.
5. the healing hand function training system that merges according to the described actual situation of each claim of claim 1-4, it is characterized in that, described background process equipment comprises server and display, described server generates virtual scene, and export display to and show, server receives pretreatment image simultaneously and carries out three-dimensional modeling, and the hand three-dimensional model of setting up is shown in the virtual scene, and sets up the man-machine interaction feedback mechanism.
6. according to the healing hand function training system of the described actual situation fusion of claim 5, it is characterized in that described man-machine interaction feedback mechanism is: server carries out computational analysis to the variation of hand three-dimensional model, and virtual scene is made corresponding change and shown output.
7. the healing hand function training method that actual situation merges is characterized in that, may further comprise the steps:
(1), image capture device is gathered background information, and is stored;
(2), image capture device is gathered many viewpoints user hand images in real time, and is carried out being sent to background process equipment after the pre-service;
(3), background process equipment shows the output virtual scene, and to described many viewpoints pretreatment image Real-time modeling set, and the hand three-dimensional model of setting up is shown in the virtual scene;
(4), virtual scene responds according to the variation of hand three-dimensional model, and shows output, promptly virtual scene is that variation with user's gesture motion changes.
8. the healing hand function training method that actual situation according to claim 7 merges is characterized in that described background process equipment comprises server and display, comprises following substep in the step (3):
(31), show initial virtual scene at the display end;
(32), server receives many viewpoints pretreatment image in real time, and sets up the hand three-dimensional model;
(33), the hand three-dimensional model of setting up is shown in the virtual scene.
9. the healing hand function training method that actual situation according to claim 7 merges is characterized in that, the Real-time modeling set method is in the step (3):
(a), initial space is carried out subdivision successively, obtain the voxel visual shell model of hand according to the Octree modeling principle;
(b), utilizing the cube method of advancing that voxel visual shell model surface is carried out gridding handles;
(c), utilize the visual shell model of surface mesh being formatted to carry out texture based on the texture mapping method of viewpoint.
10. the healing hand function training method that actual situation according to claim 8 merges is characterized in that, also comprises the step of the inside and outside parameter of calibrating camera before in step (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110160698XA CN102184342B (en) | 2011-06-15 | 2011-06-15 | Virtual-real fused hand function rehabilitation training system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110160698XA CN102184342B (en) | 2011-06-15 | 2011-06-15 | Virtual-real fused hand function rehabilitation training system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102184342A true CN102184342A (en) | 2011-09-14 |
| CN102184342B CN102184342B (en) | 2013-11-20 |
Family
ID=44570518
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110160698XA Active CN102184342B (en) | 2011-06-15 | 2011-06-15 | Virtual-real fused hand function rehabilitation training system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102184342B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102650906A (en) * | 2012-04-06 | 2012-08-29 | 深圳创维数字技术股份有限公司 | Control method and device for user interface |
| CN103279191A (en) * | 2013-06-18 | 2013-09-04 | 北京科技大学 | 3D (three dimensional) virtual interaction method and system based on gesture recognition technology |
| CN104000586A (en) * | 2014-05-12 | 2014-08-27 | 燕山大学 | Stroke patient rehabilitation training system and method based on brain myoelectricity and virtual scene |
| CN104603720A (en) * | 2012-09-12 | 2015-05-06 | 大陆汽车有限责任公司 | Method and device for operating a motor vehicle component by means of gestures |
| CN109564473A (en) * | 2016-08-23 | 2019-04-02 | 谷歌有限责任公司 | System and method for placement of the virtual role in enhancing/reality environment |
| CN110503710A (en) * | 2019-09-04 | 2019-11-26 | 北京国润视光科技有限公司 | A kind of complex scene recovery training method based on real enhancing technology |
| CN110890148A (en) * | 2019-12-19 | 2020-03-17 | 上海金矢机器人科技有限公司 | Safety protection system and method based on rehabilitation training device |
| CN111047708A (en) * | 2019-11-26 | 2020-04-21 | 中国人民解放军空军工程大学 | Complex equipment high-risk project training system based on mixed reality |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101539804A (en) * | 2009-03-11 | 2009-09-23 | 上海大学 | Real time human-machine interaction method and system based on augmented virtual reality and anomalous screen |
| CN101650834A (en) * | 2009-07-16 | 2010-02-17 | 上海交通大学 | Three dimensional reconstruction method of human body surface under complex scene |
-
2011
- 2011-06-15 CN CN201110160698XA patent/CN102184342B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101539804A (en) * | 2009-03-11 | 2009-09-23 | 上海大学 | Real time human-machine interaction method and system based on augmented virtual reality and anomalous screen |
