CN105653044A - Motion capture glove for virtual reality system and virtual reality system - Google Patents
Motion capture glove for virtual reality system and virtual reality system Download PDFInfo
- Publication number
- CN105653044A CN105653044A CN201610144512.4A CN201610144512A CN105653044A CN 105653044 A CN105653044 A CN 105653044A CN 201610144512 A CN201610144512 A CN 201610144512A CN 105653044 A CN105653044 A CN 105653044A
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- inertial sensor
- fingerstall
- movable information
- virtual reality
- reality system
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
Abstract
The invention discloses a motion capture glove for a virtual reality system and the virtual reality system. The motion capture glove comprises a three-finger fingerstall, a glove body, a wrist part and an optical mark; the three-finger fingerstall comprises a first inertial sensor, a second inertial sensor and a third inertial sensor which are respectively arranged at the second knuckles of a first fingerstall, a second fingerstall and a third fingerstall for the virtual reality system to determine the motion information of a first finger, a second finger and a third finger which wear the motion capture glove; the glove body comprises a fourth inertial sensor which is arranged at the hand back of the glove body, and is used for sending the motion information of the fourth inertial sensor for the virtual reality system to determine the motion information of a palm which wears the glove body; the wrist part comprises a fifth inertial sensor which is arranged on the back side of a wrist part, and is used for sending the motion information of the fifth inertial sensor for the virtual reality system to determine the motion information of the wrist which wears the wrist part; the optical mark is arranged on the back side of the wrist part for the virtual reality system to track to acquire an absolute position of the wrist which wears the wrist part.
Description
Technical field
The present invention relates to virtual reality system technical field, particularly relate to a kind of motion capture glove for virtual reality system and virtual reality system.
Background technology
Virtual reality system is generally the five fingers motion capture glove based on inertial sensor motion capture glove, is determined position and the attitude of forearm, palm and respective finger by the inertial sensor arranged on wrist dorsal part, the back of the hand, thumb second knuckle, thumb second knuckle, forefinger second knuckle, forefinger third knuckle, middle finger second knuckle, nameless second knuckle and little finger of toe second knuckle.
Inventor finds that in the process realize the present invention motion capture glove of prior art are real it is confirmed that wrist, palm and finger are relative to the relative position of ancon; The error intrinsic due to inertial sensor can be accumulated in integral process, thus causing position excursion, thus resulting in motion capture glove and cannot be carried out space orientation accurately; And, existing motion capture glove need all to install inertial sensor at every finger, are so not easy to dress the flexible motion with finger.
Summary of the invention
An embodiment provides a kind of motion capture glove for virtual reality system, including: three refer to fingerstall, glove bulk, wrist portion and optical markings.
Three refer to that fingerstall includes: the first fingerstall, including the first inertial sensor, it is arranged at the second knuckle place of described first fingerstall, sends the movable information of described first inertial sensor, determine the movable information of the first finger wearing described first fingerstall for described virtual reality system; Second fingerstall, including the second inertial sensor, is arranged at the second knuckle place of described second fingerstall, sends the movable information of described second inertial sensor, determine the movable information of the second finger wearing described second fingerstall for described virtual reality system; Tri-finger stall, including the 3rd inertial sensor, is arranged at the second knuckle place of described tri-finger stall, sends the movable information of described 3rd inertial sensor, determines the movable information of the 3rd finger wearing described tri-finger stall for described virtual reality system.
Glove bulk is connected with described first fingerstall, described second fingerstall and described tri-finger stall respectively.Glove bulk includes: the 4th inertial sensor, is arranged at the back of the hand place of described glove bulk, sends the movable information of described 4th inertial sensor, determines the movable information of the palm wearing described glove bulk for described virtual reality system.
Wrist portion is connected with described glove bulk. Wrist portion includes: the 5th inertial sensor, is arranged at the dorsal part of described wrist portion, sends the movable information of described 5th inertial sensor, determines the movable information of the wrist wearing described wrist portion for described virtual reality system.
Optical markings is arranged at the described dorsal part of described wrist portion, follows the trail of to obtain the absolute position of the wrist wearing described wrist portion for described virtual reality system.
