CN108073283A - The computational methods and gloves of hand joint - Google Patents
The computational methods and gloves of hand joint Download PDFInfo
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- CN108073283A CN108073283A CN201711283329.3A CN201711283329A CN108073283A CN 108073283 A CN108073283 A CN 108073283A CN 201711283329 A CN201711283329 A CN 201711283329A CN 108073283 A CN108073283 A CN 108073283A
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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
Abstract
The present invention provides the computational methods and gloves of a kind of hand joint, this method includes：It merges to obtain quaternary number from the first joint sensors of middle finger, the first joint sensors of forefinger and palm sensor, establishes reference axis vector x 1, the vector y1 of first joint sensors of forefinger；It is using quaternary number multiplication that vector transformation is vectorial to geographic coordinate system, calculate the angle α of vector and the angle β of vector；Finger gesture is simulated according to α, the β.The present invention has the advantages that user experience is good.
Description
Technical field
The present invention relates to the computational methods and gloves of electronics and sports field more particularly to a kind of hand joint.
Background technology
Each local joint independence is obtained using with the close-connected Inertial Measurement Unit of body joints (IMU), in geography
Rotation attitude in space, and then the comprehensive spatial attitude (such as acting trend) for obtaining entirety are to realize movement appearance in recent years
One of major technique that state captures.Wherein, palm portion joint is intensive, and flexibility is strong, complicated movement, and achievable action is a variety of
It is various, the research of posture capture can be carried out specifically for the part.In order to obtain complete hand exercise state, generally require
Two to three Inertial Measurement Units, corresponding each articulations digitorum manus are disposed on every finger.And one is also placed on the back of the hand, with connection
It has been each articulations digitorum manus.Each measuring unit general set accelerometer or gyroscope or magnetometer, can measure X, Y, Z tri- respectively
Acceleration, angular speed and magnetic field intensity on direction.It also needs respectively to sense three before measuring or even in measurement process
Device is corrected into line displacement, scale equal error, then obtained data are merged, and finally obtains each sensor in geographical space
Posture, be typically expressed as quaternary number or Eulerian angles.
After having obtained attitude data of all joints in geographic coordinate system, using geographic coordinate system as intermediary, under calculating
Grade joint and the interarticular relative position relation of higher level, it is restructural go out entire palm form.Convenient and efficient, treatment effeciency is high.
However, quaternary number cannot reflect the mutual relation in each joint well, and for layman, as a result
It is not directly perceived enough.
Existing attitude algorithm is using quaternary number direct solution.With the posture number in the subordinate joint that this method calculates
According to only related with directly under higher level joint, and each joint characteristics of motion of itself, joint at the same level and there is no lineal subordinate passes
Some implicit relative position conditions between the non-joint at the same level of system are then ignored.Since in practical operation, sensor is set
Put, fix and sensor obtain data in itself all there are certain error, these errors likely result in the posture calculated
The natural law is not met, the situations such as the torsion that such as articulations digitorum manus generation is oriented to axis with finger, adjacent finger position coincidence occurs,
So the accuracy of existing posture settlement method is not high, user experience is low.
The content of the invention
There is provided a kind of computational methods of hand joint, the method for the calculating of the hand joint is by the attitude data of sensor
The calculation of hand joint angle is mapped to, so that the introducing computation model of the restrictive condition of hand is come out to ensure to reappear
Hand meet the natural law, so the advantages of it is high with accuracy, and user experience is good.
On the one hand, a kind of computational methods of hand joint are provided, the described method includes：
It merges to obtain quaternary number from the first joint sensors of middle finger, the first joint sensors of forefinger and palm sensor,
The quaternary number specifically includes：Q1, q2 and q0；
Establish reference axis vector x 1, the vector y1 of first joint sensors of forefinger；
Using quaternary number multiplication and by vectorial q1y1q1 -1Become q1x1q1 -1Shift to geographic coordinate system vector yG1xG1；
Use quaternary number multiplication q0 -1yG1q0And q0 -1xG1q0It will be vectorial under geographic coordinate system vector transformation to palm coordinate system
yH1And xH1；
Establish reference axis vector x 2, the vector y2 of the first joint sensors of middle finger 105, by vector x 2, vector y2 convert to
It is vectorial under palm coordinate system；
By the vectorial z-axis coordinate zero setting under palm coordinate system, yH1P、xH1PAnd yH2P、xH2P；Obtain vector
Calculate vector xH1pAnd xH2pAngle α and vector yH1pAnd yH2pAngle β；
Finger gesture is simulated according to α, the β.
