CN107214713A - A kind of outer attached support, full free degree self-adapting data gloves and its data processing method - Google Patents
A kind of outer attached support, full free degree self-adapting data gloves and its data processing method Download PDFInfo
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- CN107214713A CN107214713A CN201710648914.2A CN201710648914A CN107214713A CN 107214713 A CN107214713 A CN 107214713A CN 201710648914 A CN201710648914 A CN 201710648914A CN 107214713 A CN107214713 A CN 107214713A
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- palm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/04—Foot-operated control means
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- Mechanical Engineering (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The present invention provides a kind of outer attached support, full free degree self-adapting data gloves and its data processing method.The outer attached support, includes attached support outside each finger；The hand back part of forefinger and middle finger is the integrated design, and the nameless hand back part with middle finger is attached using flexible connection piece；The nameless hand back part with little finger of toe, which is adopted, to be screwed；Each artis outside each finger on attached support is connected using bearing, is built-in with a miniature potentiometer in each joint, miniature potentiometer is connected by one piece of tiny aluminium flake with external concentric support.The present invention provides a kind of outer attached support, the full free degree, self-adapting data gloves and its data processing method, significantly reduce the manufacturing cost of data glove, the manufacturing cost of the data glove by bend sensor is reduced, while ensure that the precision and stability of measurement.
Description
Technical field
The present invention relates to mechano-electronic field, more particularly to a kind of outer attached support, full free degree self-adapting data gloves and
Its data processing method.
Background technology
Data glove is a kind of virtual reality hardware of multi-mode, by software programming, can carry out object in virtual scene
The action such as capture, move, rotating, its multi-mode can also be utilized, as a kind of instrument for controlling scene walkthrough.Data
The appearance of gloves, provides a kind of brand-new interactive meanses, current product such as Cyberglove is for virtual reality system
The bend sensor that can be made up of bending resistance detects the bending of finger particular joint.The technology content of data glove is
It can measure the quantity of the finger free degree, and the free degree that can be measured is more, and relevant art content is also higher.Such as authorize public affairs
5 bend sensors have been made to use only 5 bending resistances in the U of CN 204868848 utility model patent in announcement number, only
There are 5 frees degree.And the product such as this more forward positions of Cyberglove has been developed to 15 frees degree（Measure finger-joint
Angle）.Using bending resistance as core material, bend sensor is made in above-described data glove, so that it is each to measure finger
The angle in joint.Bending resistance is a kind of resistance of strip, and its resistance can form linear change with angle of bend during bending, special
It is not suitable for measuring the angle in arc joint, but its shortcoming is that manufacturing cost is expensive, and volume is larger, should not measure multiaxis
Angle.
The content of the invention
For background technology and the weak point of existing design, it is contemplated that a kind of outer attached support of invention, the full free degree
Self-adapting data gloves and its data processing method.
The present invention provides a kind of outer attached support, it is characterised in that the outer attached support includes attached support outside thumb, outside forefinger
Attached support outside attached support, middle finger, nameless outer attached support, attached support outside little finger of toe；
The nameless hand back part with middle finger is attached using flexible connection piece；Forefinger and middle finger are set using integrated module
Meter, the nameless hand back part with little finger of toe, which is adopted, to be screwed；
At least one joint tie point is included outside each finger on attached support, each artis is connected using bearing, in each joint
A miniature potentiometer is equipped with, miniature potentiometer is connected by one piece of tiny aluminium flake with external concentric support.
It is preferred that, miniature potentiometer is connected with controller, or is connected by multiplexer with controller, and finger is closed
Angle of bend at section is converted into the voltage signal at potentiometer two ends, recycles controller to go out reality according to voltage signal Inversion Calculation
Border angle of bend.
It is preferred that, outside each finger of the outer attached support on attached support, groove is additionally provided with referring to dorsal part, it is multiple for installing
Position spring, the back-moving spring is arranged to that each joint of data glove is retracted into original position during finger is stretched, so as to be
Bending is ready next time.
It is preferred that, attached support is inputted with 4 channel analog signals outside thumb, and attached support is believed with 3 tunnels analogies outside forefinger
Number input, there are attached support 3 channel analog signals to input outside middle finger, nameless outer attached support with the input of 3 channel analog signals,
Attached support is inputted with 3 channel analog signals outside little finger of toe.