An embodiment provides a kind of virtual reality system, including: motion capture glove, motion tracker, terminal and head mounted display.
Motion capture glove include: three refer to fingerstall, glove bulk, wrist portion and optical markings.
Three refer to that fingerstall includes: the first fingerstall, including the first inertial sensor, it is arranged at the second knuckle place of described first fingerstall, sends the movable information of described first inertial sensor, determine the movable information of the first finger wearing described first fingerstall for described virtual reality system; Second fingerstall, including the second inertial sensor, is arranged at the second knuckle place of described second fingerstall, sends the movable information of described second inertial sensor, determine the movable information of the second finger wearing described second fingerstall for described virtual reality system; Tri-finger stall, including the 3rd inertial sensor, is arranged at the second knuckle place of described tri-finger stall, sends the movable information of described 3rd inertial sensor, determines the movable information of the 3rd finger wearing described tri-finger stall for described virtual reality system.
Glove bulk is connected with described first fingerstall, described second fingerstall and described tri-finger stall respectively. Glove bulk includes: the 4th inertial sensor, is arranged at the back of the hand place of described glove bulk, sends the movable information of described 4th inertial sensor, determines the movable information of the palm wearing described glove bulk for described virtual reality system.
Wrist portion is connected with described glove bulk. Wrist portion includes: the 5th inertial sensor, is arranged at the dorsal part of described wrist portion, sends the movable information of described 5th inertial sensor, determines the movable information of the wrist wearing described wrist portion for described virtual reality system.
Optical markings is arranged at the described dorsal part of described wrist portion, follows the trail of to obtain the absolute position of the wrist wearing described wrist portion for described virtual reality system.
Motion tracker follows the trail of described optical markings, obtains the positional information of described optical markings, and sends acquired positional information.
Terminal receives from the positional information of described motion tracker so that it is determined that wear the absolute position of the wrist of described wrist portion, described terminal also receives from described first inertial sensor, described second inertial sensor, described 3rd inertial sensor, the movable information of described 4th inertial sensor and described 5th inertial sensor, and determine, according to the absolute position of described wrist and the movable information that receives, the forearm wearing described motion capture glove, hands is slapped, first finger, the limb motion information of second finger and the 3rd finger, the attitude of virtual objects is generated according to determined limb motion information, position and gesture information,
Head mounted display receives and shows the attitude of the virtual objects that described terminal generates, position and gesture information.
By above-mentioned motion capture glove, virtual reality system can be made by optical markings to be obtained the absolute position of the wrist wearing these glove, and then the absolute position according to forearm, wrist, palm, the movable information of three fingers and wrist, the palm of the user wearing these glove and the position accurately of arm and attitude can be obtained, rather than only obtain palm in the prior art relative to the position of ancon and attitude, thus promoting Consumer's Experience.
Additionally, by the movable information that the movable information of three fingers of above-mentioned motion capture glove acquisition can be thumb, forefinger and middle finger, nameless and little finger of toe movable information can be processed as same or similar with middle finger movable information in virtual reality system. So, only need to obtain the movable information of three fingers by above-mentioned motion capture glove and can complete action required in most of virtual reality system, for instance, some selection operation, long by operation, grasp operation, kneading operation etc.
By above-mentioned motion capture glove, action required in most of virtual reality system can be completed, also reduce the quantity of sensor, be conducive to user to dress and flexible motion, improve Consumer's Experience further.
Accompanying drawing explanation
The motion capture glove 100 for virtual reality system that Fig. 1 provides for one embodiment of the invention;
The motion capture glove 200 for virtual reality system that Fig. 2 provides for one embodiment of the invention;
The motion capture glove 300 for virtual reality system that Fig. 3 provides for one embodiment of the invention;
A kind of virtual reality system 1000 that Fig. 4 provides for one embodiment of the invention.
Detailed description of the invention
What the technical scheme and advantage for making the embodiment of the present invention was expressed becomes apparent from, and below by drawings and Examples, technical scheme is described in further detail.
