CN107825393A - A kind of total joint measurement type data glove - Google Patents
A kind of total joint measurement type data glove Download PDFInfo
- Publication number
- CN107825393A CN107825393A CN201711340709.6A CN201711340709A CN107825393A CN 107825393 A CN107825393 A CN 107825393A CN 201711340709 A CN201711340709 A CN 201711340709A CN 107825393 A CN107825393 A CN 107825393A
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- China
- Prior art keywords
- finger
- sensor
- flexibility
- strain gauge
- gauge transducer
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a kind of total joint measurement type data glove, the data glove is connected with manipulator or computer end；The data glove includes the glove bulk with double-layer structure and positioned at multiple flexibility sensors between double-layer structure and multiple strain gauge transducer；Flexibility sensor is arranged at the metacarpophalangeal joints and interphalangeal joint of glove bulk；Strain gauge transducer is arranged on the metacarpophalangeal joint of glove bulk；Flexibility sensor use and strain gauge transducer be used for obtain finger vertical in palm movable information and finger parallel to palm movable information.It can obtain the longitudinally, laterally movable information of operator's finger using data glove provided by the invention, and by this motion information transmission to manipulator or computer end.In addition, the material of the endothecium structure of the glove bulk is butyronitrile or rubber, the material of layer structure is cotton, and data glove provided by the invention also has the advantages that wearing mode is relatively simple, maintenance difficulties are relatively low.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of total joint measurement type data glove.
Background technology
With the progress of present science, robot field has obtained fast development.Wherein, remote operating passive robot is because of it
Operator and robot body can be separated and be more exposed to concern the advantages of reaching protection operator.At the same time, people
Performance accuracy and requirement on flexibility to remote operating passive robot are also constantly lifted, it is desirable to which remote operating passive robot can be real
Show the function of human hand, thus the importance of data glove just highlights.
Data glove is capable of the hand motion of acquisition operations person and is converted into digital data transmission to robot, by this
Mode can be good at the hand motion in robot mechanical arm restoring operation person, and remote operating passive robot behaviour is improved to reach
Make precision and the purpose of requirement on flexibility.
At present, what data glove was relatively broad is designed as being attached to the outer framework data hand of human hand external detection joint motions
Set or exoskeleton-type data glove, finger motion data are obtained by the potentiometer installed in the externally measured point of hand, so as to control
Virtual hand action in manipulator or computer scene so that controlled from each finger-joint of hand and each hand of operator
Articulations digitorum manus harmoniously acts.However, following deficiency be present for above-mentioned data glove：First, the data glove is merely able to obtain
Finger vertical is taken in the exercise data of volar direction, it is impossible to obtain exercise data of the finger parallel to volar direction, so cause
Obtain hand exercise data it is imperfect, so as to control manipulator or computer scene virtual hand can not full backup hand move
Make；Second, the data glove mechanical entities are larger, the hand motion of operator can be had an impact, so as to cause what is collected
Hand exercise data have a certain amount of distortion, and the physical connections of the data glove are more, be not easy to gloves wear off with
And safeguard.
The content of the invention
The present invention seeks to for available data gloves, without finger transverse movement data capture, structure is complex, and wears
Wear and the shortcomings of maintenance difficulties are higher, it is proposed that a kind of wearable total joint measurement type data glove.
To achieve the above object, the invention provides following scheme：
A kind of total joint measurement type data glove, the total joint measurement type data glove connect with manipulator or computer end
Connect；The total joint measurement type data glove includes glove bulk, multiple flexibility sensors and multiple strain gauge transducers；
The glove bulk includes double-layer structure；The flexibility sensor, the strain gauge transducer are respectively positioned on the glove bulk
Double-layer structure between；The flexibility sensor is arranged at the metacarpophalangeal joints and interphalangeal joint of the glove bulk；It is described
At strain gauge transducer is arranged on below the metacarpophalangeal joints of the glove bulk；The flexibility sensor and the strain-type pass
Sensor be used for obtain finger vertical in palm movable information and finger parallel to palm movable information.