It is preferred that, there are two frees degree at thumb tip, takes the analog signal input of two passages, thumb and palm
There are two frees degree coupling part, takes the analog signal input of two passages, the two frees degree that thumb is connected with palm
The longitudinally opposed angle and whole thumb and the laterally opposed angle of palm of whole thumb and palm are measured respectively；
Index finger tip has one degree of freedom, and the analog signal for taking a passage is inputted, and the coupling part of forefinger and palm has two
The individual free degree, takes the analog signal input of two passages, and the two frees degree that forefinger is connected with palm are measured entirely respectively
The longitudinally opposed angle and whole forefinger and the laterally opposed angle of palm of forefinger and palm；
Middle fingertip end has one degree of freedom, and the analog signal for taking a passage is inputted, and the coupling part of middle finger and palm has two
The individual free degree, takes the analog signal input of two passages, and the two frees degree that middle finger is connected with palm are measured entirely respectively
The longitudinally opposed angle and whole middle finger and the laterally opposed angle of palm of middle finger and palm；
Unknown fingertip end has one degree of freedom, takes the analog signal input of a passage, the nameless coupling part with palm
There are two frees degree, take the analog signal input of two passages, the two frees degree that the third finger is connected with palm are surveyed respectively
The whole nameless longitudinally opposed angle and the whole nameless laterally opposed angle with palm with palm of amount；
Small fingertip end has one degree of freedom, and the analog signal for taking a passage is inputted, and the coupling part of little finger of toe and palm has two
The individual free degree, takes the analog signal input of two passages, and the two frees degree that little finger of toe is connected with palm are measured entirely respectively
The longitudinally opposed angle and whole little finger of toe and the laterally opposed angle of palm of little finger of toe and palm.
A kind of full free degree self-adapting data gloves, it is characterised in that comprising being configured such as foregoing outer attached support, wearer
Gloves；
Outer attached support is fitted with gloves to be used, and the bottom of attached support is provided with VELCRO outside, the phase on the gloves of wearer
Position is answered also to have the heteropolarity VELCRO agreed with therewith.
It is preferred that, the full free degree self-adapting data gloves also include palm bending resistance adapter, in palm bending
In resistance adapter, bending resistance is built-in with.
It is preferred that, shaped on the palm bending resistance adapter using flexible material, be provided with multiple grooves,
It is sewn to by multiple grooves inside gloves；The interlayer stria of the palm bending resistance adapter is used to place bending resistance,
Interlayer plane is parallel to each other with palm plane.
It is preferred that, the palm bending resistance adapter has certain initial radian, is to induce bending resistance all the time
Toward same direction bending, increase data reliability.
A kind of data processing method of foregoing gloves, it is characterised in that：Include multiplexer in the outer attached support,
The data processing method is concretely comprised the following steps：
S1：Gather potentiometer, the corresponding electric signal of bending resistance；
S2：The periodic selection port transmission data of multiplexer；
S3：Analog-to-digital conversion is carried out using single-chip microcomputer；
S4：Map the data into specific interval, it is ensured that the digit of data transfer is constant；
S5:：Judge whether to be disposed, if so, then terminating data processing, if it is not, then performing S1.
Biggest advantage of the present invention is the manufacturing cost for significantly reducing data glove, highly by bend sensor
The manufacturing cost of data glove come from the making of bending resistance mostly, and the gloves of the present invention only have at one using bending
Sensor, all can be used cheap common potentiometer at remaining, the potentiometer cost read for joint angles can reduce by 97%.
Brief description of the drawings
Fig. 1 is the structural representation of the outer attached support of the present invention；
Fig. 2 is the forefinger structural representation of the present invention；
Fig. 3 is the thumb structural representation of the present invention；
Fig. 4 is the trunk structure of the present invention（By taking forefinger as an example）Exploded perspective view；
Fig. 5 is the bending resistance adapter structure schematic diagram of the present invention；
Fig. 6 is the programmed logic schematic flow diagram of the present invention.
Embodiment
In order to which technical characteristic, purpose and effect to the present invention are more clearly understood from, now control illustrates this hair
Bright embodiment.
