CN110658912B - Touch data glove based on magnetic field feedback - Google Patents
Touch data glove based on magnetic field feedback Download PDFInfo
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- CN110658912B CN110658912B CN201810716124.8A CN201810716124A CN110658912B CN 110658912 B CN110658912 B CN 110658912B CN 201810716124 A CN201810716124 A CN 201810716124A CN 110658912 B CN110658912 B CN 110658912B
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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
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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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
Abstract
The invention relates to a touch data glove based on magnetic field feedback, which is matched with a spatial magnetic field for use, and comprises a data glove which is worn on a human hand and used for detecting the gesture of the hand, a touch glove which is attached to the data glove and a processing unit which is respectively connected with the data glove and the touch glove, wherein the touch glove comprises a contact which is provided with an electromagnetic lead group capable of being electrified to generate a magnetic field, the processing unit is used for judging the angle between the spatial magnetic field and each part of the hand according to the gesture of the hand detected by the data glove, and controlling the electromagnetic lead group to be electrified through the angle, so that the electromagnetic lead group generates a magnetic field which interacts with the spatial magnetic field, and the contact presses the hand. According to the invention, the pressure touch sense can be fed back accurately in regions according to the hand postures of the human body, and the pressure touch sense feedback device can be used in cooperation with virtual reality equipment, so that more real virtual reality experience can be provided for users.
Description
Technical Field
The invention relates to the field of intelligent equipment, in particular to a touch data glove based on magnetic field feedback.
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. The input modes of the motion sensing equipment are more and more diversified, and different motion sensing equipment are provided according to different use scenes. For gesture recognition, data gloves are mostly adopted at present, but the current data gloves can only detect gestures and cannot provide feedback such as touch and the like, so that the sense of reality of people is low, the application range is limited, and the glove is not favorable for popularization and application.
Disclosure of Invention
In order to solve the technical problems, the invention provides the tactile data glove based on the magnetic field feedback, which can be matched with virtual reality equipment for use and can provide more real tactile feedback for a user.
The technical scheme adopted by the invention is as follows: the utility model provides a sense of touch data gloves based on magnetic field feedback, uses with the cooperation of space magnetic field, including wearing on human hand, be used for detecting the data gloves of hand gesture, still including the laminating is in sense of touch gloves on the data gloves and respectively with data gloves and the processing unit that the sense of touch gloves link to each other, sense of touch gloves are including being equipped with the contact of the electromagnetic wire group that can circular telegram and produce magnetic field, processing unit is used for judging according to the data gloves record the hand gesture the angle of space magnetic field and each position of staff, and pass through angle control electromagnetic wire group circular telegram makes electromagnetic wire group produce with the magnetic field of space magnetic field interact, so that the contact produces pressure to the hand.
In the tactile data glove of the present invention, the touch points are distributed on the finger and palm portions of the tactile glove, and the touch points are spherical or ellipsoidal.
In the tactile sensation data glove of the invention, the touch points can be divided into a thumb area touch point, an index finger area touch point, a middle finger area touch point, a ring finger area touch point, a little finger area touch point and a palm area touch point, and the processing unit is respectively connected with the thumb area touch point, the index finger area touch point, the middle finger area touch point, the ring finger area touch point, the little finger area touch point and the palm area touch point.
In the tactile data glove of the present invention, the electromagnetic wire set includes three sets of parallel wires perpendicular to each other, and the processing unit can correspondingly select one or two sets of parallel wires in the electromagnetic wire set to be energized according to the angle.
In the tactile data glove provided by the invention, the contact comprises a main compression mechanism arranged perpendicular to the data glove, an auxiliary compression mechanism arranged perpendicular to the main compression mechanism and a lever mechanism, wherein the electromagnetic lead group is arranged in the main compression mechanism and the auxiliary compression mechanism, two ends of the lever mechanism are mutually perpendicular and can rotate around an axis, a first end of the lever mechanism is connected with or arranged opposite to one end of the main compression mechanism far away from the data glove, and a second end of the lever mechanism is connected with or arranged opposite to one end of the auxiliary compression mechanism far away from the main compression mechanism.
In the tactile data glove provided by the invention, the lever mechanism comprises an overall M-shaped lever main body and a rotating shaft arranged in the middle of the lever main body, the lower side surface of one end of the lever main body is connected with or opposite to the upper side surface of one end, far away from the data glove, of the main compression mechanism, and the inner side surface of the other end of the lever main body is connected with or opposite to the outer side surface of one end, far away from the main compression mechanism, of the auxiliary compression mechanism.
The touch data glove further comprises a top limiting block and a side wall limiting block, wherein the top limiting block is arranged on the upper side of the first end of the lever mechanism and used for limiting the lever mechanism to rotate further upwards, and the side wall limiting block is arranged around the main compression mechanism and used for ensuring the main compression mechanism to be always upright.
