CN105677036B - A kind of interactive data gloves - Google Patents
A kind of interactive data gloves Download PDFInfo
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- CN105677036B CN105677036B CN201610064202.1A CN201610064202A CN105677036B CN 105677036 B CN105677036 B CN 105677036B CN 201610064202 A CN201610064202 A CN 201610064202A CN 105677036 B CN105677036 B CN 105677036B
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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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Input By Displaying (AREA)
- User Interface Of Digital Computer (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of interactive data gloves, belong to human-computer interaction device's technical field.The interactive data gloves include 9 axle inertial sensors of three-dimensional angular velocity, three-dimensional acceleration and the Three-Dimensional Magnetic vector for gathering each joint of human hand, for gathering the touch sensor of contact force, piezoelectric type tactile driver for feedback force situation, the microprocessor of three class sensor informations of processing in real time, for the wireless transport module of data transfer, for showing the main control end of virtual hand model and interaction process.Notebook data glove system adaptive faculty is strong, easy to wear, energy is real-time, complete, the rapidly movable information of palm and each finger, tactile data, and can realize that power interacts, it can be shown with long-distance transmissions and intuitively, can apply to the multiple fields such as man-machine interaction, remote operating, upper limb healing monitoring.
Description
Technical field
The present invention relates to a kind of interactive data gloves, belong to human-computer interaction device's technical field.
Background technology
Human-computer interaction technology fast development in recent years, it mainly by relevant device identify people various actions action,
Body gesture etc. carries out interactive, the function such as realization game, operation training, body-building with computer virtual environment.Wherein, data glove
It is conventional means, it realizes the seizure that human hand acts by optical fiber or inertia device, realizes the operation of virtual environment, but mesh
The preceding data glove that can seldom realize interactive mode.
The content of the invention
The purpose of the present invention is to propose to a kind of interactive data gloves, for capturing the motion letter of palm and finger in real time
Breath, the tactile data of each finger tip, and carry out real-time display, while fictitious force with vibrational feedback to data glove, realize one
The process of individual interaction, it can apply to the many-sides such as man-machine interaction, remote operating, Monitoring Rehabilitation.
Interactive data gloves proposed by the present invention, including：
16 9 axle inertial sensors, for measure the three-dimensional angular velocity of palm and finger-joint, three-dimensional acceleration and
Three-Dimensional Magnetic vector, 16 9 axle inertial sensors are divided into five groups, wherein, first group is serially connected by four 9 axle inertial sensors
Form, four 9 axle inertial sensors are separately mounted on middle finger three joints and the back of the hand at the gloves back side；Second group, the 3rd group,
4th group and BSA are not serially connected by three 9 axle inertial sensors and formed, four groups of three 9 axle inertial sensors difference
On three joints of the thumb at the gloves back side, forefinger, the third finger and little finger, 16 9 axle inertial sensors are visited
Three-dimensional acceleration, three-dimensional angular velocity and the Three-Dimensional Magnetic vector measured is sent to microprocessor by signal wire, to obtain palm
With the movable information of finger-joint；
Five touch sensors, for measuring the finger surface operating pressure value of finger surface operation, five tactile sensings
Device is separately mounted on the positive each finger tip face of gloves, and five touch sensors detect obtained finger surface operating pressure value
Microprocessor is sent to by signal wire；
Five piezoelectric type tactile drivers, for receiving the control signal of microprocessor feedback, drive piezoelectric type tactile
Device realizes vibration, and five piezoelectric type tactile drivers are separately fixed at each fingertip end of gloves, for feeding back the feelings of fictitious force
Condition；
Microprocessor, for the three-dimensional angular velocity of 16 9 axle inertial sensors of reception, three-dimensional acceleration, three-D magnetic-vector
The pressure value of amount and touch sensor, calculate posture, speed and the position of each finger-joint and palm in real time, and finger touches
Feel, while fictitious force is resolved the feedback signal for piezoelectric type tactile driver in real time, microprocessor is worn on arm；
Wireless transport module, for above-mentioned microprocessor is calculated the posture of each finger-joint and palm, speed and
Position is wirelessly sent to main control end, while microprocessor is wirelessly issued in the fictitious force instruction of main control end；
Power supply, for passing for 9 axle inertial sensors, touch sensor, piezoelectric type tactile driver, microprocessor and wirelessly
Defeated module for power supply, power supply are worn on arm.
Central processing unit, for the heat transfer agent being calculated by wireless transport module reception microprocessor, drive in real time
Dynamic virtual imitation hand model, the operation fictitious force of hand model or the force feedback of control machinery hand virtual will be imitated into piezoelectric type
The instruction stream of tactile driver.
Interactive data gloves proposed by the present invention, such as imaged without external equipment it is first-class can be carried out work, not by
Ambient lighting, block etc. and to influence, adaptive faculty is strong, easy to wear, can in real time, it is complete, rapidly capture palm and each finger
Movable information, tactile data, while with force feedback, realize the operation of interactive mode.The donning system of the present invention can pass at a distance
It is defeated and intuitively show, it can apply to the multiple fields such as man-machine interaction, remote operating, upper limb healing monitoring.