The present invention provides a kind of outer attached support, it is characterised in that the outer attached support includes attached support outside thumb, outside forefinger
Attached support outside attached support, middle finger, nameless outer attached support, attached support outside little finger of toe；
The nameless hand back part with middle finger is attached using flexible connection piece；Forefinger and middle finger are set using integrated module
Meter, the nameless hand back part with little finger of toe, which is adopted, to be screwed；
At least one joint tie point is included outside each finger on attached support, each artis is connected using bearing, in each joint
A miniature potentiometer is equipped with, miniature potentiometer is connected by one piece of tiny aluminium flake with external concentric support.
It is preferred that, miniature potentiometer is connected with controller, or is connected by multiplexer with controller, and finger is closed
Angle of bend at section is converted into the voltage signal at potentiometer two ends, recycles controller to go out reality according to voltage signal Inversion Calculation
Border angle of bend.
It is preferred that, outside each finger of the outer attached support on attached support, groove is additionally provided with referring to dorsal part, it is multiple for installing
Position spring, the back-moving spring is arranged to that each joint of data glove is retracted into original position during finger is stretched, so as to be
Bending is ready next time.
It is preferred that, attached support is inputted with 4 channel analog signals outside thumb, and attached support is believed with 3 tunnels analogies outside forefinger
Number input, there are attached support 3 channel analog signals to input outside middle finger, nameless outer attached support with the input of 3 channel analog signals,
Attached support is inputted with 3 channel analog signals outside little finger of toe.
It is preferred that, there are two frees degree at thumb tip, takes the analog signal input of two passages, thumb and palm
There are two frees degree coupling part, takes the analog signal input of two passages, the two frees degree that thumb is connected with palm
The longitudinally opposed angle and whole thumb and the laterally opposed angle of palm of whole thumb and palm are measured respectively；
Index finger tip has one degree of freedom, and the analog signal for taking a passage is inputted, and the coupling part of forefinger and palm has two
The individual free degree, takes the analog signal input of two passages, and the two frees degree that forefinger is connected with palm are measured entirely respectively
The longitudinally opposed angle and whole forefinger and the laterally opposed angle of palm of forefinger and palm；
Middle fingertip end has one degree of freedom, and the analog signal for taking a passage is inputted, and the coupling part of middle finger and palm has two
The individual free degree, takes the analog signal input of two passages, and the two frees degree that middle finger is connected with palm are measured entirely respectively
The longitudinally opposed angle and whole middle finger and the laterally opposed angle of palm of middle finger and palm；
Unknown fingertip end has one degree of freedom, takes the analog signal input of a passage, the nameless coupling part with palm
There are two frees degree, take the analog signal input of two passages, the two frees degree that the third finger is connected with palm are surveyed respectively
The whole nameless longitudinally opposed angle and the whole nameless laterally opposed angle with palm with palm of amount；
Small fingertip end has one degree of freedom, and the analog signal for taking a passage is inputted, and the coupling part of little finger of toe and palm has two
The individual free degree, takes the analog signal input of two passages, and the two frees degree that little finger of toe is connected with palm are measured entirely respectively
The longitudinally opposed angle and whole little finger of toe and the laterally opposed angle of palm of little finger of toe and palm.
A kind of full free degree self-adapting data gloves, it is characterised in that comprising being configured such as foregoing outer attached support, wearer
Gloves；
Outer attached support is fitted with gloves to be used, and the bottom of attached support is provided with VELCRO outside, the phase on the gloves of wearer
Position is answered also to have the heteropolarity VELCRO agreed with therewith.
It is preferred that, the full free degree self-adapting data gloves also include palm bending resistance adapter, in palm bending
In resistance adapter, bending resistance is built-in with.
It is preferred that, shaped on the palm bending resistance adapter using flexible material, be provided with multiple grooves,
It is sewn to by multiple grooves inside gloves；The interlayer stria of the palm bending resistance adapter is used to place bending resistance,
Interlayer plane is parallel to each other with palm plane.
It is preferred that, the palm bending resistance adapter has certain initial radian, is to induce bending resistance all the time
Toward same direction bending, increase data reliability.
A kind of data processing method of foregoing gloves, it is characterised in that：Include multiplexer in the outer attached support,
The data processing method is concretely comprised the following steps：
S1：Gather potentiometer, the corresponding electric signal of bending resistance；
S2：The periodic selection port transmission data of multiplexer；
S3：Analog-to-digital conversion is carried out using single-chip microcomputer；
S4：Map the data into specific interval, it is ensured that the digit of data transfer is constant；
S5:：Judge whether to be disposed, if so, then terminating data processing, if it is not, then performing S1.