Optionally, the method further includes：
The vector of each joint sensors in each finger is established, the vector of each joint sensors is converted into palm passes
The vector of sensor coordinate system by the vector projection of palm sensor coordinate system to X-0-Y planes, calculates the adjacent hand of X-0-Y planes
Refer to the angle between two vectors in identical joint, sell according to angle simulation between two vectors in the identical joint of adjacent finger
The posture in portion.
Second aspect, provides a kind of gloves, and the gloves include：Sensor, processing unit, the sensor are arranged on often
The joint of a finger；
The processor, for from the first joint sensors of middle finger, the first joint sensors of forefinger and palm sensor
Fusion obtains quaternary number, and the quaternary number specifically includes：Q1, q2 and q0；Establish the coordinate of first joint sensors of forefinger
Axial vector x1, vector y1；It is using quaternary number multiplication and vector transformation is vectorial to geographic coordinate system；Using quaternary number multiplication by ground
Vector under coordinate system vector transformation to palm coordinate system is managed, establishes reference axis vector x 2, the vector of the first joint sensors of middle finger
Y2, it is vectorial under vector x 2, vector y2 are converted to palm coordinate system；
The processor, for by the vectorial z-axis coordinate zero setting under palm coordinate system, obtaining vectorial yH1P、xH1PAnd yH2P、
xH2P；
Calculate vector xH1pAnd xH2pAngle α and vector yH1pAnd yH2pAngle β；Finger appearance is simulated according to α, the β
Gesture.
Optionally, the processor is additionally operable to establish the vector of each joint sensors in each finger, by each joint
The vector of sensor is converted into the vector of palm sensor coordinate system, by the vector projection of palm sensor coordinate system to X-0-Y
Plane calculates the angle between two vectors in the identical joint of X-0-Y plane adjacent fingers, according to the identical joint of adjacent finger
Angle simulates the posture of hand between two vectors.
The technical solution that is there is provided according to each embodiment it is new the attitude data of sensor is mapped to hand joint angle
Calculation, so as to by the introducing computation model of the restrictive condition of hand with ensure reappear out hand be meet nature rule
Rule, so the advantages of it has calculating accurately, and user experience is high.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow chart of the computational methods for the hand joint that the first better embodiment of the invention provides.
Fig. 2 (A) is the vectorial schematic diagram of the hand joint provided of the first better embodiment of the invention.
Fig. 2 (B) is the schematic diagram of the hand joint angle provided of the first better embodiment of the invention.
Fig. 3 is the sensor distribution schematic diagram that the first better embodiment of the invention provides.
Fig. 4 is the schematic diagram of glove structure provided by the invention.
Fig. 5 is the structure diagram of Intelligent glove of the present invention.
Fig. 6 (A) is the vectorial schematic diagram of the hand joint provided of the first better embodiment of the invention.
Fig. 6 (B) is the schematic diagram of the hand joint angle provided of the first better embodiment of the invention.
Specific embodiment
It should be mentioned that some exemplary embodiments are described as before exemplary embodiment is discussed in greater detail
The processing described as flow chart or method.Although operations are described as the processing of order by flow chart, therein to be permitted
Multioperation can be implemented concurrently, concomitantly or simultaneously.In addition, the order of operations can be rearranged.When it
The processing can be terminated when operation is completed, it is also possible to have the additional step being not included in attached drawing.The processing
It can correspond to method, function, regulation, subroutine, subprogram etc..
Alleged within a context " computer equipment ", also referred to as " computer ", referring to can be by running preset program or referring to
Make performing the intelligent electronic device of the predetermined process process such as numerical computations and/or logical calculated, can include processor with
Memory, by the survival that prestores in memory of processor execution instruct to perform predetermined process process or by ASIC,
The hardware such as FPGA, DSP perform predetermined process process or are realized by said two devices combination.Computer equipment includes but unlimited
In server, PC, laptop, tablet computer, smart mobile phone etc..
Method (some of them are illustrated by flow) discussed hereafter can be by hardware, software, firmware, centre
Part, microcode, hardware description language or its any combination are implemented.Implement when with software, firmware, middleware or microcode
When, to implement the program code of necessary task or code segment can be stored in machine or computer-readable medium and (for example deposit
Storage media) in.(one or more) processor can implement necessary task.
Concrete structure and function detail disclosed herein are only representative, and are for describing showing for the present invention
The purpose of example property embodiment.But the present invention can be implemented by many alternative forms, and be not interpreted as
It is limited only by the embodiments set forth herein.
