CN110362195A - Gesture identification and interactive system based on bistable state coding and Flexiable angular transducer - Google Patents
Gesture identification and interactive system based on bistable state coding and Flexiable angular transducer Download PDFInfo
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- CN110362195A CN110362195A CN201910495361.0A CN201910495361A CN110362195A CN 110362195 A CN110362195 A CN 110362195A CN 201910495361 A CN201910495361 A CN 201910495361A CN 110362195 A CN110362195 A CN 110362195A
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- angular transducer
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- 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
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
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- General Engineering & Computer Science (AREA)
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- Human Computer Interaction (AREA)
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- General Physics & Mathematics (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The invention discloses a kind of gesture identifications and interactive system based on bistable state coding and Flexiable angular transducer, including Flexiable angular transducer, for acquiring digital flexion information；Bistable state coded system stretches/bending state for encoding finger；Micro- integrated chip obtains digital flexion information by the information of voltage that Flexiable angular transducer provides, and encodes and identify different gestures using bistable state coded system；Interaction feedback module is controlled by micro- integrated chip, the different gestures for showing and feedback system is identified.The present invention uses bistable state coded system, can effectively improve the accuracy rate and stability of gesture identification；Using IC design thought, by information collection, processing and display integration can complete the identification and interaction of different gestures, can application prospect it is extensive；System subsequent software processing scramble time and complexity are significantly reduced by specific design of Structural Parameters using by the scorpion Flexiable angular transducer that seam receptor inspires enough.
Description
Technical field
The present invention relates to intelligent wearing, gesture identification and interaction fields, and in particular to one kind is based on bistable state coded system
With the gesture identification and interactive system of Flexiable angular transducer.
Background technique
Since stepping into 21 century, with Internet of Things, the fast development of cloud computing, human-computer interaction technology is gradually to
Three generations's body feeling interaction technology (multi-modal interaction technique) development, that is, it combines and the body feeling interaction skill captured is implemented based on limb action
Art inputs interactive voice technology and traditional touch-control interaction technique with identifying based on voice to acquire, understands and handle use
Family information, and Real-time Feedback is made to promote the interactive experience of user.And in third generation body feeling interaction technology, gesture identification is made
For the major part of acquisition of information, research and development affects the naturality and flexibility of human-computer interaction.And it is traditional based on
The Gesture Recognition of optical camera causes recognition accuracy low, this gives vulnerable to the influence of ambient noise and scene illumination
The development and popularization of third generation body feeling interaction technology bring difficulty.
Currently there are mainstream identification technology include: 1) in terms of the drop point site to reflect light is come based on structure light
Position is calculated, this technology can not accurately calculate the depth information of image；There is stringent identification distance limitation；Vulnerable to the dry of ambient light
It disturbs, is responded under strong light relatively slow.2) it is based on binocular vision, for structure light, there is higher discrimination, but need to match
Set preferable hardware device and software calculation procedure；It is rung simultaneously vulnerable to environment shadow, rather dark, light thinks that background is multiple strongly
Discrimination is very low under miscellaneous scene.3) it is based on TOF, traditional hard sensing chip is immature and cost is very high, and volume production is difficult, removes
Except this, accuracy of identification is not high, then the reduction of discrimination.
In addition to this, the gesture identification and man-machine friendship of some novel wearable flexible sensors based on capacitor and pressure drag
Mutual system also occurs, still, the on the one hand problem not high due to transducer sensitivity, on the other hand since software mostly uses list
Threshold value distinguished number causes gesture identification accuracy rate lower.
Summary of the invention
Goal of the invention: in view of the problems of the existing technology, the object of the present invention is to provide one kind to be encoded based on bistable state
The gesture identification and interactive system of system and Flexiable angular transducer sum, the system gesture identification rate is high, and recognition speed is fast, simultaneously
It is shown and voice broadcast feedback function with video.
A kind of technical solution: gesture identification and interactive system based on bistable state coding and Flexiable angular transducer, comprising:
Flexiable angular transducer, for acquiring digital flexion information；
Bistable state coded system stretches/bending state for encoding finger；
Micro- integrated chip obtains digital flexion information by the information of voltage that Flexiable angular transducer provides, and utilizes double
Stable state coded system encodes and identifies different gestures；
Interaction feedback module is controlled by micro- integrated chip, the different gestures for showing and feedback system is identified.
