CN110554764A - Feedback type glove and motion capture system - Google Patents
Feedback type glove and motion capture system Download PDFInfo
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- CN110554764A CN110554764A CN201810542943.5A CN201810542943A CN110554764A CN 110554764 A CN110554764 A CN 110554764A CN 201810542943 A CN201810542943 A CN 201810542943A CN 110554764 A CN110554764 A CN 110554764A
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- data glove
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- 230000035807 sensation Effects 0.000 claims abstract description 32
- 238000004088 simulation Methods 0.000 claims abstract description 29
- 239000012530 fluid Substances 0.000 claims description 38
- 238000007789 sealing Methods 0.000 claims description 25
- 239000007788 liquid Substances 0.000 claims description 20
- 230000005684 electric field Effects 0.000 claims description 12
- 239000007787 solid Substances 0.000 claims description 12
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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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
-
- 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
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
the invention discloses a feedback type glove and a motion capture system, wherein the feedback type glove comprises a data glove (1) and a touch simulation device connected to the palm side of the data glove (1), and the data glove (1) is used for detecting hand posture information and sending the information to a processing unit; the tactile sensation simulation device is used for deforming under the control of the processing unit to simulate various object shapes, so that a user can wear the data glove (1) to grasp the tactile sensation simulation device to obtain corresponding tactile sensation, and the sense of reality of user experience is improved.
Description
Technical Field
The invention relates to the field of motion capture, in particular to a feedback type glove and a motion capture system.
Background
With the rapid development of computer software and hardware technologies and the improvement of animation requirements, in more and more high and new technical fields, motion capture has already entered into a practical stage and is successfully applied to many aspects such as virtual reality, games and the like. Motion capture generally adopts motion sensing equipment to obtain motion data, and motion sensing equipment's input mode is also more and more diversified, has different motion sensing equipment according to different use scenes. Data gloves are mostly adopted in gesture recognition's body sensing equipment, but present data gloves often can only detect the gesture, can not provide sense of touch feedback, and the sense of reality that gives other people is lower.
Disclosure of Invention
The present invention is directed to a feedback glove and a motion capture system, which are provided to overcome the disadvantage that the data glove of the prior art cannot provide a tactile sensation.
The technical scheme adopted by the invention for solving the technical problems is as follows: constructing a feedback glove comprising a data glove and a tactile sensation simulator connected to a palm side of the data glove, the data glove being configured to detect hand posture information and send the information to a processing unit; the tactile sensation simulation device is used for deforming under the control of the processing unit to simulate various object shapes, and a user can wear the data glove to grasp the tactile sensation simulation device to acquire corresponding tactile sensation.
In the feedback glove of the present invention, the tactile sensation simulator includes a tactile glove located on the palm side of the data glove, the palm portion of the tactile glove is in fit connection with the palm portion of the data glove, and the finger portion of the tactile glove is separated from the finger portion of the data glove.
In the feedback type glove, the touch glove comprises a sealing sleeve, a hand-shaped framework and a plurality of movable joints, wherein the hand-shaped framework and the movable joints are arranged in the sealing sleeve, the movable joints are distributed at each part of the hand-shaped framework, electrorheological fluid is filled in the sealing sleeve, and the electrorheological fluid can realize switching between a liquid state and a solid state when power supply is changed; when the electrorheological fluid is in a liquid state, the plurality of movable joints can drive the corresponding parts of the hand-shaped skeleton to rotate under the control of the processing unit so as to deform the hand-shaped skeleton into the shape of a required object.
In the feedback glove of the present invention, the hand skeleton is a hard plastic part.
The invention also discloses a motion capture system, which comprises a processing unit and a feedback glove, wherein the feedback glove comprises a data glove and a touch simulation device connected to the palm side of the data glove, the processing unit is respectively connected with the data glove and the touch simulation device, and the data glove is used for detecting hand posture information and sending the information to the processing unit; the tactile sensation simulation device is used for deforming under the control of the processing unit to simulate various object shapes, and a user can wear the data glove to grasp the tactile sensation simulation device to acquire corresponding tactile sensation.