Optionally, the double-layer structure of the glove bulk is specially endothecium structure and layer structure；The endothecium structure
Material is butyronitrile or rubber；The material of the layer structure is cotton.
Optionally, the flexibility sensor includes multiple little finger flexibility sensors, multiple nameless flexibility pass
Sensor, multiple middle finger flexibility sensors, multiple forefinger flexibility sensors and multiple first thumb winding angle sensors；
Wherein, the little finger flexibility sensor, the nameless flexibility sensor, the middle finger flexibility sensor, described
Forefinger flexibility sensor is arranged at the metacarpophalangeal joints and interphalangeal joint of the dorsal side of the glove bulk；Described first is big
Thumb flexibility sensor is arranged on the metacarpophalangeal joints in the outside away from four thumbs referred to of the glove bulk and closed between referring to
At section；The interphalangeal joint includes distal interphalangeal joint and proximal interphalangeal joint.
Optionally, the number of the little finger flexibility sensor is 2, is separately positioned on the back of the hand of the glove bulk
At the metacarpophalangeal joints and proximal interphalangeal joint of side；The number of the nameless flexibility sensor is 3, is separately positioned on described
At the metacarpophalangeal joints of the dorsal side of glove bulk, proximal interphalangeal joint and distal interphalangeal joint；The middle finger flexibility sensing
The number of device is 3, is separately positioned on the metacarpophalangeal joints of the dorsal side of the glove bulk, proximal interphalangeal joint and distally refers to
Between joint；The number of the forefinger flexibility sensor is 3, is separately positioned on the metacarpophalangeal of the dorsal side of the glove bulk
Locate in joint, proximal interphalangeal joint and distal interphalangeal joint；The number of the first thumb winding angle sensor is 2,
It is separately positioned at metacarpophalangeal joints and the proximal interphalangeal joint in the outside away from four thumbs referred to of the glove bulk；Institute
Little finger flexibility sensor is stated to be used to obtain movable information of the little finger perpendicular to palm；The nameless flexibility sensor
For obtaining the nameless movable information perpendicular to palm；The middle finger flexibility sensor is used to obtain middle finger perpendicular to palm
Movable information；The forefinger flexibility sensor is used to obtain movable information of the forefinger perpendicular to palm；The first big thumb
Refer to flexibility sensor to be used to obtain movable information of the thumb perpendicular to palm.
Optionally, the flexibility sensor also includes the second thumb winding angle sensor；Second thumb is curved
Curvature sensor is arranged at the tiger's jaw of the dorsal side of the glove bulk；The second thumb winding angle sensor is used to obtain
Take movable information of the thumb parallel to palm.
Optionally, the strain gauge transducer includes the third finger-middle finger strain gauge transducer, forefinger-middle finger strain-type biography
Sensor and little finger-nameless strain gauge transducer；The third finger-middle finger strain gauge transducer, the forefinger-middle finger should
Variant sensor is arranged at the lower section of the metacarpophalangeal joints of the middle finger of the dorsal side of the glove bulk, and the third finger-
The pin of middle finger strain gauge transducer points to nameless, the pin sensing forefinger of the forefinger-middle finger strain gauge transducer；It is described
Little finger-nameless strain gauge transducer is arranged between the little finger and the third finger of the dorsal side of the glove bulk, and institute
The pin for stating little finger-nameless strain gauge transducer points to little finger；The third finger-middle finger strain gauge transducer is used to obtain
Take the nameless movable information parallel to palm；The forefinger-middle finger strain gauge transducer be used for obtain forefinger parallel to
The movable information of palm；The little finger-nameless strain gauge transducer is used to obtain motion letter of the little finger parallel to palm
Breath.
Optionally, the third finger-middle finger strain gauge transducer, the forefinger-middle finger strain gauge transducer are respectively positioned on
At 1cm-2cm below the metacarpophalangeal joints of the middle finger of the dorsal side of the glove bulk.