Brief description of the drawings
Fig. 1 is the FB(flow block) of interactive data gloves proposed by the present invention.
Fig. 2 is the structural representation of interactive data gloves proposed by the present invention, wherein, (a) is the structure of gloves reverse side
Schematic diagram, (b) are the positive structural representation of gloves.
In Fig. 2,1 is nine axle inertial sensors, and 2 be touch sensor, and 3 be piezoelectric type tactile driver, and 4 be power supply, and 5 are
Microprocessor, 6 be wireless transport module, and 7 be central processing unit.
Embodiment
Interactive data gloves proposed by the present invention, FB(flow block) as shown in figure 1, structural representation as shown in Fig. 2 bag
Include：
16 9 axle inertial sensors 1, for measure three-dimensional angular velocity, the three-dimensional acceleration of palm and finger-joint with
And Three-Dimensional Magnetic vector, 16 9 axle inertial sensors 1 divide for five groups, wherein, first group is mutual by four 9 axle inertial sensors 1
It is in series, four 9 axle inertial sensors 1 are separately mounted on middle finger three joints and the back of the hand at the gloves back side；Second group,
Three groups, the 4th group and BSA are not serially connected by three 9 axle inertial sensors 1 and formed, four groups of three 9 axle inertia sensings
Device 1 is separately mounted on three joints of the thumb at the gloves back side, forefinger, the third finger and little finger, and 16 9 axle inertia pass
Sensor 1 detects obtained three-dimensional acceleration, three-dimensional angular velocity and Three-Dimensional Magnetic vector and sent by signal wire to microprocessor 5, with
Obtain the movable information of palm and finger-joint；
Five touch sensors 2, for measuring the finger surface operating pressure value of finger surface operation, five tactile sensings
Device 2 is separately mounted on the positive each finger tip face of gloves, and five touch sensors 2 detect obtained finger surface operating pressure
Value is sent to microprocessor 5 by signal wire；
Five piezoelectric type tactile drivers 3, for receiving the control signal of the feedback of microprocessor 5, drive piezoelectric type tactile
Dynamic device 3 realizes vibration, and five piezoelectric type tactile drivers 3 are separately fixed at each fingertip end of gloves, for feeding back fictitious force
Situation；
Microprocessor 5, for the three-dimensional angular velocity of 16 9 axle inertial sensors 1 of reception, three-dimensional acceleration, Three-Dimensional Magnetic
The pressure value 2 of vector touch sensor, posture, speed and the position of each finger-joint and palm, and finger are calculated in real time
Tactile, while fictitious force is resolved the feedback signal for piezoelectric type tactile driver 3 in real time, microprocessor 5 is worn on arm
On；
Wireless transport module 6, for above-mentioned microprocessor 5 to be calculated to posture, the speed of each finger-joint and palm
Central processing unit 7 is wirelessly sent to position, while the fictitious force instruction of central processing unit 7 is wirelessly sent out
To microprocessor；
Power supply 4, for for 9 axle inertial sensors 1, touch sensor 2, piezoelectric type tactile driver 3, the and of microprocessor 5
Wireless transport module 6 is powered, and power supply 4 is worn on arm.
Central processing unit 7, for receiving the heat transfer agent that is calculated of microprocessor 5 by wireless transport module 6, in real time
Driving is virtual to imitate hand model, will virtually imitate the operation fictitious force of hand model or the force feedback of control machinery hand into piezoelectricity
The instruction stream of formula tactile driver 3.
Claims (1)
1. a kind of interactive data gloves, it is characterised in that the gloves include：
16 9 axle inertial sensors, for measuring three-dimensional angular velocity, three-dimensional acceleration and the three-dimensional of palm and finger-joint
Magnetic vector, 16 9 axle inertial sensors are divided into five groups, wherein, first group be serially connected by four 9 axle inertial sensors and
Into four 9 axle inertial sensors are separately mounted on middle finger three joints and the back of the hand at the gloves back side；Second group, the 3rd group,
Four groups and BSA are not serially connected by three 9 axle inertial sensors and formed, and four groups of three 9 axle inertial sensors are pacified respectively
On three joints of the thumb at the gloves back side, forefinger, the third finger and little finger, 16 9 axle inertial sensors detections
Obtained three-dimensional acceleration, three-dimensional angular velocity and Three-Dimensional Magnetic vector is sent to microprocessor by signal wire, with obtain palm and
The movable information of finger-joint；
Five touch sensors, for measuring the finger surface operating pressure value of finger surface operation, five touch sensors point
An Zhuan not be on the positive each finger tip face of gloves, the finger surface operating pressure value that five touch sensors detect to obtain passes through
Signal wire is sent to microprocessor；
Five piezoelectric type tactile drivers, for receiving the control signal of microprocessor feedback, make piezoelectric type tactile driver real