In the motion capture system of the present invention, the tactile sensation simulation means includes a tactile glove located on the palm side of the data glove, the palm portion of the tactile glove is in close contact with the palm portion of the data glove, and the finger portion of the tactile glove is separated from the finger portion of the data glove.
In the motion capture system, the touch glove comprises a sealing sleeve, a hand-shaped framework and a plurality of movable joints, the hand-shaped framework and the movable joints are arranged in the sealing sleeve, the movable joints are distributed at each part of the hand-shaped framework, electrorheological fluid is filled in the sealing sleeve, and the electrorheological fluid can realize switching between a liquid state and a solid state when power supply is changed.
In the motion capture system of the present invention, the processing unit includes:
The deformation control subunit is used for controlling the intensity of an external electric field where the electrorheological fluid is located to be lower than a critical value so that the electrorheological fluid is in a liquid state, and controlling the plurality of movable joints to drive the corresponding parts of the hand-shaped skeleton to rotate so as to deform the hand-shaped skeleton into a required object shape when the electrorheological fluid is in the liquid state;
And the stator unit is used for locking the plurality of movable joints when the hand-shaped framework deforms into the shape of the required object, and then controlling the strength of an external electric field where the electrorheological fluid is located to be higher than a critical value so as to enable the electrorheological fluid to be in a solid state.
In the motion capture system of the present invention, the hand skeleton is a hard plastic part.
the feedback type glove and the motion capture system have the following beneficial effects: according to the invention, the touch simulation device is arranged on the palm side of the data glove, and the touch simulation device can be deformed under the control of the processing unit to simulate various object shapes, so that a user can wear the data glove to grasp the touch simulation device to obtain corresponding touch, and the sense of reality of user experience is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts:
FIG. 1 is a schematic view of a feedback glove configuration;
FIG. 2 is a schematic view of the construction of the touch sensitive glove of FIG. 1;
FIG. 3 is a schematic diagram of a feedback glove simulating a touch ball-shaped object.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Exemplary embodiments of the invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The general idea of the invention is as follows: constructing a feedback glove comprising a data glove and a tactile sensation simulator connected to a palm side of the data glove, the data glove being configured to detect hand posture information and send the information to a processing unit; the touch simulation device is used for deforming under the control of the processing unit to simulate various object shapes, and a user can wear the data glove to grasp the touch simulation device to obtain corresponding touch, so that the sense of reality of user experience is improved.
In order to better understand the technical solutions, the technical solutions will be described in detail below with reference to the drawings and the specific embodiments of the specification, and it should be understood that the embodiments and specific features of the embodiments of the present invention are detailed descriptions of the technical solutions of the present application, and are not limited to the technical solutions of the present application, and the technical features of the embodiments and examples of the present invention may be combined with each other without conflict.
Example one
Referring to fig. 1, the feedback glove of the present embodiment includes a data glove 1 and a tactile sensation simulator attached to a palm side of the data glove 1. In this embodiment, the tactile sensation simulator is specifically a tactile sensation glove 2 located on the palm side of the data glove 1, the palm portion of the tactile sensation glove 2 is attached to the palm portion of the data glove 1, and the finger portion of the tactile sensation glove 2 is separated from the finger portion of the data glove 1.
The data glove 1 is used for detecting hand posture information and sending the information to a processing unit; the tactile glove 2 is used for deforming under the control of the processing unit to simulate various object shapes, and the user can wear the data glove 1 to grasp the tactile glove 2 to acquire corresponding tactile sensation.
The touch glove 2 in the present embodiment can greatly reduce the weight and volume of the touch glove 2 itself while ensuring that the touch of the fingers is provided because the shape thereof corresponds exactly to the data glove 1.