Further, the bistable state coded system stretches finger according to the high threshold voltage and low threshold voltage of setting
Directly/bending state is encoded to state " 1 "/" 0 ", and carries out unique encodings to different gestures.The cataloged procedure includes following step
It is rapid:
1) initial finger is in straight configuration, and encoding state is " 1 ", sets high threshold voltage and low threshold voltage；
2) when digital flexion, Flexiable angular transducer equivalent resistance is reduced, and both end voltage reduces, if its voltage is low
In the low threshold voltage of setting, finger state is encoded to " 0 "；
3) when finger gradually stretches, Flexiable angular transducer equivalent resistance increases, and both end voltage increases, if it is electric
Pressure is higher than the high threshold voltage of setting, and finger state is encoded to " 1 ",
In the step 2), if since external interference factor causes the voltage at Flexiable angular transducer both ends to be higher than Low threshold
Voltage, finger state are still maintained " 0 ".
In the step 3), if since external interference factor causes the voltage at Flexiable angular transducer both ends lower than high threshold
Voltage, finger state are still maintained " 1 ".
Further, the Flexiable angular transducer is set on the inside of thumb, index finger, middle finger, the third finger and little finger
At second joint.
Preferably, the Flexiable angular transducer includes surface encapsulation layer (11), functional layer (12) and conductive metal wire
(13), the conductive metal wire (13) passes through functional layer (12), and the surface encapsulation layer (11) is used for encapsulation function layer (12), institute
Stating functional layer (12) includes porous, electrically conductive spongy layer (121) and fexible film supporting layer (122), the porous, electrically conductive sponge
(121) lower surface is connected with fexible film supporting layer (122), and the outer surface of the porous, electrically conductive sponge (121) is concave-convex row
Array structure.The surface encapsulation layer (1) is that dimethyl silicone polymer thin layer, polyvinyl alcohol thin layer, silicon rubber, rubber or polyamides are sub-
One of amine is a variety of.The conductive metal wire (3) is one of conductive metal foil, conducting resinl or conductive paste or a variety of.
The porous, electrically conductive spongy layer (21) is made of any one material in polyurethane, polyvinyl alcohol and seaweed cotton, the flexible thin
Film supporting layer (22) is made of any one in dimethyl silicone polymer, polyvinyl alcohol and polyetherimide.
Further, the interaction feedback module includes video display module and/or voice broadcast module.The video is aobvious
Show that module is made of LED array, the different gestures identified are shown by the control of micro- integrated chip；The voice broadcast mould
Block is text-to-speech module, carries out voice to the different gestures identified by the input that micro- integrated chip controls particular text
Casting.
The utility model has the advantages that compared to the prior art, the present invention has following marked improvement: 1, being encoded using unique bistable state
System can effectively eliminate near threshold voltage identification error due to caused by voltage dithering, improve the accurate of gesture identification
Rate and stability.2, using IC design thought, by information collection, processing and display integration can complete different hands
The identification and interaction of gesture are transformed and are replaced subsequently through simple circuit module, be can be applied in wider scene, such as
Entertainment, supplemental training etc..3, using by the scorpion Flexiable angular transducer that seam receptor inspires enough, joined by specific structure
Number design realizes that the linear sensing capability to angle, both end voltage with bending angle there is high correlation and single pair should close
System, so that system subsequent software processing scramble time and complexity reduce.
Detailed description of the invention
Fig. 1 is system structure diagram of the invention；
Fig. 2 (a), 2 (b) are respectively that the structural schematic diagram of Flexiable angular transducer and SEM scheme；
Fig. 3 is electric current-angle curve figure of Flexiable angular transducer；
Fig. 4 is IC design schematic diagram of the invention；
Fig. 5 is the coding principle figure of bistable state coded system；
Fig. 6 is the bistable state code pattern of different fingers under four kinds of gestures；
Fig. 7 is the identification and feedback diagram of gesture identification of the present invention and interactive system for four kinds of gestures；Wherein, 7 (a) be to be
The identification and feedback diagram united to " number 4 " gesture, 7 (b) identification and feedback diagram for system to " number 6 " gesture, 7 (c) be to be
The identification and feedback diagram united to " clenching fist " gesture, 7 (d) be identification and feedback diagram of the system to " OK " gesture.