Optionally, the total joint measurement type data glove also includes circuit board and CAN；The circuit board include according to
Sample circuit, signal amplification circuit and the single-chip microcomputer of secondary connection；The sample circuit also respectively with the flexibility sensor,
The strain gauge transducer connection；The circuit board is connected by the CAN with the manipulator or the computer end.
Optionally, the model STM32F103ZET6 of the single-chip microcomputer.
Optionally, the model RB-02S046 of the flexibility sensor；The model RX- of the strain gauge transducer
D1016。
According to specific embodiment provided by the invention, the invention discloses following technique effect：
The invention provides a kind of total joint measurement type data glove, the total joint measurement type data glove and manipulator or
Person's computer end connects；The total joint measurement type data glove includes glove bulk, multiple flexibility sensors and multiple strains
Formula sensor；The glove bulk includes double-layer structure；The flexibility sensor, the strain gauge transducer are respectively positioned on described
Between the double-layer structure of glove bulk；The flexibility sensor is arranged on the metacarpophalangeal joints and interphalangeal joint of the glove bulk
Place；The strain gauge transducer is arranged on the metacarpophalangeal joint of the glove bulk；The flexibility sensor and the strain
Formula sensor is used to obtaining movable information and finger of the finger vertical in palm parallel to the movable information of palm, and carries out real-time
Transmission so that virtual hand restoring operation person's hand motion of controlled manipulator or computer scene.Therefore, it is provided by the invention
Data glove has and can detect operator's finger and longitudinally, laterally move, and data transfer real-time is good, and control mode is relatively simple
The advantages that.
In addition, the endothecium structure of the glove bulk uses butyronitrile or rubber, the gloves of hand can be bonded completely, and
Close installation flexibility sensor and strain gauge transducer outside endothecium structure, ensure flexibility sensor and strain gauge transducer
There will not be relative displacement with glove bulk in operator's hand activities, introduce unnecessary interference；The layer structure of glove bulk
Common autumn and winter mitten can be used, plays a part of protecting flexibility sensor and strain gauge transducer, avoids glove bulk
Layer structure extrudes flexibility sensor and strain gauge transducer, avoids data distortion.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the structural representation of total joint measurement type data glove of the embodiment of the present invention；
Fig. 2 is the dorsal side schematic diagram of total joint measurement type data glove of the present invention；
Fig. 3 is the palm of the hand side schematic diagram of total joint measurement type data glove of the present invention；
Fig. 4 is the data glove schematic diagram that total joint of the present invention measures the motion of finger vertical palm；
Fig. 5 is the data glove schematic diagram that total joint of the present invention measures the parallel palm motion of finger.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
The present invention seeks to for available data gloves, without finger transverse movement data capture, structure is complex, and wears
Wear and the shortcomings of maintenance difficulties are higher, it is proposed that a kind of wearable total joint measurement type data glove.
In order to facilitate the understanding of the purposes, features and advantages of the present invention, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is further detailed explanation.
Total joint measurement type data glove provided by the invention is connected with manipulator or computer end.
Fig. 1 is the structural representation of total joint measurement type data glove of the embodiment of the present invention.As shown in figure 1, total joint is surveyed
Amount type data glove includes：Circuit board 1, glove bulk 2, multiple flexibility sensors, multiple strain gauge transducers and CAN are total
Line.The glove bulk 2 includes double-layer structure, respectively endothecium structure and layer structure.The flexibility sensor, it is described should
Variant sensor is respectively positioned between the endothecium structure and layer structure of the glove bulk 2.