Although it should be appreciated that may have been used term " first ", " second " etc. herein to describe unit,
But these units should not be limited by these terms.The use of these items is only for by a unit and another unit
It distinguishes.For example, in the case of the scope without departing substantially from exemplary embodiment, it is single that first module can be referred to as second
Member, and similarly second unit can be referred to as first module.Term "and/or" used herein above include one of them or
The arbitrary and all combination of more listed associated items.
Term used herein above is not intended to limit exemplary embodiment just for the sake of description specific embodiment.Unless
Context clearly refers else, otherwise singulative used herein above "one", " one " also attempt to include plural number.Should also
When understanding, term " comprising " and/or "comprising" used herein above provide stated feature, integer, step, operation,
The presence of unit and/or component, and do not preclude the presence or addition of other one or more features, integer, step, operation, unit,
Component and/or its combination.
It should further be mentioned that in some replaces realization modes, the function/action being previously mentioned can be according to different from attached
The order indicated in figure occurs.For example, depending on involved function/action, the two width figures shown in succession actually may be used
Substantially simultaneously to perform or can perform in a reverse order sometimes.
Refering to Fig. 1, Fig. 1 is the method for the calculating for the hand joint that first better embodiment of the invention provides, this method
It is performed by intelligent terminal, this method simulates the posture of hand, as shown in Fig. 2, every hand for calculating hand joint
Refer to there are three turning joint, the first articulations digitorum manus, the second articulations digitorum manus and the 3rd articulations digitorum manus are followed successively by from the centre of the palm to finger tip, with forefinger
Exemplified by, as shown in 201,202,203 in Fig. 2 (A).Wherein, the scope of activities in joint 203 is smaller, and in most of proper motions
During there are fixed correlations with the activity in joint 202.In order to mitigate finger burden, reduce system constructing and computing into
This, in the joint motion influences smaller application scenarios, does not track the activity in the joint individually generally, and uses joint 202
Active situation estimate.Sensor placement figure on finger tip and is not provided with sensor as shown in the circle in Fig. 3.Sensor
The coordinate system that specific set-up mode is established with reference to joint in figure 2 (A), even the Y-axis of sensor is parallel to finger orientation, Z axis
Perpendicular to referring to, tool back plane is upward.
Illustrate the calculating of angle by taking the activity of the first articulations digitorum manus of forefinger as an example.Such as Fig. 2 (B), there are two living for the first articulations digitorum manus
Dynamic degree of freedom, respectively rotates around z-axis and x-axis, and cannot complete the rotation around y-axis.Rotation around z-axis is formd in horizontal plane
On rotational angle α, the rotation around x-axis forms the rotational angle β on vertical plane.The two angles will be calculated successively
Go out, quaternary number to be replaced to be used to represent the posture of articulations digitorum manus.Calculation procedure is as follows as shown in Figure 1：
Step S11, from the first joint sensors of middle finger 105, the first joint sensors of forefinger 107 and palm sensor
100 fusions obtain quaternary number, which can specifically include：Q1, q2 and q0.
Step S12, reference axis vector x 1, the vector y1 of the first joint sensors of forefinger 107 are established；
Step S13, using quaternary number multiplication q1y1q1 -1And q1x1q1 -1By vector transformation to geographic coordinate system vector yG1 xG1
Step S14, using quaternary number multiplication q0 -1yG1q0And q0 -1xG1q0By geographic coordinate system vector transformation to palm coordinate
The lower vector y of systemH1And xH1
Step S15, reference axis vector x 2, the vector y2 of the first joint sensors of middle finger 105 are established, by vector x 2, vector
Vector y under y2 is converted to palm coordinate systemH1And xH1
Step S16, by the vectorial z-axis coordinate zero setting under palm coordinate system, yH1P、xH1PAnd yH2P、xH2PObtain vector
Step S17, vector x is calculatedH1pAnd xH2pAngle α and vector yH1pAnd yH2pAngle β.
Step S18, finger gesture is simulated according to the angle [alpha], β.
It is of the invention then propose a kind of new calculation that the attitude data of sensor is mapped to hand joint angle,
So that the introducing computation model of the restrictive condition of hand is met the natural law to ensure to reappear hand out.
The schematic diagram of above-mentioned vector may refer to Fig. 6 (A) or Fig. 6 (B).
Optionally, the above method can also include after step S18：
The vector of each joint sensors in each finger is established, the vector of each joint sensors is converted into palm passes
The vector of sensor coordinate system by the vector projection of palm sensor coordinate system to X-0-Y planes, calculates the adjacent hand of X-0-Y planes
Refer to the angle between two vectors in identical joint, sell according to angle simulation between two vectors in the identical joint of adjacent finger
The posture in portion.