Specific embodiment
In order to make those skilled in the art better understand the present invention program, below in conjunction in the embodiment of the present invention
Attached drawing carries out clear, complete description to the technical solution in inventive embodiments.
Fig. 1 gives a kind of gesture based on bistable state coded system and flexible bionic angular transducer of present example
The structural schematic diagram of identification and interaction.
1, Flexiable angular transducer
By scorpion, seam receptor inspires Flexiable angular transducer 1 enough, has linear sensing capability to angle, fixes respectively
In thumb, index finger, middle finger, the third finger is at the second joint on the inside of little finger, and when doing certain gestures, digital flexion causes
Flexiable angular transducer equivalent resistance changes, and resistance change directly reflects the angle of digital flexion.
Shown in the structure of flexible sensor in the present embodiment such as Fig. 2 (a), including surface encapsulation layer 11,12 and of functional layer
Conductive metal wire 13, conductive metal wire 13 pass through functional layer 12, and surface encapsulation layer 11 is used for encapsulation function layer 12, and functional layer 12 is wrapped
Include porous, electrically conductive spongy layer 121 and fexible film supporting layer 122,121 lower surface of porous, electrically conductive sponge and fexible film supporting layer
122 are connected, and the outer surface of porous, electrically conductive sponge 121 is male-female arrangement structure.The flexible sensor of the present embodiment, it is micro- using PVA-
The PU@MWCNT-PVA sandwich sandwich of structuring.Wherein, upper layer PVA is as encapsulated layer, intermediate micro-structural PU@
The MWCNT and PVA of lower layer constitutes angle perceptional function, wherein bending of the micro-structural PU@MWCNT due to adjacent protrusion structure
Contact Effect and internal bending compression Contact Effect can perceive bending angle, and the PVA of lower layer is as supporting layer, deformation transmission
Layer and self-sticking layer.Shown in SEM image such as Fig. 2 (b) of the PVA of intermediate micro-structural PU@MWCNT and lower layer.By setting
The structural parameters for counting suitable polyurethane sponge surface micro-structure, in the case where recess and projection length ratio are 1:2, the flexibility
Angular transducer has linear sensing capability to angle, and the linear matched curve of electric current-angle is as shown in Figure 3.In addition to this, this is soft
Property sensor pass through and form conductive layer in two sides fixed copper conductor of sewing.Finally, the Flexiable angular transducer passes through lower layer PVA's
Thumb is fixed on from adhesive attraction, index finger, middle finger, on the inside of nameless and little finger at second joint (as shown in Figure 1), to adopt
Collect each digital flexion information.
2, bistable state coded system
For the discrimination and stability for further increasing the gesture identification and interactive system, the work of device is offended by Schmidt
Principle inspires, the invention proposes a kind of bistable state coded system, can according to the high threshold voltage and low threshold voltage of setting from
It is dynamic finger stretched/bending state is encoded to state " 1 "/" 0 ", passes through thumb, index finger, middle finger is nameless and little finger
Five kinds of combinations of states, realize the identification of different gestures.The workflow of the bistable state coded system is as described below:
Voltage code is " 0 " and " 1 " by high threshold voltage and low threshold voltage by Schmidt trigger.It is similar,
It is illustrated in figure 5 its coding principle.When finger is gradually curved, the voltage signal at flexible sensor both ends is gradually dropped from high voltage
Low, when voltage signal is lower than low threshold voltage, encoded voltage signal jumps to state " 0 " from state " 1 ", otherwise maintains always
For the state of " 1 ", and near low threshold voltage, even if since voltage dithering causes the voltage at Flexiable angular transducer both ends big
In low threshold voltage, encoded signal will also be maintained 0, and will not jump is 1；Similarly, when finger gradually stretches, flexible sensor
The voltage signal at both ends is gradually increased from low-voltage, and when voltage signal is greater than high threshold voltage, encoded voltage signal is from state
" 0 " jumps to state " 1 ", otherwise unanimously maintains the state of " 0 ", and near high threshold voltage, even if since voltage dithering is led
The voltage at Flexiable angular transducer both ends is caused to be lower than high threshold voltage, encoded voltage signal will also maintain the state of " 1 ", and will not jump
Change to state " 0 ".After this bistable state coded format, each gesture all corresponds to unique coded format, and can disappear
Except identification error caused by voltage dithering at threshold voltage, to improve the stability and accuracy rate of gesture identification.