The motion capture glove 100 for virtual reality system that Fig. 1 provides for one embodiment of the invention. As it is shown in figure 1, motion capture glove 100 include three finger fingerstall 60, palmar hand 40 and wrist portion 50. Three refer to that fingerstall 60 includes first fingerstall the 10, second fingerstall 20 and tri-finger stall 30. Such as, the first fingerstall 10 can be thumb stall; Second fingerstall 20 can be forefinger fingerstall; Tri-finger stall 30 can be middle finger fingerstall.
First fingerstall 10 includes the first inertial sensor 101. First inertial sensor 101 is arranged at the second knuckle place of the first fingerstall 10, send the movable information (including the information such as attitude, speed, acceleration, sequential) of self, determine the movable information of the first finger wearing the first fingerstall 10 for virtual reality system. Such as, the first inertial sensor 101 can be arranged at the second knuckle place of the first fingerstall 10 by sensor base. First inertial sensor 101 sends movable information also by wired or wireless mode. Such as, the movable information collected can be sent to R-T unit by wired or wireless mode or be sent directly to the terminal of virtual reality system by the first inertial sensor 101.
Second fingerstall 20 includes the second inertial sensor 201. Second inertial sensor 201 is arranged at the second knuckle place of the second fingerstall 20, send the movable information (including the information such as attitude, speed, acceleration, sequential) of self, determine the movable information of the second finger wearing the second fingerstall 20 for virtual reality system.Such as, the second inertial sensor 201 can be arranged at the second knuckle place of the second fingerstall 20 by sensor base. Second inertial sensor 201 sends the movable information collected also by wired or wireless mode. Such as, movable information can be sent to R-T unit by wired or wireless mode or be sent directly to the terminal of virtual reality system by the second inertial sensor 201.
Tri-finger stall 30 includes the 3rd inertial sensor 301. 3rd inertial sensor 301 is arranged at the second knuckle place of tri-finger stall 30, send the movable information (including the information such as attitude, speed, acceleration, sequential) of self, determine the movable information of the 3rd finger wearing tri-finger stall 30 for virtual reality system. Such as, the 3rd inertial sensor 301 can be arranged at the second knuckle place of tri-finger stall 30 by sensor base. 3rd inertial sensor 301 sends the movable information collected also by wired or wireless mode. Such as, the movable information collected can be sent to R-T unit by wired or wireless mode or be sent directly to the terminal of virtual reality system by the 3rd inertial sensor 301.
Glove bulk 40 is connected with first fingerstall the 10, second fingerstall 20 and tri-finger stall 30 respectively. Glove bulk 40 includes the 4th inertial sensor 401. 4th sensor 401 is arranged at the back of the hand place of glove bulk 40, sends the movable information (including the information such as attitude, speed, acceleration, sequential) of self, determines the movable information of the palm of wearing gloves body 40 for virtual reality system.
Such as, glove bulk 40 can be stitched together with first fingerstall the 10, second fingerstall 20 and tri-finger stall 30; Glove bulk 40 also can be detachably connected with first fingerstall the 10, second fingerstall 20 and tri-finger stall 30, for instance by modes such as slide fastener, VELCRO, snap-fasteners. Selecting as one, glove bulk can be what separate with first fingerstall the 10, second fingerstall 20 and tri-finger stall 30.
Such as, the 4th inertial sensor 401 can be arranged at glove bulk 40 the back of the hand place by sensor base. 4th inertial sensor 401 sends the movable information collected also by wired or wireless mode. Such as, the movable information collected can be sent to R-T unit by wired or wireless mode or be sent directly to the terminal of virtual reality system by the 4th inertial sensor 401.
Wrist portion 50 is connected with glove bulk 40. Wrist portion includes the 5th inertial sensor 501. 5th inertial sensor 501 is arranged at the dorsal part of wrist portion 50, sends the movable information (including the information such as attitude, speed, acceleration, sequential) of self, determines the movable information of the wrist wearing wrist portion 50 for virtual reality system.
Such as, wrist portion 50 can be stitched together with glove bulk 40; Wrist portion 50 also can be detachably connected with glove bulk 40, for instance by modes such as slide fastener, VELCRO, snap-fasteners. Selecting as one, glove bulk can be what separate with first fingerstall the 10, second fingerstall 20 and tri-finger stall 30.