Refering to Fig. 4, Fig. 4 provides a kind of gloves, and the gloves include：Sensor 401, processing unit 402, the sensor
It is arranged on the joint of each finger；
Processor 402, for melting from the first joint sensors of middle finger, the first joint sensors of forefinger and palm sensor
Conjunction obtains quaternary number, and the quaternary number specifically includes：Q1, q2 and q0；Establish the reference axis of first joint sensors of forefinger
Vector x 1, vector y1；It is using quaternary number multiplication and vector transformation is vectorial to geographic coordinate system；Using quaternary number multiplication by geography
It is vectorial under coordinate system vector transformation to palm coordinate system, reference axis vector x 2, the vector y2 of the first joint sensors of middle finger are established,
It is vectorial under vector x 2, vector y2 are converted to palm coordinate system；
The processor, for by the vectorial z-axis coordinate zero setting under palm coordinate system, obtaining vectorial yH1P、xH1PAnd yH2P、
xH2P；
Calculate vector xH1pAnd xH2pAngle α and vector yH1pAnd yH2pAngle β；Finger appearance is simulated according to α, the β
Gesture.
Optionally, the processor is additionally operable to establish the vector of each joint sensors in each finger, by each joint
The vector of sensor is converted into the vector of palm sensor coordinate system, by the vector projection of palm sensor coordinate system to X-0-Y
Plane calculates the angle between two vectors in the identical joint of X-0-Y plane adjacent fingers, according to the identical joint of adjacent finger
Angle simulates the posture of hand between two vectors.
Refering to Fig. 5, Fig. 5 is a kind of Intelligent glove 500 provided by the invention, including processor 501, memory 502, transmitting-receiving
Device 503, sensor 505 and bus 504.Transceiver 503 is used for the transceiving data between external equipment.In Intelligent glove 500
The quantity of processor 501 can be one or more.In some embodiments of the present invention, processor 501, memory 502, sensing
Device 505 can be connected with transceiver 503 by bus system or other modes.Intelligent glove 500 can be used for performing shown in FIG. 1
Method.The meaning for the term being related on the present embodiment and citing, may be referred to the corresponding embodiments of Fig. 6.It is no longer superfluous herein
It states.
Transceiver 503, for receiving or sending order；
Sensor 505, for detecting the data of finger-joint, which is multiple sensors, is arranged on finger-joint
Place, specifically may refer to setting figure as shown in Figure 3.
Wherein, program code is stored in memory 502.Processor 501 is used to call the program generation stored in memory 502
Code, for performing method as shown in Figure 1.
It should be noted that processor 501 here can be a processing element or multiple processing elements
It is referred to as.For example, the processing element can be central processing unit (Central Processing Unit, CPU) or spy
Determine integrated circuit (Application Specific Integrated Circuit, ASIC) or be arranged to implement this
One or more integrated circuits of inventive embodiments, such as：One or more microprocessors (digital signal
Processor, DSP) or, one or more field programmable gate array (Field Programmable Gate Array,
FPGA)。
Memory 503 can be the general designation of a storage device or multiple memory elements, and for storing and can hold
Parameter, data etc. required for line program code or the operation of application program running gear.And memory 503 can include depositing at random
Reservoir (RAM) can also include nonvolatile memory (non-volatile memory), such as magnetic disk storage, flash memory
(Flash) etc..
Bus 504 can be that industry standard architecture (Industry Standard Architecture, ISA) is total
Line, external equipment interconnection (Peripheral Component, PCI) bus or extended industry-standard architecture (Extended
Industry Standard Architecture, EISA) bus etc..The bus can be divided into address bus, data/address bus, control
Bus processed etc..
The user's equipment can also include input/output unit, be connected to bus 504, to pass through bus and or processor
The other parts such as 501 connect.The input/output unit can provide an input interface for operating personnel, so that operating personnel pass through
The input interface selects item of deploying to ensure effective monitoring and control of illegal activities, and can also be other interfaces, can pass through the external miscellaneous equipment of the interface.
It should be noted that for foregoing each embodiment of the method, in order to be briefly described, therefore it is all expressed as to a system
The combination of actions of row, but those skilled in the art should know, the present invention and from the limitation of described sequence of movement, because
For according to the present invention, certain some step may be employed other orders or be carried out at the same time.Secondly, those skilled in the art also should
Know, embodiment described in this description belongs to preferred embodiment, involved action and module not necessarily this hair
Necessary to bright.