Now vibrate, five piezoelectric type tactile drivers are separately fixed at each fingertip end of gloves, for feeding back the situation of fictitious force；
Microprocessor, for receiving three-dimensional angular velocity, three-dimensional acceleration, the Three-Dimensional Magnetic vector of 16 9 axle inertial sensors
The pressure value of five touch sensors, calculates posture, speed and the position of each finger-joint and palm in real time, and finger touches
Feel pressure, while the fictitious force that central processing unit resolves is converted into real time the feedback signal of piezoelectric type tactile driver, micro- place
Reason device is worn on arm；
Wireless transport module, for above-mentioned microprocessor to be calculated to posture, speed and the position of each finger-joint and palm
Central processing unit is wirelessly sent to, while microprocessor is wirelessly issued in the fictitious force instruction of central processing unit
Device；
Power supply, for for 9 axle inertial sensors, touch sensor, piezoelectric type tactile driver, microprocessor and being wirelessly transferred mould
Block is powered, and power supply is worn on arm；
Central processing unit, it is empty for the heat transfer agent being calculated by wireless transport module reception microprocessor, Real Time Drive
Intend imitating hand model, will virtually imitate Virtual force field caused by hand model and give piezoelectric type tactile driver, as piezoelectricity
The instruction stream of formula tactile driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610064202.1A CN105677036B (en) | 2016-01-29 | 2016-01-29 | A kind of interactive data gloves |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610064202.1A CN105677036B (en) | 2016-01-29 | 2016-01-29 | A kind of interactive data gloves |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105677036A CN105677036A (en) | 2016-06-15 |
| CN105677036B true CN105677036B (en) | 2018-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610064202.1A Active CN105677036B (en) | 2016-01-29 | 2016-01-29 | A kind of interactive data gloves |
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Families Citing this family (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018006291A1 (en) * | 2016-07-06 | 2018-01-11 | 华为技术有限公司 | Interaction device, system and method |
| CN109997096A (en) * | 2016-11-17 | 2019-07-09 | 索尼公司 | Vibrate presentation device, vibration rendering method and program |
| CN106527738B (en) * | 2016-12-08 | 2019-06-25 | 东北大学 | A kind of multi information body feeling interaction glove system and method for virtual reality system |
| CN107092353B (en) * | 2017-03-31 | 2020-04-24 | 东南大学 | Hand touch parameter acquisition and simulation restoration system and method |
| CN108693958B (en) * | 2017-04-12 | 2020-05-22 | 南方科技大学 | Gesture recognition method, device and system |
| CN107261417A (en) * | 2017-07-07 | 2017-10-20 | 广州康医疗设备实业有限公司 | Man-machine interactive system for rehabilitation training of upper limbs |
| CN107272908B (en) * | 2017-07-11 | 2021-01-22 | 北京奇艺世纪科技有限公司 | Gesture recognition device, system and gesture recognition method |
| CN107927950A (en) * | 2017-12-13 | 2018-04-20 | 浙江传媒学院 | Force feedback gloves for virtual reality technology |
| CN107877501B (en) * | 2017-12-20 | 2018-09-14 | 万博宣 | Mechanical arm |
| 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 |
| CN109426346A (en) * | 2018-07-16 | 2019-03-05 | 青岛大学 | A kind of data glove based on force feedback technique |
| CN109521876B (en) * | 2018-11-02 | 2020-06-30 | 东南大学 | Finger wearable flexible force tactile feedback device |
| CN109625137A (en) * | 2019-01-11 | 2019-04-16 | 海南大学 | One kind two takes turns balance car |
| CN110962146B (en) | 2019-05-29 | 2023-05-09 | 博睿科有限公司 | Manipulation system and method of robot apparatus |
| CN111645093B (en) * | 2020-05-22 | 2022-06-21 | 北京工业大学 | Force sense feedback data glove for teleoperation |
| CN111973399A (en) * | 2020-08-31 | 2020-11-24 | 西安交通大学 | Hand function rehabilitation training system based on fingertip touch stimulation |
| CN112130669A (en) * | 2020-10-27 | 2020-12-25 | 诺华视创电影科技(江苏)有限公司 | Data glove and data transmission method |
| CN112631428A (en) * | 2020-12-25 | 2021-04-09 | 睿爱智能科技(上海)有限责任公司 | Gloves of intelligence response |
| CN112834024A (en) * | 2021-01-08 | 2021-05-25 | 北京大学 | Wearable multidimensional force feedback device and method based on vibration array |
| CN113211466A (en) * | 2021-04-27 | 2021-08-06 | 北京科技大学顺德研究生院 | Medical somatosensory robot system based on inertial sensor |
| CN114063788A (en) * | 2021-11-24 | 2022-02-18 | 宁波高新区阶梯科技有限公司 | Mixed reality operation gloves |
| CN114443038B (en) * | 2022-04-08 | 2023-08-18 | 绿城科技产业服务集团有限公司 | Zero code configurable display system based on browser |
| CN116893743A (en) * | 2023-09-07 | 2023-10-17 | 武汉市聚芯微电子有限责任公司 | Device control method and device, computer device and storage medium |
| CN117251058B (en) * | 2023-11-14 | 2024-01-30 | 中国海洋大学 | Control method of multi-information somatosensory interaction system |
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| CN105677036A (en) | 2016-06-15 |
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