Such as, the 5th inertial sensor 501 can be arranged at wrist portion 50 the back of the hand place by sensor base. 5th inertial sensor 501 sends the movable information collected also by wired or wireless mode. Such as, the movable information collected can be sent to R-T unit by wired or wireless mode or be sent directly to the terminal of virtual reality system by the 5th inertial sensor 501.
Optical markings 502 is arranged at the dorsal part of wrist portion 50, follows the trail of to obtain the absolute position of the wrist wearing described wrist portion for virtual reality system.
By above-mentioned motion capture glove, virtual reality system can be made by optical markings 502 to be obtained the absolute position of the wrist wearing these glove, and then the absolute position according to forearm, wrist, palm, the movable information of three fingers and wrist, the palm of the user wearing these glove and the position accurately of arm and attitude can be obtained, rather than only obtain palm in the prior art relative to the position of ancon and attitude, thus promoting Consumer's Experience.
Additionally, by the movable information that the movable information of three fingers of above-mentioned motion capture glove acquisition can be thumb, forefinger and middle finger, nameless and little finger of toe movable information can be processed as same or similar with middle finger movable information in virtual reality system. So, only need to obtain the movable information of three fingers by above-mentioned motion capture glove and can complete action required in most of virtual reality system, for instance, some selection operation, long by operation, grasp operation, kneading operation etc.
By above-mentioned motion capture glove, action required in most of virtual reality system can be completed, also reduce the quantity of sensor, be conducive to user to dress and flexible motion, improve Consumer's Experience further.
The motion capture glove 200 for virtual reality system that Fig. 2 provides for one embodiment of the invention. As in figure 2 it is shown, action glove 200 also include R-T unit 402 except the parts included by the motion capture glove 100 shown in above-mentioned Fig. 1. Such as, R-T unit 402 may be disposed at the dorsal side of palmar hand 40.
R-T unit 402 wire or wirelessly can be connected with first inertial sensor the 101, second inertial sensor the 201, the 3rd inertial sensor the 301, the 4th inertial sensor 401 and the 5th inertial sensor 501. R-T unit 801 receives first inertial sensor the 101, second inertial sensor the 201, the 3rd inertial sensor the 301, the 4th inertial sensor 401 and the movable information of the 5th inertial sensor 501 transmission, and sends the movable information received.
Such as, palm movable information that middle finger movable information that R-T unit 801 receives thumb movement information that the first inertial sensor 101 collects, the second inertial sensor 201 collects firefinger movement information, the 3rd inertial sensor 301 collect, the 4th inertial sensor 401 collect and the Wrist-sport information that the 5th inertial sensor 501 collects, and received movable information is sent to the terminal of virtual reality system to process accordingly.
The motion capture glove 300 for virtual reality system that Fig. 3 provides for one embodiment of the invention. As it is shown on figure 3, motion capture glove 300 may also include power supply 403. Such as, power supply 403 may be disposed at the dorsal side of palmar hand 40. Power supply 403 is connectable to the first inertial sensor the 101, second inertial sensor the 201, the 3rd inertial sensor the 301, the 4th inertial sensor 401 and the 5th inertial sensor 501, thus powering for it. Such as, power supply 403 can be battery or power supply 403 can other power supplys external, thus powering for inertial sensor and/or R-T unit.
A kind of virtual reality system 1000 that Fig. 4 provides for one embodiment of the invention. As it can be seen, this system 1000 includes motion capture glove 400, terminal 500, head mounted display 600 and motion tracker 700.
Motion capture glove 400 for any one in the motion capture glove 200 shown in the motion capture glove 100 shown in Fig. 1, Fig. 2, the motion capture glove 300 shown in Fig. 3, can not repeat them here.
Motion tracker 700 follows the trail of optical markings 502, obtains positional information and the attitude information of optical markings 502, and sends acquired positional information.