In the above-described embodiments, all emphasize particularly on different fields to the description of each embodiment, be 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 all or part of step in the various methods of above-described embodiment is can
Relevant hardware to be instructed to complete by program, which can be stored in a computer readable storage medium, storage
Medium can include：Flash disk, read-only memory (English：Read-Only Memory, referred to as：ROM), random access device (English
Text：Random Access Memory, referred to as：RAM), disk or CD etc..
The content download method and relevant device, system provided above to the embodiment of the present invention is described in detail,
Specific case used herein is set forth the principle of the present invention and embodiment, and the explanation of above example is simply used
Understand the method and its core concept of the present invention in help；It is according to the invention meanwhile for those of ordinary skill in the art
Thought, there will be changes in specific embodiments and applications, in conclusion this specification content should not be construed as
Limitation of the present invention.
Claims (4)
1. a kind of computational methods of hand joint, which is characterized in that the described method includes：
It merges to obtain quaternary number from the first joint sensors of middle finger, the first joint sensors of forefinger and palm sensor, it is described
Quaternary number specifically includes：Q1, q2 and q0；
Establish reference axis vector x 1, the vector y1 of first joint sensors of forefinger；
Use quaternary number multiplication q1y1q1 -1And q1x1q1 -1By vector transformation to geographic coordinate system vector xG1、yG1；
Use quaternary number multiplication q0 -1yG1q0And q0 -1xG1q0By vector y under geographic coordinate system vector transformation to palm coordinate systemH1And
xH1；
Reference axis vector x 2, the vector y2 of the first joint sensors of middle finger are established, vector x 2, vector y2 are converted to palm coordinate
The lower vector of system；
By the vectorial z-axis coordinate zero setting under palm coordinate system, vectorial y is obtainedH1P、xH1PAnd yH2P、xH2P；
Calculate vector xH1pAnd xH2pAngle α and vector yH1pAnd yH2pAngle β；
Finger gesture is simulated according to α, the β.
2. according to the method described in claim 1, it is characterized in that, the method further includes：
The vector of each joint sensors in each finger is established, the vector of each joint sensors is converted into palm sensor
The vector of coordinate system by the vector projection of palm sensor coordinate system to X-0-Y planes, calculates X-0-Y plane adjacent finger phases
With the angle between two vectors in joint, hand is simulated according to angle between two vectors in the identical joint of adjacent finger
Posture.
3. a kind of gloves, which is characterized in that the gloves include：Sensor, processing unit, the sensor are arranged on each hand
The joint of finger；
The processor, for being merged from the first joint sensors of middle finger, the first joint sensors of forefinger and palm sensor
Quaternary number is obtained, the quaternary number specifically includes：Q1, q2 and q0；The coordinate for establishing first joint sensors of forefinger is axial
Measure x1, vector y1；It is using quaternary number multiplication and vector transformation is vectorial to geographic coordinate system；Geography is sat using quaternary number multiplication
It is vectorial under mark system vector transformation to palm coordinate system, reference axis vector x 2, the vector y2 of the first joint sensors of middle finger are established, it will
Vector under vector x 2, vector y2 are converted to palm coordinate system；
The processor, for by the vectorial z-axis coordinate zero setting under palm coordinate system, obtaining vectorial yH1P、xH1PAnd yH2P、xH2P；
Calculate vector xH1pAnd xH2pAngle α and vector yH1pAnd yH2pAngle β；Finger gesture is simulated according to α, the β.
4. gloves according to claim 3, which is characterized in that the processor is additionally operable to establish in each finger each
The vector of each joint sensors is converted into the vector of palm sensor coordinate system, palm is passed by the vector of joint sensors
The vector projection of sensor coordinate system is to X-0-Y planes, between two vectors for calculating the identical joint of X-0-Y plane adjacent fingers
Angle simulates the posture of hand according to angle between two vectors in the identical joint of adjacent finger.
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|---|---|---|---|
| CN201711283329.3A CN108073283B (en) | 2017-12-07 | 2017-12-07 | Hand joint calculation method and glove |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113268136A (en) * | 2020-02-14 | 2021-08-17 | 北京海益同展信息科技有限公司 | Method and device for resolving degree of freedom between thumb and palm and data glove |
| CN113467599A (en) * | 2020-03-31 | 2021-10-01 | 北京海益同展信息科技有限公司 | Method and device for resolving degree of freedom of flexion and extension between fingers and palm and data glove |
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|---|---|
| CN108073283B (en) | 2021-02-09 |
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