In the present invention, attached support is inputted with 4 channel analog signals outside the thumb, and whole support is fixed on the thumb back of the body
Face, when thumb is bent, the outer attached support follows forefinger to be bent, and drives the rotation of built-in-potential device, so as to measure in real time
The angle of bend in each joint of thumb.There are two frees degree at thumb tip（Take the analog signal input of two passages）, thumb
There are two frees degree with the coupling part of palm（Take the analog signal input of two passages）, the two frees degree measure respectively
The longitudinally opposed angle and whole thumb and the laterally opposed angle of palm of whole thumb and palm.
Each joint of the invention can be in stretching and in the effect of spring in the lower certain stroke of progress used in external force
Initial position is automatically reverted under power.This is designed to the size and hand for the invention is adapted to a variety of palms, so as to be lifted
Comfort level when wearing.
Attached support is inputted with 3 channel analog signals outside the forefinger, and whole support is fixed on dorsal surface of index finger, when forefinger is curved
The outer attached support follows forefinger to be bent when bent, and drives the rotation of built-in-potential device, so that each joint of measurement forefinger in real time
Angle of bend.Due to the substantially linear correlation of the angle of bend in two joints of index finger tip, therefore index finger tip has a freedom
Degree（Take the analog signal input of a passage）, there are two frees degree the coupling part of forefinger and palm（Take two passages
Analog signal input）, the two frees degree measure respectively the longitudinally opposed angle and whole forefinger of whole forefinger and palm with
The laterally opposed angle of palm.
Attached support is inputted with 3 channel analog signals outside the middle finger, and whole support is fixed on middle facies digitales dorsales manus, when middle finger is curved
The outer attached support follows forefinger to be bent when bent, and drives the rotation of built-in-potential device, so that each joint of measurement middle finger in real time
Angle of bend.Due to the substantially linear correlation of angle of bend in middle two joints of fingertip end, therefore middle fingertip end has a freedom
Degree（Take the analog signal input of a passage）, there are two frees degree the coupling part of middle finger and palm（Take two passages
Analog signal input）, the two frees degree measure respectively the longitudinally opposed angle and whole middle finger of whole middle finger and palm with
The laterally opposed angle of palm.
The nameless outer attached support is inputted with 3 channel analog signals, and whole support is fixed on unknown facies digitales dorsales manus, works as nothing
The outer attached support follows forefinger to be bent when name refers to bending, and drives the rotation of built-in-potential device, so as to measure in real time unknown
Refer to the angle of bend in each joint.Due to the substantially linear correlation of angle of bend in unknown two joints of fingertip end, therefore unknown finger tip
There is one degree of freedom at end（Take the analog signal input of a passage）, there are two frees degree the nameless coupling part with palm
（Take the analog signal input of two passages）, the two frees degree measure the whole nameless longitudinally opposed angle with palm respectively
Degree and the whole nameless laterally opposed angle with palm.
Attached support is inputted with 3 channel analog signals outside the little finger of toe, and whole support is fixed on dorsal surface of little finger, when little finger of toe is curved
The outer attached support follows forefinger to be bent when bent, and drives the rotation of built-in-potential device, so that each joint of measurement little finger of toe in real time
Angle of bend.Due to the substantially linear correlation of angle of bend in small two joints of fingertip end, therefore small fingertip end has a freedom
Degree（Take the analog signal input of a passage）, there are two frees degree the coupling part of little finger of toe and palm（Take two passages
Analog signal input）, the two frees degree measure respectively the longitudinally opposed angle and whole little finger of toe of whole little finger of toe and palm with
The laterally opposed angle of palm.
The palm bending resistance adapter is a flexible package and the thin-walled with certain initial bending angle is protected
Set, for completely cutting off bending resistance and extraneous interference signal.Bending resistance mounted in the inside is the only one that the invention is used
Bending resistance, the relative angle for reading thumb and palm.
It is preferred that, part used of the invention can be by being not limited to be molded using 3D printing technique.
Specifically, for a better understanding of the present invention, the present invention will be described below in conjunction with the accompanying drawings.