Because flexibility sensor is the sensor of a simple measurement bending strength, has relatively thin encapsulation, can be incited somebody to action
It is fixed on tested curved surface, coordinates simulation output, and convenient that bending information is gathered and handled, cooperation carries A/D convertor circuit energy
It is enough that arthrogryposis degree is converted into voltage signal, can be relatively more suitable with the flexibility information of relatively simple acquisition finger-joint
Close the flexibility detection for doing metacarpophalangeal joints and interphalangeal joint；Strain gauge transducer is used to detect operator's finger parallel to palm
Action, determine that each finger is believed parallel to the action of palm by detecting each metacarpophalangeal joints parallel to the opening and closing degree of palm
Breath.Strain gauge transducer is a kind of sensor based on strain caused by measurement object receiving force deformation, and the present invention is main to be used
Resistance strain gage, the change strained on mechanical component is converted into resistance variations, this strain gauge transducer advantage is a lot, its point
Power height is distinguished, small strain can be detected, size is small, is suitable for being placed on the back of the hand portion and measures, and measurement range is big, from elastic deformation
It can survey always to plastic deformation (1%-2%), measurement result and be easy to transmit and handle, and it is cheap, cost can be reduced.
Therefore the present invention uses flexibility sensor and strain gauge transducer, for obtaining finger vertical in the movable information and finger of palm
Parallel to the movable information of palm.
The flexibility sensor, the strain gauge transducer are connected by electric wire with the circuit board 1, the circuit
Plate 1 is connected by CAN with manipulator or computer end, for all joint motions information of capture operation person's hand and is transmitted
Data make controlled manipulator or computer scene virtual hand, restoring operation person's hand exercise to manipulator or computer end.
The circuit board 1 specifically includes the sample circuit being sequentially connected, signal amplification circuit and single-chip microcomputer；The sampling
Circuit is also connected with the flexibility sensor, the strain gauge transducer respectively；The circuit board by the CAN with
The manipulator or computer end connection；The manipulator is used for the control signal restoring operation person sent according to the single-chip microcomputer
Hand exercise.The computer end is used for the control signal virtual restoration operator's hand exercise sent according to the single-chip microcomputer.Institute
State the model STM32F103ZET6 of single-chip microcomputer.
As shown in figure 1, the flexibility sensor is arranged at the metacarpophalangeal joints and interphalangeal joint of the glove bulk 2；
At the strain gauge transducer is arranged on below the metacarpophalangeal joints of the glove bulk 2.The model of the flexibility sensor
RB-02S046.The model RX-D1016 of the strain gauge transducer.Detected by flexibility sensor and strain gauge transducer
Corresponding voltage signal, single-chip microcomputer are changed into after volar direction and parallel to the exercise data of volar direction to each finger vertical
Each voltage signal is sampled, the sampling interval is about 10ms, and voltage signal is encoded, and is transferred to by CAN
The virtual hand of controlled manipulator or computer scene, exercise data acquisition and transmission to this whole hand finger of completion.
Flexibility sensor includes multiple little finger flexibility sensors 3, multiple nameless flexibility sensors 4, multiple
Middle finger flexibility sensor 5, multiple forefinger flexibility sensors 6, multiple first thumb winding angle sensors 7 and multiple
Two thumb winding angle sensors 8；The strain gauge transducer includes the third finger-middle finger strain gauge transducer 9, forefinger-middle finger
Strain gauge transducer 10 and little finger-nameless strain gauge transducer 11.
Wherein, the little finger flexibility sensor 3, the nameless flexibility sensor 4, the middle finger flexibility pass
Sensor 5, the forefinger flexibility sensor 6 are arranged at the metacarpophalangeal joints and interphalangeal joint of the dorsal side of the glove bulk 2
Place；Interphalangeal joint includes distal inter-phalangeal joints and proximal inter-phalangeal joints.The first thumb winding angle sensor 7 is set
Metacarpophalangeal joints and interphalangeal joint in the outside away from four thumbs referred to of the glove bulk 2.The little finger flexibility
Sensor 3 is used to obtain movable information of the little finger perpendicular to palm；The nameless flexibility sensor 4 is unknown for obtaining
Refer to the movable information perpendicular to palm；The middle finger flexibility sensor 5 is used to obtain movable information of the middle finger perpendicular to palm；
The forefinger flexibility sensor 6 is used to obtain movable information of the forefinger perpendicular to palm；First thumb winding angle passes
Sensor 7 is used to obtain movable information of first thumb perpendicular to palm.