Referring to fig. 2, the glove 2 includes a sealing sleeve 21, a hand-shaped frame 22, and a plurality of movable joints 23, the hand-shaped frame 22 and the movable joints 23 being disposed in the sealing sleeve 21.
Specifically, the shape of the sealing sleeve 21 is a general glove shape. The hand-shaped framework 22 can be a hard plastic hand-shaped framework 22, and the size of the hand-shaped framework is matched with that of the sealing sleeve 21.
The plurality of movable joints 23 are distributed at each part of the hand-shaped framework 22, and the movable joints 23 are movably connected with the hand-shaped framework 22. In this embodiment, the distribution positions of the plurality of movable joints 23 in the hand-shaped skeleton 22 correspond to the distribution positions of the joints of the human fingers. It will be appreciated that this is only an example and that in practice the number and position of the movable joints 23 may be determined as required by the fineness of the simulation.
The sealing sleeve 21 is filled with electrorheological fluid, and the electrorheological fluid can realize switching between a liquid state and a solid state when power supply changes. When the intensity of the external electric field is lower than a critical value, the electrorheological fluid is in a liquid state; when the electric field strength is higher than the critical value, the electrorheological fluid becomes solid. In this embodiment, the applied electric field strength is higher than the critical value by electrifying the electrorheological fluid.
When the electrorheological fluid is in a liquid state, the processing unit controls the movable joints 23 to drive the corresponding parts of the hand-shaped framework 22 to rotate so as to deform the hand-shaped framework 22 into the shape of a required object.
it is understood that the processing unit may control the data glove 1 and the touch glove 2 in a wireless manner, and may also control the data glove 1 and the touch glove 2 in a wired manner. For the touch glove 2, only the sealing interface lead-in connection line needs to be arranged thereon.
Referring to fig. 3, the operation of the feedback glove is illustrated by way of example of the feedback glove touching a spherical object. When the feedback type glove bends fingers to do ball holding action from the condition of straightening, the electrorheological fluid is not electrified and is in a liquid state, the processing unit commands the movable joint 23 to move so as to drive the corresponding part of the hand-shaped framework 22 to rotate, finally, the shape similar to a ball is formed, then the movable joint 23 is locked, and meanwhile, the electrorheological fluid is electrified and is changed from the liquid state to the solid state, so that the touch glove 2 is fixed into the shape similar to the ball. At this time, the data glove 1 is curved to touch the ball-like tactile glove 2, and tactile feedback is obtained.
Example two
Based on the same inventive concept, the embodiment discloses a motion capture system, which comprises a processing unit and a feedback type glove.
Referring to fig. 1, the feedback glove comprises a data glove 1 and a touch simulation device connected to the palm side of the data glove 1, the processing unit is respectively connected with the data glove 1 and the touch simulation device, and the data glove 1 is used for detecting hand posture information and sending the information to the processing unit; the tactile sensation simulator is used for deformation under the control of the processing unit to simulate various object shapes, and a user can wear the data glove 1 to grasp the tactile sensation simulator to acquire corresponding tactile sensation.
Preferably, the touch simulation device comprises a touch glove 2 located on the palm side of the data glove 1, the palm part of the touch glove 2 is in fit connection with the palm part of the data glove 1, and the finger part of the touch glove 2 is separated from the finger part of the data glove 1.
Referring to fig. 2, the glove 2 includes a sealing sleeve 21, a hand-shaped frame 22, and a plurality of movable joints 23, the hand-shaped frame 22 and the movable joints 23 being disposed in the sealing sleeve 21.
Specifically, the shape of the sealing sleeve 21 is a general glove shape. The hand-shaped framework 22 can be a hard plastic hand-shaped framework 22, and the size of the hand-shaped framework is matched with that of the sealing sleeve 21.