Fig. 1 is the overall structure diagram of the present invention, as illustrated, being from left to right thumb, forefinger, middle finger, nothing successively
Name refers to and little finger of toe, respectively the reference 1-5 in corresponding diagram 1.Wherein middle finger uses flexible connection piece 7 with nameless hand back part
It is attached, the nameless hand back part with little finger of toe is also fixed with screw 6, and this two designs make whole data glove from forefinger
Joined together to little finger of toe, stabilizing it property is optimal, so as to ensure that measurement, read the reliability of data.Have one in view of the back of the hand
Determine radian, in order to adapt to the radian, connection sheet is using flexible consumptive material and using 3D printing technique shaping.Bottom in Fig. 1 at mark 8
Portion has the same position on VELCRO, the gloves of wearer also to have the heteropolarity VELCRO agreed with therewith, and this design makes data
Gloves can conveniently and efficiently be fixed on wearer on hand, and be easy to adjust each sensor orientation.
Fig. 2 is the forefinger structural representation of the present invention, as seen from Figure 1 forefinger of the invention, and middle finger is nameless and small
Finger has similar structures.A1 in Fig. 2, a2, a3 and a4 are joint tie points that can be movable, and its internal built-in one miniature
Potentiometer, potentiometer is connected by one piece of tiny aluminium flake with outside concentric shafts.When the joint rotates, aluminium flake and outside branch
Frame structure is rotated together with, so as to drive potentiometer to rotate, the angle of bend at finger-joint is converted into electricity in this way
The voltage signal at position device two ends.It is the groove for installing back-moving spring at b1 in Fig. 2, b2, b3, due to data hand after digital flexion
Each joint of set can all extend a part（As shown in the figure）, therefore back-moving spring be used for during finger is stretched by data hand
Cover each joint and retract original position, so as to be ready for bending next time.C1 in Fig. 2, c2 are used to dredge wire, by institute of the present invention
The amount of articulation of measurement is more, therefore number of conductors is also a lot, thus the design at c1, c2 be in order to allow the present invention cabling more
It is attractive in appearance, wire is also protected to a certain extent, makes equipment more durable, it is relatively reliable.It is flexible material at d1 in Fig. 2, d2
The fingerstall of making, its soft material and smooth surface ensure that the comfortableness of wearing to the full extent.And the fingerstall has
Certain radial strength, is unlikely to deform, so as to ensure that the accuracy and reliability of measurement data.
Fig. 3 is the thumb structural representation of the present invention.It is similar with the structure of forefinger, a1 in Fig. 3, a2, a3 is to live
Dynamic joint tie point, its internal built-in miniature potentiometer, potentiometer is same by one piece of tiny aluminium flake and outside
Heart axle is connected.Wherein, external concentric axle is nested in Bearing inner, and the end of external concentric axle is connected with external concentric support, electricity
Position device is connected by one piece of tiny aluminium flake with outside concentric shafts, when the joint rotates, aluminium flake and external concentric support knot
Structure is rotated together with.Angle of bend at finger-joint is converted into the voltage signal at potentiometer two ends in this way.In Fig. 3
It is the groove for installing back-moving spring at b1, b2, because each joint of data glove after digital flexion can all extend a part（Such as
Shown in Fig. 2）, therefore back-moving spring by each joint of data glove during finger is stretched for retracting original position, so that under being
First order buckling is ready.C1 in Fig. 3, c2 are used to dredge wire, because the amount of articulation measured by the present invention is more, therefore wire
Quantity is also a lot, thus the design at c1, c2 be in order to allow the present invention cabling it is more attractive in appearance, also protect to a certain extent
Wire, makes equipment more durable, relatively reliable.At d1 in Fig. 3, d2 for flexible material make fingerstall, its soft material and
Smooth surface ensure that the comfortableness of wearing to the full extent.And the fingerstall has certain radial strength, is unlikely to deform, from
And ensure that the accuracy and reliability of measurement data.
Fig. 4 is the trunk structure of the present invention（By taking forefinger as an example）Exploded perspective view, as illustrated, to be miniature at a1, a2
Potentiometer, is built in joint, is connected between each joint by bearing Z, ensures that the smooth and height of junction is same to the full extent
Heart rate.It is external concentric axle in figure, at b, c places are external concentric support, and external concentric axle is nested in Bearing inner, outside
The end of concentric shafts is connected with external concentric support, and potentiometer is connected by one piece of tiny aluminium flake with outside concentric shafts.