At the tiger's jaw for the dorsal side that the second thumb winding angle sensor 8 is arranged on the glove bulk 2；Described
Two thumb winding angle sensors 8 are used to obtain movable information of the thumb parallel to palm.
The third finger-middle finger strain gauge transducer 9, the forefinger-middle finger strain gauge transducer 10 are arranged at described
At the lower section of the metacarpophalangeal joints of the dorsal side of glove bulk 2；The little finger-nameless strain gauge transducer 11 is arranged on described
Between the little finger and the third finger of the dorsal side of glove bulk 2；The third finger-middle finger strain gauge transducer 9 is used to obtain nothing
Name refers to the movable information parallel to palm；The forefinger-middle finger strain gauge transducer 10 is used to obtain forefinger parallel to hand
The movable information of the palm；The little finger-nameless strain gauge transducer 11 is used to obtain motion letter of the little finger parallel to palm
Breath.
Fig. 2 is the dorsal side schematic diagram of total joint measurement type data glove of the present invention, as shown in Fig. 2 the glove bulk 2
Including double-layer structure, respectively endothecium structure 21 and layer structure 22.The endothecium structure 21 of the glove bulk 2 is rubber gloves
Or butyronitrile gloves, it is adjacent to hand so that gloves do not have relative motion during operator's hand exercise, avoid exercise data distortion.
The layer structure 22 of the glove bulk 2 is common mitten, for protecting flexibility sensor, strain gauge transducer, is made
Must be arranged on internal layer rubber gloves outside flexibility sensor, each strain gauge transducer will not be produced because of extraneous factor it is excessive
Distortion.Fig. 3 is the palm of the hand side schematic diagram of total joint measurement type data glove of the present invention.
It is according to the finger characteristics of motion, it is necessary to nameless flexibility sensor 4, middle finger flexibility sensor 5, forefinger is curved
Curvature sensor 6, forefinger, it is middle finger and the third finger metacarpophalangeal joints and interphalangeal joint at (including distal inter-phalangeal joints and
Proximal inter-phalangeal joints) three sections of flexibility sensors are installed respectively, flexibility sensor is fixed on to the rubber of glove bulk internal layer
On the outside of Rubber gloves at the back of the hand, every section of flexibility sensor is respectively positioned on the back of the hand side of corresponding joint.Finger is corresponded in gloves to keep
Flexibility sensor is installed in the case of stretching, and ensures that flexibility sensor is tightly bonded gloves dorsal part, ensures flexibility sensing
Device does not have the movement relative to gloves, avoids detecting the distortion of data.Install flexibility sensor requirements each joint just on
Orientation is put, and flexibility sensor not have coupling part between each joint, to prevent each joint flexion sensor
Produce and interact when operator carries out hand motion, cause to detect data distortion.
Further, since thumb is only having two joints, metacarpophalangeal joints and interphalangeal joint perpendicular to volar direction, pass through inspection
Thumb movable information can be obtained by surveying the motion in the two joints.Simultaneously as the movement characteristic of thumb, the meeting in motion
Meeting obstructions causes the thumb direction of motion to change, such as when clenching fist, thumb press to remaining four refer on when the direction of motion
Can change, therefore the length of the first thumb winding angle sensor 7 is shorter, be installed on metacarpophalangeal joints and interphalangeal joint just on
Side, metacarpophalangeal joints installation site requirement be closer to palm, to prevent thumb carry out parallel to palm action when metacarpophalangeal joints
Flexibility sensor produces error, so as to cause exercise data distortion.Little finger has three joints, metacarpophalangeal joints, proximal interphalangeal
Joint and distal interphalangeal joint, but due to apart from too small, and little finger distal interphalangeal joint is not for hand exercise effect
It is very big, therefore little finger flexibility sensor 6 is not set in little finger distal interphalangeal joint.
Fig. 4 is the data glove schematic diagram that total joint of the present invention measures the motion of finger vertical palm.