| CN101650834A (en) * | 2009-07-16 | 2010-02-17 | 上海交通大学 | Three dimensional reconstruction method of human body surface under complex scene |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013149475A1 (en) * | 2012-04-06 | 2013-10-10 | 深圳创维数字技术股份有限公司 | User interface control method and device |
| CN102650906A (en) * | 2012-04-06 | 2012-08-29 | 深圳创维数字技术股份有限公司 | Control method and device for user interface |
| CN102650906B (en) * | 2012-04-06 | 2015-11-04 | 深圳创维数字技术有限公司 | A kind of control method of user interface and device |
| CN104603720A (en) * | 2012-09-12 | 2015-05-06 | 大陆汽车有限责任公司 | Method and device for operating a motor vehicle component by means of gestures |
| CN103279191B (en) * | 2013-06-18 | 2016-01-06 | 北京科技大学 | A kind of 3D virtual interacting method based on Gesture Recognition and system |
| CN103279191A (en) * | 2013-06-18 | 2013-09-04 | 北京科技大学 | 3D (three dimensional) virtual interaction method and system based on gesture recognition technology |
| CN104000586A (en) * | 2014-05-12 | 2014-08-27 | 燕山大学 | Stroke patient rehabilitation training system and method based on brain myoelectricity and virtual scene |
| CN109564473A (en) * | 2016-08-23 | 2019-04-02 | 谷歌有限责任公司 | System and method for placement of the virtual role in enhancing/reality environment |
| CN110503710A (en) * | 2019-09-04 | 2019-11-26 | 北京国润视光科技有限公司 | A kind of complex scene recovery training method based on real enhancing technology |
| CN111047708A (en) * | 2019-11-26 | 2020-04-21 | 中国人民解放军空军工程大学 | Complex equipment high-risk project training system based on mixed reality |
| CN111047708B (en) * | 2019-11-26 | 2022-12-13 | 中国人民解放军空军工程大学 | Complex equipment high-risk project training system based on mixed reality |
| CN110890148A (en) * | 2019-12-19 | 2020-03-17 | 上海金矢机器人科技有限公司 | Safety protection system and method based on rehabilitation training device |
| CN110890148B (en) * | 2019-12-19 | 2022-05-17 | 上海金矢机器人科技有限公司 | Safety protection system and method based on rehabilitation training device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102184342B (en) | 2013-11-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102184342B (en) | Virtual-real fused hand function rehabilitation training system and method | |
| CN109003301B (en) | Human body posture estimation method based on OpenPose and Kinect and rehabilitation training system | |
| JP7061694B2 (en) | Image processing methods and equipment, imaging equipment, and storage media | |
| US11532127B2 (en) | Virtual object driving method, apparatus, electronic device, and readable storage medium | |
| CN104699247B (en) | A kind of virtual reality interactive system and method based on machine vision | |
| CN108986189B (en) | Method and system for capturing and live broadcasting of real-time multi-person actions based on three-dimensional animation | |
| CN101231752B (en) | Mark-free true three-dimensional panoramic display and interactive apparatus | |
| CN104656893B (en) | The long-distance interactive control system and method in a kind of information physical space | |
| CN110931121A (en) | Remote operation guiding device based on Hololens and operation method | |
| CN105243375B (en) | A kind of motion characteristic extracting method and device | |
| CN105006011B (en) | The body feeling interaction formula drawing system and method for sense of reality three-dimensional scenic | |
| CN204406327U (en) | Based on the limb rehabilitating analog simulation training system of said three-dimensional body sense video camera | |
| CN105955483A (en) | Virtual reality terminal and visual virtualization method and device thereof | |
| Wei et al. | Multi-view merging for robot teleoperation with virtual reality | |
| WO2023185703A1 (en) | Motion control method, apparatus and device for virtual character, and storage medium | |
| CN109785415A (en) | A kind of movement acquisition system and its method based on ectoskeleton technology | |
| CN102479386A (en) | Three-dimensional motion tracking method of upper half part of human body based on monocular video | |
| CN103679712A (en) | Human body posture estimation method and human body posture estimation system | |
| CN109407826A (en) | Ball game analogy method, device, storage medium and electronic equipment | |
| CN202003298U (en) | Three-dimensional uncalibrated display interactive device | |
| CN107644686A (en) | Medical data acquisition system and method based on virtual reality | |
| CN107038682A (en) | The panntographic system and method for a kind of three-dimensional (3 D) manikin | |
| Anvari et al. | 3D human body pose estimation in virtual reality: a survey | |
| Zeng et al. | Research status of data application based on optical motion capture technology | |
| CN107038756B (en) | Rotating system and method of three-dimensional human body model |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211008 Address after: 266000 Room 305, building 2, No. 153, Zhuzhou Road, Laoshan District, Qingdao, Shandong Patentee after: Qingdao Shuji Technology Co.,Ltd. Address before: 266061 Songling Road, Laoshan District, Qingdao, Shandong Province, No. 99 Patentee before: QINGDAO University OF SCIENCE AND TECHNOLOGY |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211126 Address after: Room 1101-70, No. 379, Tayuan Road, high tech Zone, Suzhou, Jiangsu 215000 Patentee after: Suzhou Jimu Technology Co.,Ltd. Address before: 266000 Room 305, building 2, No. 153, Zhuzhou Road, Laoshan District, Qingdao, Shandong Patentee before: Qingdao Shuji Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right |