Fig. 5 is the bending resistance adapter structure schematic diagram of the present invention, and three grooves that a locates in Fig. 5 are used to fixing this suitable
Orchestration, the adapter is sewn to inside gloves by these three grooves.Stria in Fig. 5 at b is used to place bending resistance, bends
Resistance is blocked the gap using PUR after putting into, so as to prevent bending resistance from unintentionally falling out.The adapter uses flexible material
Material shaping, it is ensured that its can free bend, and the adapter has certain initial radian, is to induce bending resistance past all the time
Same direction is bent, and increases data reliability.
Fig. 6 is the programmed logic schematic flow diagram of the present invention, because the present invention needs the amount of articulation measured more, therefore
Need a large amount of ports to receive data, therefore select one piece of multiplexer to realize ports-Extending.Map the data into specific
Interval is in order to which the digit for ensureing data transfer is constant, so as to lift the reliability and validity of data acquisition.
It should be noted that for each foregoing embodiment of the method, in order to be briefly described, therefore it is all expressed as to one it is
The combination of actions of row, but those skilled in the art should know, the application is not limited by described sequence of movement, because
For according to the application, certain some step can be carried out sequentially or simultaneously using other.Secondly, those skilled in the art also should
Know, embodiment described in this description belongs to preferred embodiment, involved action and unit not necessarily this Shen
Please be necessary.
In the above-described embodiments, the description to each embodiment all emphasizes particularly on different fields, and is not described in some embodiment
Part, may refer to the associated description of other embodiment.
One of ordinary skill in the art will appreciate that realize all or part of flow in above-described embodiment method, being can be with
The hardware of correlation is instructed to complete by computer program, described program can be stored in computer read/write memory medium
In, the program is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, ROM, RAM etc..
Above disclosure is only preferred embodiment of present invention, can not limit the right model of the present invention with this certainly
Enclose, therefore the equivalent variations made according to the claims in the present invention, still belong to the scope that the present invention is covered.
Claims (10)
1. a kind of outer attached support, it is characterised in that the outer attached support includes attached support outside thumb, attached support, middle finger outside forefinger
Attached support outside the outer attached support of outer attached support, the third finger, little finger of toe；
The hand back part of forefinger and middle finger is the integrated design, and middle finger is allocated using flexible connection with nameless hand back part
Piece is attached；The nameless hand back part with little finger of toe, which is configured to adopt, to be screwed；
At least one joint tie point is included outside each finger on attached support, each artis is connected using bearing, in each joint
At least one miniature potentiometer is equipped with, miniature potentiometer is connected by one piece of tiny aluminium flake with external concentric support.
2. a kind of outer attached support as claimed in claim 1, it is characterised in that miniature potentiometer is connected with controller, Huo Zhetong
Cross multiplexer with controller to be connected, the angle of bend at finger-joint is converted into the voltage signal at potentiometer two ends, then
Actual flexion angle is gone out according to voltage signal Inversion Calculation using controller.
3. a kind of outer attached support as claimed in claim 1, it is characterised in that attached support outside each finger of the outer attached support
On, groove is additionally provided with referring to dorsal part, for installing back-moving spring, the back-moving spring is arranged to the process stretched in finger
It is middle that each joint of data glove is retracted into original position, so as to be ready for bending next time.
4. a kind of outer attached support as claimed in claim 1, it is characterised in that attached support has 4 channel analog signals outside thumb
Attached support is inputted with 3 channel analog signals outside input, forefinger, and attached support is inputted with 3 channel analog signals outside middle finger, unknown
Refer to outer attached support to input with 3 channel analog signals, attached support is inputted with 3 channel analog signals outside little finger of toe.