Preferably, as shown in figure 4, the number of the little finger flexibility sensor 3 is 2, it is separately positioned on the hand
Cover at metacarpophalangeal joints and the proximal interphalangeal joint of the dorsal side of body 2；The number of the nameless flexibility sensor 4 is 3,
It is separately positioned at metacarpophalangeal joints, proximal interphalangeal joint and the distal interphalangeal joint of the dorsal side of the glove bulk 2；It is described
The number of middle finger flexibility sensor 5 is 3, and metacarpophalangeal joints, the near-end for being separately positioned on the dorsal side of the glove bulk 2 refer to
Between at joint and distal interphalangeal joint；The number of the forefinger flexibility sensor 6 is 3, is separately positioned on the gloves
Locate in the metacarpophalangeal joints of the dorsal side of body 2, proximal interphalangeal joint and distal interphalangeal joint；First thumb winding angle
The number of sensor 7 is 2, is separately positioned on the metacarpophalangeal joints in the outside away from four thumbs referred to of the glove bulk 2
And at proximal interphalangeal joint.
According to hand exercise rule, thumb is about 90 degree parallel to the folding angle of volar direction, much larger than other four
Refer to adjacent two refer between be less than 45 degree of folding angle, therefore detect thumb parallel to volar direction exercise data when, it is unsuitable
Using detection miniature deformation and the less strain gauge transducer of span scope, then flexibility sensor is used, pass through collection
The folding angle of tiger's jaw obtains movable information of the thumb parallel to palm.It is complete in thumb that flexibility sensor needs are installed
Installed in the case of full expansion, this is angle zero point to program setting, and then sampling flexibility by A/D convertor circuit senses
The voltage signal of device output obtains angle-data, finally by the expanded angle that tiger's jaw is obtained with setting zero point to compare, thus obtains
Obtain exercise data of the thumb parallel to palm.
According to the finger characteristics of motion, when finger carries out the action parallel to palm, middle finger is motionless, forefinger and nothing
Name points to both sides expansion, and the third finger-middle finger strain gauge transducer 9 and forefinger -10 liang of middle finger strain gauge transducer foil gauge are pacified
Under middle finger metacarpophalangeal joints, pin extends to forefinger metacarpophalangeal joints and nameless metacarpophalangeal joints, and forefinger and the third finger are worked as in measurement
When deploying to both sides, the distance change of forefinger metacarpophalangeal joints and nameless metacarpophalangeal joints with respect to middle finger metacarpophalangeal joints.In forefinger
Refer to and strain gauge transducer is installed in the case of closing up with the third finger, and pay attention to installation site strict guarantee below metacarpophalangeal joints
1cm-2cm positions, this position guarantees to detect forefinger and nameless expansion situation, and will not produce excessive displacement, leads
Cause strain gauge resistance sensor excessive in response to variable and damage.It is used to measure small thumb with little finger of toe-nameless strain gauge transducer 11
Refer to the action parallel to palm, collection little finger adds nameless phase on this basis relative to nameless expansion degree
Expansion degree for middle finger is derived from little finger parallel to palm side so as to obtain the expansion degree that little finger corresponds to middle finger
To movable information.
Fig. 5 is the data glove schematic diagram that total joint of the present invention measures the parallel palm motion of finger.
Preferably, as shown in figure 5, the third finger-middle finger strain gauge transducer 9, the forefinger-middle finger strain-type sensing
Device 10 is arranged at the lower section of the metacarpophalangeal joints of the middle finger of the dorsal side of the glove bulk, and the third finger-middle finger should
The pin of variant sensor 9 points to nameless, the pin sensing forefinger of the forefinger-middle finger strain gauge transducer 10；It is described small
Thumb-nameless strain gauge transducer 11 is arranged between the little finger and the third finger of the dorsal side of the glove bulk, and institute
The pin for stating little finger-nameless strain gauge transducer 11 points to the third finger-middle finger strain gauge transducer 9, institute described in little finger
Forefinger-middle finger strain gauge transducer 10 is stated to be respectively positioned on below the metacarpophalangeal joints of the middle finger of the dorsal side of the glove bulk
At 1cm-2cm.