In the tactile data glove provided by the invention, one end of the main compression mechanism, which is far away from the data glove, and one end of the auxiliary compression mechanism, which is far away from the main compression mechanism, are both fixedly connected with the lever mechanism, and spring mechanisms connected with the electromagnetic wire group are also arranged in the main compression mechanism and the auxiliary compression mechanism and are used for restoring the main compression mechanism and the auxiliary compression mechanism to the original state after the external force disappears.
In the touch data glove, the contact further comprises a pressure-bearing device arranged at one end of the main compression mechanism close to the data glove, and the pressure of the main compression mechanism to the outside is transmitted through the pressure-bearing device.
In the tactile sensation data glove according to the present invention, two auxiliary compression mechanisms are provided, and the two auxiliary compression mechanisms and the main compression mechanism are perpendicular to each other.
The touch data glove based on magnetic field feedback provided by the invention has the advantages of simple structure and convenience in use, can accurately feed back pressure touch in different areas according to the hand postures of human bodies, can be used in cooperation with virtual reality equipment, and can provide more real virtual reality experience for users.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a contact in an embodiment of the invention;
FIG. 3 is a schematic diagram of an electromagnetic wire set according to an embodiment of the present invention;
FIG. 4 is a schematic view of the compression end of the main compression mechanism in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the tactile data glove based on magnetic field feedback according to the embodiment of the present invention includes a data glove 14, a tactile glove 12, and a processing unit. The data glove 14 is worn on a hand of a human body, is used for detecting the gesture of the hand, can acquire the action gesture of the hand in real time, and can truly restore the action and gesture of the hand of the human body after processing the data acquired by the data glove 14; the data glove 14 establishes a mathematical model of hand motion after analyzing the physiological structure and motion mechanism of the human hand, and measures the change of the stretching of the palm or finger bend angle by installing a sensing device at the key part of the hand motion; the data glove 14 in this embodiment mainly acquires data through a three-axis digital acceleration sensor and performs related processing to obtain the motion posture of the hand. The tactile glove 12 is attached to the data glove 14, is integrated with the data glove 14, and comprises a plurality of contacts 16 provided with an electromagnetic wire set 1653 which can be electrified to generate a magnetic field, wherein the contacts 16 are spherical or ellipsoidal and are distributed on the finger and palm parts of the tactile glove 12; since the palm portion is not substantially in contact with the object during normal gripping, the contacts 16 may not be provided in the palm position, which saves costs. The processing unit is electrically connected to the data glove 14 and the touch glove 12, respectively, and can read the posture information measured by the data glove 14 and control the motion of the touch glove 12. In this embodiment, the contacts 16 may be divided into a thumb area contact distributed in the thumb area, an index finger area contact distributed in the index finger area, a middle finger area contact distributed in the middle finger area, a ring finger area contact distributed in the ring finger area, a little finger area contact distributed in the little finger area, and a palm area contact distributed in the palm area, and the processing unit is electrically connected to the thumb area contact, the index finger area contact, the middle finger area contact, the ring finger area contact, the little finger area contact, and the palm area contact, respectively. The tactile data glove is used in conjunction with a spatial magnetic field, which may be an artificial magnetic field, such as a parallel magnetic field created in an activity space. The magnetic field direction of the space magnetic field is preset in the processing unit, when a user wears the tactile data glove to enter the space magnetic field, the processing unit can judge the angle between the space magnetic field and each area part of the hand according to the hand gesture measured by the data glove 14, and control the energization of the electromagnetic wire group 1653 in all the contacts 16 or the contacts 16 in the corresponding area part according to the angle, so that the electromagnetic wire group 1653 generates a magnetic field interacting with the space magnetic field, all the contacts 16 or part of the contacts 16 generate pressure on the hand, and the user feels the hand.