3, integrated circuit modules design
The integrated control module of entire gesture identification and man-machine interactive system is as shown in figure 4, include five tunnels series connection partial pressure electricity
Road, video display module 2, voice broadcast module 3 and micro- integrated chip 4.Wherein in five tunnels series connection bleeder circuit per all the way all
The constant resistance and Flexiable angular transducer for having a fixed resistance value are constituted.
Micro- integrated chip 4 controls the voltage at analog-digital converter acquisition Flexiable angular transducer both ends, obtains finger with this
Bending information；The bistable state coded system for recycling it internal is realized to thumb, index finger, middle finger, the third finger and little finger five
Root finger stretches/coding of bending state, and different gestures are realized in such a way that the combination of five kinds of states is by searching for table
Hand is other.Later, micro- integrated chip realizes the view of the different gestures of identification by control video display module and voice broadcast module
Frequency display and voice broadcast feedback.
Preferably, video display module is made of LED array.By specific bulb switch in micro- integrated chip LED array
Realize that the different gestures of identification are shown.Voice broadcast module is text-to-speech module, controls specific text by micro- integrated chip
This voice broadcast for inputting to realize the different gestures of identification.
The specific workflow of whole system is as follows:
Firstly, digital flexion causes the equivalent resistance of Flexiable angular transducer to change, and then Flexiable angular transducer
The voltage at both ends changes.Later, the voltage at micro- integrated chip control analog-digital converter acquisition Flexiable angular transducer both ends,
And realized using the bistable state coded system inside micro- integrated chip to thumb, index finger, middle finger, it is nameless and five, little finger
Finger stretches/coding of bending state, and different gestures are realized in such a way that the combination of five kinds of states is realized by searching for table
Hand it is other.It only relies on and stretches and be bent two states, 2 may be implemented altogether5The identification of=32 kinds of gestures.Later, micro- integrated chip
Realize that the video of the different gestures of identification is shown and voice broadcast feedback by control video display module and voice broadcast module.
Shown as further example, we design and identify " OK ", " clenching fist ", four kinds of " number 4 " and " digital 6 " not
Identification with gesture is shown.The bistable state coded format of four kinds of fingers is as shown in fig. 6, wherein.The format of " OK " is " 00111 ",
The format of " clenching fist " is " 00000 ", and the format of " number 4 " is " 01111 ", and the format of " number 6 " is " 10001 ".
Gesture after finally saying the gesture identification and interactive system identification is as shown in Figure 7, wherein 7 (a) be system pair
The identification and feedback diagram of " number 4 " gesture, 7 (b) identification and feedback diagram for system to " number 6 " gesture, 7 (c) be system pair
The identification and feedback diagram of " clenching fist " gesture, 7 (d) be identification and feedback diagram of the system to " OK " gesture.By taking Fig. 7 (a) as an example, left side
It changes with time for coded format, when digital flexion is gesture " number 4 ", entire coded format becomes " 01111 "；Right side
For the material object display of the system, top half is that video shows that 4 and voice broadcast module, lower half portion are gesture.
Claims (10)
1. a kind of gesture identification and interactive system based on bistable state coding and Flexiable angular transducer characterized by comprising
Flexiable angular transducer, for acquiring digital flexion information；
Bistable state coded system stretches/bending state for encoding finger；
Micro- integrated chip obtains digital flexion information by the information of voltage that Flexiable angular transducer provides, and utilizes bistable state
Coded system encodes and identifies different gestures；
Interaction feedback module is controlled by micro- integrated chip, the different gestures for showing and feedback system is identified.
2. gesture identification according to claim 1 and interactive system, it is characterised in that: the bistable state coded system according to
The high threshold voltage and low threshold voltage of setting stretch finger/and bending state is encoded to state " 1 "/" 0 ", and to different gestures
Carry out unique encodings.