The data glove course of work provided by the invention is：Operator wears the body that always wears your gloves, it is desirable to hand is bonded as far as possible,
There is no space, open and keep that thumb opens completely and remaining four refers to the initial actuating closed completely several seconds until glove bulk after electricity
Buzzer, which sends sound display initialization completion, can proceed by hand motion.
The present invention is carried out to flexibility sensor and strain by each sample circuit of circuit board top and signal amplification circuit
The processing of formula sensor output signal, the voltage signal that circuit board single-chip microcomputer can be handled is obtained, passes through the letter on circuit board
Number transmission circuit, mainly includes CAN and serial ports, carries out the communication of data, and wherein CAN is used to pass data-signal
Be defeated by the virtual hand of controlled manipulator or computer scene, can restoring operation person's hand motion, by circuit board
Power transfer module whole system is powered, using 3.3V battery powered modes, do not influence operator's hand motion, electricity
Road plate is designed with buzzer simultaneously, and gloves initialization completion signal is obtained with this.Operator dresses notebook data gloves, can be long-range
The virtual hand of controlled manipulator or computer scene is controlled, simple grasping movement can not only be realized, more can accurate reproduction behaviour
Each hand motion of author simultaneously records related data, overcomes available data gloves without finger transverse movement data capture, knot
The defects of structure is complex, and wearing and maintenance difficulties are higher, also good with data transfer real-time, control mode is relatively simple
The advantages that.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
Specific case used herein is set forth to the principle and embodiment of the present invention, and above example is said
It is bright to be only intended to help the method and its core concept for understanding the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, in specific embodiments and applications there will be changes.In summary, this specification content is not
It is interpreted as limitation of the present invention.
Claims (10)
- A kind of 1. total joint measurement type data glove, it is characterised in that the total joint measurement type data glove and manipulator or Person's computer end connects；The total joint measurement type data glove include glove bulk, multiple flexibility sensors and it is multiple should Variant sensor；The glove bulk includes double-layer structure；The flexibility sensor, the strain gauge transducer are respectively positioned on institute Between the double-layer structure for stating glove bulk；The flexibility sensor is arranged on the metacarpophalangeal joints of the glove bulk and closed between referring to At section；At the strain gauge transducer is arranged on below the metacarpophalangeal joints of the glove bulk；The flexibility sensor and institute State strain gauge transducer be used for obtain finger vertical in palm movable information and finger parallel to palm movable information.
- 2. total joint measurement type data glove according to claim 1, it is characterised in that two layers of knot of the glove bulk Structure is specially endothecium structure and layer structure；The material of the endothecium structure is butyronitrile or rubber；The material of the layer structure For cotton.
- 3. total joint measurement type data glove according to claim 1, it is characterised in that the flexibility sensor includes Multiple little finger flexibility sensors, multiple nameless flexibility sensors, multiple middle finger flexibility sensors, multiple forefingers are curved Curvature sensor and multiple first thumb winding angle sensors；Wherein, the little finger flexibility sensor, described unknown Refer to flexibility sensor, the middle finger flexibility sensor, the forefinger flexibility sensor and be arranged at the glove bulk Dorsal side metacarpophalangeal joints and interphalangeal joint at；The first thumb winding angle sensor is arranged on the glove bulk At the metacarpophalangeal joints and interphalangeal joint in the outside away from four thumbs referred to；The interphalangeal joint is including distal interphalangeal joint and closely Hold interphalangeal joint.