The plurality of movable joints 23 are distributed at each part of the hand-shaped framework 22, and the movable joints 23 are movably connected with the hand-shaped framework 22. In this embodiment, the distribution positions of the plurality of movable joints 23 in the hand-shaped skeleton 22 correspond to the distribution positions of the joints of the human fingers. It will be appreciated that this is only an example and that in practice the number and position of the movable joints 23 may be determined as required by the fineness of the simulation.
the sealing sleeve 21 is filled with electrorheological fluid, and the electrorheological fluid can realize switching between a liquid state and a solid state when power supply changes. When the intensity of the external electric field is lower than a critical value, the electrorheological fluid is in a liquid state; when the electric field strength is higher than the critical value, the electrorheological fluid becomes solid. In this embodiment, the applied electric field strength is higher than the critical value by electrifying the electrorheological fluid.
When the electrorheological fluid is in a liquid state, the processing unit controls the movable joints 23 to drive the corresponding parts of the hand-shaped framework 22 to rotate so as to deform the hand-shaped framework 22 into the shape of a required object.
It is understood that the processing unit may control the data glove 1 and the touch glove 2 in a wireless manner, and may also control the data glove 1 and the touch glove 2 in a wired manner. For the touch glove 2, only the sealing interface lead-in connection line needs to be arranged thereon.
Wherein the processing unit comprises:
The deformation control subunit is used for controlling the intensity of an external electric field where the electrorheological fluid is located to be lower than a critical value so as to enable the electrorheological fluid to be in a liquid state, and when the electrorheological fluid is in the liquid state, the deformation control subunit controls the plurality of movable joints 23 to drive the corresponding parts of the hand-shaped framework 22 to rotate so as to enable the hand-shaped framework 22 to be deformed into a required object shape;
And the fixing subunit is used for locking the plurality of movable joints 23 when the hand-shaped framework 22 is deformed into a required object shape, and controlling the strength of an external electric field where the electrorheological fluid is located to be higher than a critical value so as to enable the electrorheological fluid to be in a solid state.
It is understood that the processing unit may control the data glove 1 and the touch glove 2 in a wireless manner, and may also control the data glove 1 and the touch glove 2 in a wired manner. For the touch glove 2, only the sealing interface lead-in connection line needs to be arranged thereon.
It is noted that in the above description of the various units, these units are divided for clarity of illustration. However, in actual implementation, the boundaries of the various elements may be fuzzy. For example, any or all of the functional units herein may share various hardware and/or software elements. Also for example, any and/or all of the functional units herein may be implemented in whole or in part by a common processor executing software instructions. Accordingly, the scope of the present invention is not limited by the mandatory boundaries between the various hardware and/or software elements, unless explicitly claimed otherwise.
in summary, the feedback glove and the motion capture system of the present invention have the following advantages: according to the invention, the touch simulation device is arranged on the palm side of the data glove, and the touch simulation device can be deformed under the control of the processing unit to simulate various object shapes, so that a user can wear the data glove to grasp the touch simulation device to obtain corresponding touch, and the sense of reality of user experience is improved.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A feedback glove, comprising a data glove (1) and a tactile sensation simulator connected to the palm side of the data glove (1), the data glove (1) being configured to detect hand posture information and send the information to a processing unit; the tactile sensation simulation device is used for deforming under the control of the processing unit to simulate various object shapes, and a user can wear the data glove (1) to grasp the tactile sensation simulation device to acquire corresponding tactile sensation.
2. feedback glove according to claim 1, wherein the tactile simulation means comprises a tactile glove (2) located on the palm side of the data glove (1), the palm of the tactile glove (2) being in abutting connection with the palm of the data glove (1), the finger part of the tactile glove (2) being separated from the finger part of the data glove (1).
3. The feedback glove according to claim 2, wherein the tactile glove (2) comprises a sealing sleeve (21), a hand-shaped skeleton (22) and a plurality of movable joints (23), the hand-shaped skeleton (22) and the movable joints (23) are arranged in the sealing sleeve (21), the movable joints (23) are distributed at each part of the hand-shaped skeleton (22), the sealing sleeve (21) is filled with electrorheological fluid, and the electrorheological fluid can realize switching between a liquid state and a solid state when power supply is changed; when the electrorheological fluid is in a liquid state, the plurality of movable joints (23) can drive the corresponding parts of the hand-shaped framework (22) to rotate under the control of the processing unit so as to deform the hand-shaped framework (22) into the shape of a required object.