3. gesture identification according to claim 2 and interactive system, which is characterized in that the cataloged procedure includes following step
It is rapid:
1) initial finger is in straight configuration, and encoding state is " 1 ", sets high threshold voltage and low threshold voltage；
2) when digital flexion, Flexiable angular transducer equivalent resistance is reduced, and both end voltage reduces, and is set if its voltage is lower than
Fixed low threshold voltage, finger state are encoded to " 0 "；
3) when finger gradually stretches, Flexiable angular transducer equivalent resistance increases, and both end voltage increases, if its voltage is high
In the high threshold voltage of setting, finger state is encoded to " 1 ".
4. gesture identification according to claim 3 and interactive system, it is characterised in that: in the step 2), if due to outer
Portion's disturbing factor causes the voltage at Flexiable angular transducer both ends to be higher than low threshold voltage, and finger state is maintained " 0 ".
5. gesture identification according to claim 3 and interactive system, it is characterised in that: in the step 3), if due to outer
Portion's disturbing factor causes the voltage at Flexiable angular transducer both ends lower than high threshold voltage, and finger state is maintained " 1 ".
6. gesture identification according to claim 1 and interactive system, it is characterised in that: the Flexiable angular transducer is set to
At second joint on the inside of thumb, index finger, middle finger, the third finger and little finger.
7. gesture identification according to claim 6 and interactive system, it is characterised in that: the Flexiable angular transducer includes
Surface encapsulation layer (11), functional layer (12) and conductive metal wire (13), the conductive metal wire (13) pass through functional layer (12), institute
Surface encapsulation layer (11) are stated for encapsulation function layer (12), the functional layer (12) includes porous, electrically conductive spongy layer (121) and soft
Property film support layer (122), the lower surface of the porous, electrically conductive sponge (121) is connected with fexible film supporting layer (122), described
The outer surface of porous, electrically conductive sponge (121) is male-female arrangement structure.
8. gesture identification according to claim 7 and interactive system, it is characterised in that: the surface encapsulation layer (1) is poly-
One of dimethyl siloxane thin layer, polyvinyl alcohol thin layer, silicon rubber, rubber or polyimides are a variety of；
The conductive metal wire (3) is one of conductive metal foil, conducting resinl or conductive paste or a variety of；
The porous, electrically conductive spongy layer (21) is made of any one material in polyurethane, polyvinyl alcohol and seaweed cotton, described soft
Property film support layer (22) is made of any one in dimethyl silicone polymer, polyvinyl alcohol and polyetherimide.
9. gesture identification according to claim 1 and interactive system, it is characterised in that: the interaction feedback module includes view
Frequency display module and voice broadcast module.
10. gesture identification according to claim 9 and interactive system, it is characterised in that: the video display module is by LED
Array composition shows the different gestures identified by the control of micro- integrated chip；The voice broadcast module turns for text
Voice module carries out voice broadcast to the different gestures identified by the input that micro- integrated chip controls particular text.
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| CN110764621A (en) * | 2019-11-01 | 2020-02-07 | 华东师范大学 | Self-powered intelligent touch glove and mute gesture broadcasting system |
| CN110855360A (en) * | 2019-10-30 | 2020-02-28 | 东南大学 | Flexible electronic communication system based on optical communication technology and application thereof |
| CN110853429A (en) * | 2019-12-17 | 2020-02-28 | 陕西中医药大学 | Intelligent English teaching system |
| CN110865709A (en) * | 2019-11-15 | 2020-03-06 | 苏州大学 | Flexible sensor-based gesture recognition system and method and glove |
| CN111694428A (en) * | 2020-05-25 | 2020-09-22 | 电子科技大学 | Gesture and track remote control robot system based on Kinect |
| CN112684886A (en) * | 2020-12-28 | 2021-04-20 | 上海宽创国际文化科技股份有限公司 | Motion control method and system of multi-dimensional art interaction device |
| CN112922490A (en) * | 2021-02-09 | 2021-06-08 | 哈尔滨理工大学 | Intelligent window system based on FPGA and STM32 are united |
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Application publication date: 20191022 |