Terminal 500 receives the positional information of the optical markings 502 from motion tracker 700 so that it is determined that wear the absolute position of the wrist of described wrist portion. Terminal 500 also receives the movable information that first inertial sensor the 101, second inertial sensor the 102, the 3rd inertial sensor the 103, the 4th inertial sensor the 104, the 5th inertial sensor 105 gathers, and determine, according to the absolute position of wrist and the movable information that receives, the limb motion information wearing the forearm of described motion capture glove, palm, the first finger, second finger and the 3rd finger, generate the attitude of virtual objects, position and gesture information according to determined limb motion information.
The attitude of virtual objects, position and the gesture information that head mounted display 600 receives and display terminal 500 generates.
Such as, in this virtual reality system, after dressing motion capture glove 400 according to specific mode, it is necessary to the alignment error of each inertial sensor and optical markings is calibrated. Calibration can be specified according to user and design calibration poses. During calibration, measuring object needs to make the action contacted according to the mode specified with calibration stage property. Terminal 500, according to known calibration stage property attitude, measures object relative to attitude and the position of calibrating stage property during calibration set in advance, and the movable information that inertial sensor measurement is arrived, it is determined that the alignment error of sensor unit and optical markings. After completing the calibration of sensor unit, can start the motion of motion capture object (object to be measured) is caught.
When carrying out motion-captured, the alignment error of the optical markings that the positional information of the optical markings 502 that terminal 500 is sent by motion tracker 700 and calibration obtain can determine that the absolute position of the wrist wearing motion capture glove.
The movable information (including speed, acceleration, sequential, attitude etc.) of forearm is determined in the absolute position of the movable information that terminal 500 transmits according to the 5th inertial sensor 501, the relative attitude calibrated between the 5th inertial sensor 501 and the forearm that obtain and wrist; Terminal 500 obtains elbow position based on default forearm lengths. Relative attitude between movable information that terminal 500 transmits according to the 4th inertial sensor 401 and the 4th inertial sensor 401 and palm that calibration obtains determines the movable information (including speed, acceleration, sequential, attitude etc.) of palm; Terminal 500 obtains the position of each finger root based on default hand length and the wrist position obtained.
Relative attitude between movable information that terminal 500 transmits according to the first inertial sensor 101 and the first inertial sensor 101 and the first finger (such as thumb) that calibration obtains determines the movable information (including speed, acceleration, sequential, attitude etc.) of the first finger; Based on the first default finger, terminal 500 refers to that joint length and the first finger root position of obtaining obtain each of the first finger and refer to joint position and attitude.
In like manner, terminal 500 can obtain each of second finger (such as forefinger) and refer to that each of joint position and attitude and the 3rd finger (such as middle finger) refers to joint position and attitude.
Selecting as one, each not installing the finger (such as nameless and little finger of toe) of inertial sensor is referred to that the position of joint processes as identical in middle finger with attitude by terminal 500.
Above-mentioned virtual reality system obtains the absolute position of the wrist wearing these glove by optical markings 502, and then the absolute position according to forearm, wrist, palm, the movable information of three fingers and wrist, the palm of the user wearing these glove and the position accurately of arm and attitude can be obtained, rather than only obtain palm in the prior art relative to the position of ancon and attitude, thus promoting Consumer's Experience.
Additionally, by the movable information that the movable information of three fingers of the motion capture glove acquisition in above-mentioned virtual reality system can be thumb, forefinger and middle finger, nameless and little finger of toe movable information can be processed as same or similar with middle finger movable information in virtual reality system. So, only need to obtain the movable information of three fingers by above-mentioned motion capture glove and can complete interactive action required in most of virtual reality system, for instance, some selection operation, long by operation, grasp operation, kneading operation etc.
By above-mentioned virtual reality system, motion capture glove can complete action required in most of virtual reality system, also reduces the quantity of sensor, is conducive to user to dress and flexible motion, improves Consumer's Experience further.
The computer program performed by CPU it is also implemented as according to disclosed method. When this computer program is performed by CPU, perform the above-mentioned functions limited in disclosed method.
Additionally, said method step and system unit can also utilize controller and for storing so that controller realizes the computer readable storage devices realization of the computer program of above-mentioned steps or Elementary Function.