Further, as shown in fig. 2, the contact 16 in this embodiment includes a housing, and a top stopper 161, a side wall stopper 162, a main compression mechanism 165, an auxiliary compression mechanism 166, a pressure-bearing device 167 and a lever mechanism 163 which are disposed in the housing, wherein the main compression mechanism 165 is disposed perpendicular to the data glove 14, the auxiliary compression mechanism 166 is disposed perpendicular to the main compression mechanism 165, the main compression mechanism 165 is freely movable in a direction perpendicular to the data glove 14, and the auxiliary compression mechanism 166 is freely movable in a direction perpendicular to the main compression mechanism 165. Electromagnetic wire set 1653 is arranged in each of main compression mechanism 165 and auxiliary compression mechanism 166, and when electromagnetic wire set 1653 is electrified to generate a magnetic field and interaction force occurs, main compression mechanism 165 and auxiliary compression mechanism 166 will generate relative displacement according to the direction of the interaction force. The two ends of the lever mechanism 163 are perpendicular to each other and can rotate around the axis, and the first end of the lever mechanism is fixedly connected with the upper side of the end of the main compression mechanism 165 far away from the data glove 14, the second end of the lever mechanism is fixedly connected with the outer side of the end of the auxiliary compression mechanism 166 far away from the main compression mechanism 165, and the auxiliary compression mechanism 166 is enabled to be connected through the lever mechanism 163. Through the above arrangement, when the main compression mechanism 165 is subjected to a downward interaction force, pressure can be directly generated on the human hand, but the electromagnetic wire set 1653 in the main compression mechanism 165 can only generate a corresponding force in a magnetic field matched with the direction of the electromagnetic wire set, and a situation that certain angles cannot be stressed may exist in a three-dimensional space of a virtual reality scene, so that the auxiliary compression mechanism 166 of the lever mechanism 163 better solves the problem in the present embodiment, the auxiliary compression mechanism 166 is vertically arranged with the main compression mechanism 165 and mutually complemented with the main compression mechanism 165, and can generate an interaction force with the spatial magnetic field at an angle which cannot be sensed by the main compression mechanism 165, and transmit the interaction force to the main compression mechanism 165 through the lever mechanism 163 to generate pressure on the human hand. Specifically, the lever mechanism 163 includes a lever main body 168 which is "M" shaped as a whole and a rotating shaft 164 which is disposed at the middle position of the lever main body 168, both ends of the rotating shaft 164 are fixed on the housing, the lower side surface of one end of the lever main body 168 is fixedly connected with the upper side surface of one end of the main compression mechanism 165 far away from the data glove 14, and the inner side surface of the other end of the lever main body 168 is fixedly connected with the outer side surface of one end of the auxiliary compression mechanism 166 far away from the main compression mechanism 165. In order to ensure that the balance is generally symmetrically arranged, two sets of auxiliary compression mechanisms 166 are arranged in the embodiment, the two sets of auxiliary compression mechanisms 166 are perpendicular to the main compression mechanism 165, namely the three sets of auxiliary compression mechanisms are three-dimensionally unfolded, and correspondingly, the other end of the lever main body 168 is provided with a 90-degree folded angle and is fixedly connected with the two sets of auxiliary compression mechanisms 166 perpendicular to each other, so that three-dimensional stress can be realized on the touch data glove, and the pressure touch of the touch data glove in a space magnetic field is more accurate; meanwhile, the stress under different conditions can be conveniently simulated under the condition that the magnetic field condition is not changed. As shown in fig. 3, the electromagnetic wire set 1653 specifically includes three sets of parallel wires (energized solenoids) perpendicular to each other, and the processing unit can correspondingly select one or two sets of parallel wires in the electromagnetic wire set 1653 to be energized according to the angle, so that the external pressure is generated. The top limiting block 161 is arranged on the upper side of the first end of the lever mechanism 163 and is used for limiting the lever mechanism 163 to rotate further upwards; the side wall stopper 162 is disposed around the main compression mechanism 165, and is used to keep the main compression mechanism 165 upright all the time, so that the compression point thereof can be controlled. The top stopper 161 and the side wall stopper 162 are both fixed to the housing or the data glove 14. Spring mechanisms connected with the electromagnetic wire group 1653 are further arranged in the main compression mechanism 165 and the auxiliary compression mechanism 166, and the spring mechanisms are used for enabling the main compression mechanism 165 and the auxiliary compression mechanism 166 to restore to the original state after external force disappears, so that influence on the body feeling of a user caused by the gravity of the main compression mechanism 165 and the auxiliary compression mechanism 166 is avoided. The pressure-bearing device 167 is arranged at one end of the main compression mechanism 165 close to the data glove 14, and the pressure of the main compression mechanism 165 to the outside is transmitted through the pressure-bearing device 167; the pressure-bearing device 167 in the partial contact 16 can be set as a toy electric shock device as required, that is, when the main compression mechanism 165 generates pressure on the pressure-bearing device 167, the toy electric shock device generates instantaneous tiny electric shock on the hand of a user, so that the user can feel weak pain, and the real body feeling experience of the virtual reality game can be enhanced. As shown in fig. 4, main compression mechanism 165 further includes a spring mechanism located at support end 1651, compression end 1652, and connecting support end 1651 and compression end 1652, with electromagnetic wire set 1653 disposed within compression end 1652.