5. a kind of outer attached support as claimed in claim 4, it is characterised in that
There are two frees degree at thumb tip, and the analog signal for taking two passages is inputted, and the coupling part of thumb and palm has
Two frees degree, take the analog signal input of two passages, and the two frees degree that thumb is connected with palm measure whole respectively
The longitudinally opposed angle and whole thumb and the laterally opposed angle of palm of individual thumb and palm；
Index finger tip has one degree of freedom, and the analog signal for taking a passage is inputted, and the coupling part of forefinger and palm has two
The individual free degree, takes the analog signal input of two passages, and the two frees degree that forefinger is connected with palm are measured entirely respectively
The longitudinally opposed angle and whole forefinger and the laterally opposed angle of palm of forefinger and palm；
Middle fingertip end has one degree of freedom, and the analog signal for taking a passage is inputted, and the coupling part of middle finger and palm has two
The individual free degree, takes the analog signal input of two passages, and the two frees degree that middle finger is connected with palm are measured entirely respectively
The longitudinally opposed angle and whole middle finger and the laterally opposed angle of palm of middle finger and palm；
Unknown fingertip end has one degree of freedom, takes the analog signal input of a passage, the nameless coupling part with palm
There are two frees degree, take the analog signal input of two passages, the two frees degree that the third finger is connected with palm are surveyed respectively
The whole nameless longitudinally opposed angle and the whole nameless laterally opposed angle with palm with palm of amount；
Small fingertip end has one degree of freedom, and the analog signal for taking a passage is inputted, and the coupling part of little finger of toe and palm has two
The individual free degree, takes the analog signal input of two passages, and the two frees degree that little finger of toe is connected with palm are measured entirely respectively
The longitudinally opposed angle and whole little finger of toe and the laterally opposed angle of palm of little finger of toe and palm.
6. a kind of full free degree self-adapting data gloves, it is characterised in that
Include the outer attached support as described in claim 1-5 any one；
It is included as the gloves of wearer's configuration；
Outer attached support is fitted with gloves to be used, and the bottom of attached support is provided with VELCRO outside, the phase on the gloves of wearer
Position is answered also to have the heteropolarity VELCRO agreed with therewith.
7. a kind of full free degree self-adapting data gloves as claimed in claim 6, it is characterised in that the full free degree is adaptive
Answer data glove also to include palm bending resistance adapter, in palm bending resistance adapter, be built-in with bending resistance.
8. a kind of full free degree self-adapting data gloves as claimed in claim 7, it is characterised in that bend electricity in the palm
Hinder on adapter using flexible material shaping, be provided with multiple grooves, be sewn to by multiple grooves inside gloves；It is described
The interlayer stria of palm bending resistance adapter is used to place bending resistance, and interlayer plane is parallel to each other with palm plane.
9. a kind of full free degree self-adapting data gloves as claimed in claim 7, it is characterised in that the palm bending resistance
Adapter has certain initial radian, is the increase data reliability in order to induce bending resistance to be bent all the time toward same direction.
10. a kind of data processing method of the gloves as described in claim 6-9, it is characterised in that：Wrapped in the outer attached support
Containing multiplexer, the data processing method is concretely comprised the following steps：
S1：Gather potentiometer, the corresponding electric signal of bending resistance；
S2：The periodic selection port transmission data of multiplexer；
S3：Analog-to-digital conversion is carried out using single-chip microcomputer；
S4：Map the data into specific interval, it is ensured that the digit of data transfer is constant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN102773861A (en) * | 2011-05-13 | 2012-11-14 | 苏茂 | Outer frame type data glove |
| WO2014178694A1 (en) * | 2013-05-03 | 2014-11-06 | 국립대학법인 울산과학기술대학교 산학협력단 | Linkage structure for hand exoskeleton for interacting with virtual objects |
| CN204031200U (en) * | 2013-09-23 | 2014-12-17 | 苏州工业职业技术学院 | Based on the network control system of wireless sensing |
| WO2015134336A2 (en) * | 2014-03-02 | 2015-09-11 | Drexel University | Wearable devices, wearable robotic devices, gloves, and systems, methods, and computer program products interacting with the same |
| CN106112963A (en) * | 2016-06-21 | 2016-11-16 | 北京工业大学 | A kind of Wearable hand ESD |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102773861A (en) * | 2011-05-13 | 2012-11-14 | 苏茂 | Outer frame type data glove |
| WO2014178694A1 (en) * | 2013-05-03 | 2014-11-06 | 국립대학법인 울산과학기술대학교 산학협력단 | Linkage structure for hand exoskeleton for interacting with virtual objects |
| CN204031200U (en) * | 2013-09-23 | 2014-12-17 | 苏州工业职业技术学院 | Based on the network control system of wireless sensing |
| WO2015134336A2 (en) * | 2014-03-02 | 2015-09-11 | Drexel University | Wearable devices, wearable robotic devices, gloves, and systems, methods, and computer program products interacting with the same |
| CN106112963A (en) * | 2016-06-21 | 2016-11-16 | 北京工业大学 | A kind of Wearable hand ESD |
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