In addition, it should be appreciated that computer readable storage devices as herein described (such as, memorizer) can be volatile memory or nonvolatile memory, or volatile memory and nonvolatile memory can be included. Nonrestrictive as an example, nonvolatile memory can include read only memory (ROM), programming ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM), and this RAM can serve as external cache. Nonrestrictive as an example, RAM can obtain in a variety of forms, such as synchronous random access memory (DRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate SDRAM (DDRSDRAM), enhancing SDRAM (ESDRAM), synchronization link DRAM (SLDRAM) and direct RambusRAM (DRRAM). The storage device of disclosed aspect is intended to include but not limited to the memorizer of these and other suitable type.
Those skilled in the art will also understand is that, may be implemented as electronic hardware, computer software or both combinations in conjunction with the various illustrative logical blocks described by disclosure herein, module, circuit and algorithm steps. In order to clearly demonstrate this interchangeability of hardware and software, to it, general description is carried out with regard to the function of various exemplary components, square, module, circuit and step. This function is implemented as software and is also implemented as hardware and depends on specifically applying and being applied to the design constraint of whole system. Those skilled in the art can realize described function in every way for every kind of concrete application, but this realization decision is not necessarily to be construed as and causes departing from the scope of the present disclosure.
The following parts being designed to perform function described here can be utilized to realize or perform in conjunction with the various illustrative logical blocks described by disclosure herein, module and circuit: any combination of general processor, digital signal processor (DSP), special IC (ASIC), field programmable gate array (FPGA) or other PLD, discrete gate or transistor logic, discrete nextport hardware component NextPort or these parts. General processor can be microprocessor, but alternatively, processor can be any conventional processors, controller, microcontroller or state machine. Processor can also be implemented as the combination of computing equipment, for instance, DSP and the combination of microprocessor, multi-microprocessor, one or more microprocessor are in conjunction with DSP core or other this configuration any.
Step in conjunction with the method described by disclosure herein or algorithm can be directly contained in the software module performed in hardware, by processor or in combination of the two. Software module may reside within the storage medium of RAM memory, flash memory, ROM memory, eprom memory, eeprom memory, depositor, hard disk, removable dish, CD-ROM or other form any known in the art. Exemplary storage medium is coupled to processor so that processor can read information from this storage medium or write information to this storage medium. In an alternative, described storage medium can be integral to the processor together. Processor and storage medium may reside within ASIC. ASIC may reside within customer mobile terminal. In an alternative, processor and storage medium can reside in customer mobile terminal as discrete assembly.
In one or more exemplary design, described function can realize in hardware, software, firmware or its combination in any. If realized in software, then described function can be stored on a computer-readable medium as one or more instructions or code or transmitted by computer-readable medium. Computer-readable medium includes computer-readable storage medium and communication media, and this communication media includes any medium contributing to that computer program is sent to another position from a position. Storage medium can be able to any usable medium being accessed by a general purpose or special purpose computer. Nonrestrictive as an example, this computer-readable medium can include RAM, ROM, EEPROM, CD-ROM or other optical disc memory apparatus, disk storage equipment or other magnetic storage apparatus, or may be used for carrying or required program code that storage form is instruction or data structure and other medium any that can be accessed by universal or special computer or universal or special processor. Additionally, any connection can be properly termed as computer-readable medium. Such as, if use coaxial cable, optical fiber cable, twisted-pair feeder, digital subscriber line (DSL) or such as infrared ray, radio and microwave wireless technology come from website, server or other remote source send software, then the wireless technology of above-mentioned coaxial cable, optical fiber cable, twisted-pair feeder, DSL or such as infrared first, radio and microwave is included in the definition of medium. As used herein, disk and CD include compact disk (CD), laser disk, CD, digital versatile disc (DVD), floppy disk, Blu-ray disc, wherein disk generally magnetically reproduces data, and CD reproduces data with utilizing laser optics. The combination of foregoing should also be as including in the scope of computer-readable medium.