4. The feedback glove of claim 3 wherein the hand armature (22) is a rigid plastic.
5. A motion capture system comprising a processing unit and a feedback glove, the feedback glove comprising a data glove (1) and a tactile sensation simulator connected to the palm side of the data glove (1), the processing unit being connected to the data glove (1) and the tactile sensation simulator respectively, the data glove (1) being configured to detect hand posture information and send the information to the processing unit; the tactile sensation simulation device is used for deforming under the control of the processing unit to simulate various object shapes, and a user can wear the data glove (1) to grasp the tactile sensation simulation device to acquire corresponding tactile sensation.
6. Motion capture system according to claim 5, wherein the tactile simulation means comprises a tactile glove (2) on the palm side of the data glove (1), the palm part of the tactile glove (2) being in abutting connection with the palm part of the data glove (1), the finger part of the tactile glove (2) being separated from the finger part of the data glove (1).
7. The motion capture system according to claim 6, wherein the tactile glove (2) comprises a sealing sleeve (21), a hand-shaped skeleton (22) and a plurality of movable joints (23), the hand-shaped skeleton (22) and the movable joints (23) are arranged in the sealing sleeve (21), the movable joints (23) are distributed at each part of the hand-shaped skeleton (22), and the sealing sleeve (21) is filled with electrorheological fluid which can realize switching between a liquid state and a solid state when power supply is changed.
8. The motion capture system of claim 7, wherein the processing unit comprises:
The deformation control subunit is used for controlling the intensity of an external electric field where the electrorheological fluid is located to be lower than a critical value so as to enable the electrorheological fluid to be in a liquid state, and when the electrorheological fluid is in the liquid state, the deformation control subunit controls the plurality of movable joints (23) to drive the corresponding parts of the hand-shaped framework (22) to rotate so as to enable the hand-shaped framework (22) to deform into the shape of a required object;
And the fixing subunit is used for locking the plurality of movable joints (23) when the hand-shaped framework (22) is deformed into a required object shape, and controlling the strength of an external electric field where the electrorheological fluid is located to be higher than a critical value so as to enable the electrorheological fluid to be in a solid state.
9. The motion capture system of claim 7, wherein the hand skeleton (22) is a rigid plastic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810542943.5A CN110554764A (en) | 2018-05-30 | 2018-05-30 | Feedback type glove and motion capture system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810542943.5A CN110554764A (en) | 2018-05-30 | 2018-05-30 | Feedback type glove and motion capture system |
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| CN110554764A true CN110554764A (en) | 2019-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810542943.5A Pending CN110554764A (en) | 2018-05-30 | 2018-05-30 | Feedback type glove and motion capture system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114619445A (en) * | 2022-03-11 | 2022-06-14 | 北京理工大学 | Gripping system |
| CN114984562A (en) * | 2022-06-10 | 2022-09-02 | 深圳和谐信息科技有限公司 | VR experience-based somatosensory enhancement device |
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| US20150314195A1 (en) * | 2014-04-30 | 2015-11-05 | Umm Al-Qura University | Tactile feedback gloves |
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| CN206703005U (en) * | 2017-04-08 | 2017-12-05 | 金子楗 | Based on vibration and the touch feedback exoskeleton device pneumatically combined |
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| CN1608809A (en) * | 2004-11-24 | 2005-04-27 | 东南大学 | Force feedback device for force feedback gloves |
| CN103955295A (en) * | 2014-04-17 | 2014-07-30 | 北京航空航天大学 | Real-time grabbing method of virtual hand based on data glove and physical engine |
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Application publication date: 20191210 |