- 4. total joint measurement type data glove according to claim 3, it is characterised in that the little finger flexibility sensing The number of device is 2, is separately positioned at metacarpophalangeal joints and the proximal interphalangeal joint of the dorsal side of the glove bulk；The nothing The number that name refers to flexibility sensor is 3, is separately positioned on metacarpophalangeal joints, the proximal interphalangeal of the dorsal side of the glove bulk At joint and distal interphalangeal joint；The number of the middle finger flexibility sensor is 3, is separately positioned on the glove bulk The metacarpophalangeal joints of dorsal side, at proximal interphalangeal joint and distal interphalangeal joint；The number of the forefinger flexibility sensor For 3, it is separately positioned in metacarpophalangeal joints, proximal interphalangeal joint and the distal interphalangeal joint of the dorsal side of the glove bulk Place；The number of the first thumb winding angle sensor is 2, and it is big to be separately positioned on referring to away from four for the glove bulk At the metacarpophalangeal joints and proximal interphalangeal joint in the outside of thumb；The little finger flexibility sensor hangs down for obtaining little finger Directly in the movable information of palm；The nameless flexibility sensor is used to obtain the nameless movable information perpendicular to palm； The middle finger flexibility sensor is used to obtain movable information of the middle finger perpendicular to palm；The forefinger flexibility sensor is used for Obtain movable information of the forefinger perpendicular to palm；The first thumb winding angle sensor is used to obtain thumb perpendicular to hand The movable information of the palm.
- 5. total joint measurement type data glove according to claim 1, it is characterised in that the flexibility sensor also wraps Include the second thumb winding angle sensor；The second thumb winding angle sensor is arranged on the dorsal side of the glove bulk Tiger's jaw at；The second thumb winding angle sensor is used to obtain movable information of the thumb parallel to palm.
- 6. total joint measurement type data glove according to claim 1, it is characterised in that the strain gauge transducer includes The third finger-middle finger strain gauge transducer, forefinger-middle finger strain gauge transducer and little finger-nameless strain gauge transducer；Institute State the third finger-middle finger strain gauge transducer, the forefinger-middle finger strain gauge transducer is arranged at the back of the hand of the glove bulk At the lower section of the metacarpophalangeal joints of the middle finger of side, and the pin of the third finger-middle finger strain gauge transducer points to the third finger, described The pin of forefinger-middle finger strain gauge transducer points to forefinger；The little finger-nameless strain gauge transducer is arranged on the hand Between the little finger and the third finger that cover the dorsal side of body, and the pin of the little finger-nameless strain gauge transducer points to Little finger；The third finger-middle finger strain gauge transducer is used to obtain the nameless movable information parallel to palm；It is described Forefinger-middle finger strain gauge transducer is used to obtain movable information of the forefinger parallel to palm；The little finger-nameless strain-type Sensor is used to obtain movable information of the little finger parallel to palm.
- 7. total joint measurement type data glove according to claim 6, it is characterised in that the third finger-middle finger strain Formula sensor, the forefinger-middle finger strain gauge transducer are respectively positioned in the metacarpophalangeal pass of the middle finger of the dorsal side of the glove bulk At the 1cm-2cm for saving lower section.
- 8. total joint measurement type data glove according to claim 1, it is characterised in that the total joint measurement type data Gloves also include circuit board and CAN；The circuit board includes sample circuit, signal amplification circuit and the list being sequentially connected Piece machine；The sample circuit is also connected with the flexibility sensor, the strain gauge transducer respectively；The circuit board passes through The CAN is connected with the manipulator or the computer end.
- 9. total joint measurement type data glove according to claim 8, it is characterised in that the model of the single-chip microcomputer STM32F103ZET6。
- 10. total joint measurement type data glove according to claim 1, it is characterised in that the flexibility sensor Model RB-02S046；The model RX-D1016 of the strain gauge transducer.
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| CN201711340709.6A CN107825393A (en) | 2017-12-14 | 2017-12-14 | A kind of total joint measurement type data glove |
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| CN201711340709.6A CN107825393A (en) | 2017-12-14 | 2017-12-14 | A kind of total joint measurement type data glove |
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| CN108415575A (en) * | 2018-03-30 | 2018-08-17 | 北京诺亦腾科技有限公司 | It is a kind of can embedded sensors motion capture gloves |
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| CN114918083A (en) * | 2022-04-25 | 2022-08-19 | 青岛海尔科技有限公司 | Spraying control method and system, storage medium and electronic device |
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