Claims (6)
1. the motion capture glove for virtual reality system, it is characterised in that including:
Three refer to fingerstall, including:
First fingerstall, including the first inertial sensor, is arranged at the second knuckle place of described first fingerstall, sends the movable information of described first inertial sensor, determine the movable information of the first finger wearing described first fingerstall for described virtual reality system;
Second fingerstall, including the second inertial sensor, is arranged at the second knuckle place of described second fingerstall, sends the movable information of described second inertial sensor, determine the movable information of the second finger wearing described second fingerstall for described virtual reality system;
Tri-finger stall, including the 3rd inertial sensor, is arranged at the second knuckle place of described tri-finger stall, sends the movable information of described 3rd inertial sensor, determines the movable information of the 3rd finger wearing described tri-finger stall for described virtual reality system;
Glove bulk, is connected with described first fingerstall, described second fingerstall and described tri-finger stall respectively, including:
4th inertial sensor, is arranged at the back of the hand place of described glove bulk, sends the movable information of described 4th inertial sensor, determines the movable information of the palm wearing described glove bulk for described virtual reality system;
Wrist portion, is connected with described glove bulk, including:
5th inertial sensor, is arranged at the dorsal part of described wrist portion, sends the movable information of described 5th inertial sensor, determines the movable information of the wrist wearing described wrist portion for described virtual reality system;
Optical markings, is arranged at the described dorsal part of described wrist portion, follows the trail of to obtain the absolute position of the wrist wearing described wrist portion for described virtual reality system.
2. glove as claimed in claim 1, it is characterised in that described palmar hand also includes:
R-T unit, receives the attitude information from described first inertial sensor, described second inertial sensor, described 3rd inertial sensor, described 4th inertial sensor and described 5th inertial sensor, sends the attitude information received.
3. glove as claimed in claim 1, it is characterised in that described palmar hand also includes:
Power supply, is connected to described first inertial sensor, described second inertial sensor, described 3rd inertial sensor, described 4th inertial sensor and described 5th inertial sensor.
4. a virtual reality system, it is characterised in that including:
Motion capture glove, including:
Three refer to fingerstall, including:
First fingerstall, including the first inertial sensor, is arranged at the second knuckle place of described first fingerstall, sends the movable information of described first inertial sensor;
Second fingerstall, including the second inertial sensor, is arranged at the second knuckle place of described second fingerstall, sends the movable information of described second inertial sensor;
Tri-finger stall, including the 3rd inertial sensor, is arranged at the second knuckle place of described tri-finger stall, sends the movable information of described 3rd inertial sensor;
Glove bulk, is connected with described first fingerstall, described second fingerstall and described tri-finger stall respectively, including:
4th inertial sensor, is arranged at the back of the hand place of described glove bulk, sends the movable information of described 4th inertial sensor;
Wrist portion, is connected with described glove bulk, including:
5th inertial sensor, is arranged at the dorsal part of described wrist portion, sends the movable information of described 5th inertial sensor;
Optical markings, is arranged at the described dorsal part of described wrist portion;
Motion tracker, follows the trail of described optical markings, obtains the positional information of described optical markings, and sends acquired positional information;
Terminal, receive from the positional information of described motion tracker so that it is determined that wear the absolute position of the wrist of described wrist portion, described terminal also receives from described first inertial sensor, described second inertial sensor, described 3rd inertial sensor, the movable information of described 4th inertial sensor and described 5th inertial sensor, and determine, according to the absolute position of described wrist and the movable information that receives, the forearm wearing described motion capture glove, hands is slapped, first finger, the limb motion information of second finger and the 3rd finger, the attitude of virtual objects is generated according to determined limb motion information, position and gesture information,
Head mounted display, receives and shows the attitude of the virtual objects that described terminal generates, position and gesture information.
5. system as claimed in claim 4, it is characterised in that described palmar hand also includes:
R-T unit, receives the attitude information from described first inertial sensor, described second inertial sensor, described 3rd inertial sensor, described 4th inertial sensor and described 5th inertial sensor, sends the attitude information received.
6. system as claimed in claim 4, it is characterised in that described palmar hand also includes:
Power supply, is connected to described first inertial sensor, described second inertial sensor, described 3rd inertial sensor, described 4th inertial sensor and described 5th inertial sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610144512.4A CN105653044A (en) | 2016-03-14 | 2016-03-14 | Motion capture glove for virtual reality system and virtual reality system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610144512.4A CN105653044A (en) | 2016-03-14 | 2016-03-14 | Motion capture glove for virtual reality system and virtual reality system |
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| CN105653044A true CN105653044A (en) | 2016-06-08 |
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| CN201610144512.4A Pending CN105653044A (en) | 2016-03-14 | 2016-03-14 | Motion capture glove for virtual reality system and virtual reality system |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106502400A (en) * | 2016-10-24 | 2017-03-15 | 网易（杭州）网络有限公司 | Virtual reality system and virtual reality system input method |
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| CN112099636A (en) * | 2020-09-23 | 2020-12-18 | 广东工业大学 | Precision detection method and related device of virtual reality motion capture system |
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| CN107844191A (en) * | 2016-09-21 | 2018-03-27 | 北京诺亦腾科技有限公司 | Motion capture device for virtual reality |
| CN106502400A (en) * | 2016-10-24 | 2017-03-15 | 网易（杭州）网络有限公司 | Virtual reality system and virtual reality system input method |
| CN106502400B (en) * | 2016-10-24 | 2018-10-23 | 网易（杭州）网络有限公司 | virtual reality system and virtual reality system input method |
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| CN108268129B (en) * | 2016-12-30 | 2021-03-12 | 北京诺亦腾科技有限公司 | Method and apparatus for calibrating a plurality of sensors on a motion capture glove and motion capture glove |
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| CN109997099B (en) * | 2017-08-18 | 2022-07-19 | 韩国科学技术研究院 | Finger motion capture interface device based on three-dimensional magnetic sensor |
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| CN108196686B (en) * | 2018-03-13 | 2024-01-26 | 北京无远弗届科技有限公司 | Hand motion gesture capturing device, method and virtual reality interaction system |
| CN108427506A (en) * | 2018-03-30 | 2018-08-21 | 北京诺亦腾科技有限公司 | A kind of motion capture gloves |
| CN108654080A (en) * | 2018-05-21 | 2018-10-16 | 云谷（固安）科技有限公司 | A kind of control input equipment and control input method |
| CN109343702A (en) * | 2018-09-10 | 2019-02-15 | 梦卓科技（深圳）有限公司 | A kind of portable V R action input method based on intelligent ring and node |
| CN110333776A (en) * | 2019-05-16 | 2019-10-15 | 上海精密计量测试研究所 | A kind of military equipment operation training system and method based on wearable device |
| CN110962146A (en) * | 2019-05-29 | 2020-04-07 | 博睿科有限公司 | Manipulation system and method of robot apparatus |
| US11612999B2 (en) | 2019-05-29 | 2023-03-28 | BrainCo Inc. | System and method for manipulating robotic device |
| CN111433783A (en) * | 2019-07-04 | 2020-07-17 | 深圳市瑞立视多媒体科技有限公司 | Hand model generation method and device, terminal device and hand motion capture method |
| CN111240469A (en) * | 2019-12-31 | 2020-06-05 | 北京诺亦腾科技有限公司 | Calibration method and device for hand motion capture, electronic device and storage medium |
| CN112099636A (en) * | 2020-09-23 | 2020-12-18 | 广东工业大学 | Precision detection method and related device of virtual reality motion capture system |
| CN112099636B (en) * | 2020-09-23 | 2023-02-10 | 广东工业大学 | Precision detection method and related device of virtual reality motion capture system |
| CN112764540A (en) * | 2021-01-15 | 2021-05-07 | Oppo广东移动通信有限公司 | Equipment identification method and device, storage medium and electronic equipment |
| CN113741699A (en) * | 2021-09-15 | 2021-12-03 | 刘志超 | Gesture input device based on intelligent ring and system and method thereof |
| WO2023197831A1 (en) * | 2022-04-13 | 2023-10-19 | 北京字跳网络技术有限公司 | Head-mounted terminal device, and tracking method and apparatus therefor |
| CN116994720A (en) * | 2023-08-09 | 2023-11-03 | 上海涞秋医疗科技有限责任公司 | Image remote communication collaboration system based on XR technology |
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