When a user wears the touch data glove for use, the artificial magnetic field in the space is started, a parallel magnetic field is produced in the activity space, and meanwhile, the virtual reality helmet can be worn for the user to start a virtual reality scene matched with the magnetic field space for the user. When the user touches an object in a game or a virtual scene, the processing unit determines the angles of the magnetic field and the various region parts of the data glove 14 according to the shape of the data glove 14, and controls the energization of the electromagnetic wire group 1653 on the main compression mechanism 165 and the auxiliary compression mechanism 166 according to the angles. For example, when the extension direction of the auxiliary compression mechanism 166 of the thumb area contact is the same as the magnetic field direction, the processing unit controls the electromagnetic wire set 1653 on the main compression mechanism 165 of the thumb area contact to be electrified or reversely electrified, so that the main compression mechanism 165 can generate pressure on the hand, and the user wearing the glove can generate touch feeling; when the extension direction of the main compression mechanism 165 is the same as the magnetic field direction, the processing unit controls the auxiliary compression mechanism 166 to be electrified or reversely electrified, so that the auxiliary compression mechanism 166 generates pressure on the lever mechanism 163, and the rotation of the lever mechanism 163 generates pressure on the main compression mechanism 165, thereby generating the tactile sensation for the user wearing the glove.
While the present invention has been described with reference to the particular illustrative embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but is intended to cover various modifications, equivalent arrangements, and equivalents thereof, which may be made by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. The data glove based on magnetic field feedback is used in cooperation with a space magnetic field, comprises a data glove (14) which is worn on a human hand and used for detecting hand gestures, and is characterized by further comprising a touch glove (12) which is attached to the data glove (14) and a processing unit which is respectively connected with the data glove (14) and the touch glove (12), wherein the touch glove (12) comprises a contact (16) which is provided with an electromagnetic lead group (1653) capable of being electrified to generate a magnetic field, and the processing unit is used for judging the angle between the space magnetic field and each part of a human hand according to the hand gestures detected by the data glove (14) and controlling the electromagnetic lead group (1653) to be electrified through the angle so that the electromagnetic lead group (1653) generates a magnetic field which interacts with the space magnetic field and the contact (16) can generate pressure on the hand; the contact (16) comprises a main compression mechanism (165) arranged perpendicular to the data glove (14), an auxiliary compression mechanism (166) arranged perpendicular to the main compression mechanism, and a lever mechanism (163), wherein the electromagnetic wire set (1653) is arranged in each of the main compression mechanism (165) and the auxiliary compression mechanism (166), two ends of the lever mechanism (163) are perpendicular to each other and can rotate around an axis, a first end of the lever mechanism is connected with or arranged opposite to one end of the main compression mechanism (165) far away from the data glove (14), and a second end of the lever mechanism is connected with or arranged opposite to one end of the auxiliary compression mechanism (166) far away from the main compression mechanism (165).
2. A tactile data glove according to claim 1 wherein the contact points (16) are distributed on the finger and palm portions of the tactile glove (12), the contact points (16) being spherical or ellipsoidal.
3. A tactile data glove according to claim 1 wherein the contacts (16) are divided into a thumb area contact, an index finger area contact, a middle finger area contact, a ring finger area contact, a little finger area contact and a palm area contact, the processing unit being connected to the thumb area contact, index finger area contact, middle finger area contact, ring finger area contact, little finger area contact and palm area contact respectively.
4. A tactile data glove according to claim 1 wherein the electromagnetic wire set (1653) comprises three sets of parallel wires perpendicular to each other, and the processing unit is operable to energize one or both sets of parallel wires of the electromagnetic wire set (1653) in response to the angular correspondence.
5. A glove according to claim 1 wherein the lever mechanism (163) comprises a lever body (168) formed in an overall "M" shape and a pivot (164) provided at a central position of the lever body (168), the lower side of one end of the lever body (168) being connected to or opposed to the upper side of the main compression mechanism (165) remote from the data glove (14), and the inner side of the other end of the lever body (168) being connected to or opposed to the outer side of the auxiliary compression mechanism (166) remote from the main compression mechanism (165).
6. A glove according to claim 1 further comprising a top stopper (161) provided above the first end of the lever mechanism (163) for restricting the lever mechanism (163) from further pivoting upward and a side wall stopper (162) provided around the main compression mechanism (165) for ensuring that the main compression mechanism (165) is always upright.
7. A tactile data glove according to claim 1 wherein the end of the main compression mechanism (165) remote from the data glove (14) and the end of the auxiliary compression mechanism (166) remote from the main compression mechanism (165) are both fixedly connected to the lever mechanism (163), and wherein a spring mechanism connected to the electromagnetic wire set (1653) is further provided in the main compression mechanism (165) and the auxiliary compression mechanism (166) for restoring the main compression mechanism (165) and the auxiliary compression mechanism (166) after the external force has disappeared.
8. A glove according to claim 1 wherein the contact (16) further comprises a pressure bearing device (167) disposed at one end of the main compression mechanism (165) adjacent to the data glove (14), the pressure of the main compression mechanism (165) to the outside being transmitted through the pressure bearing device (167).
9. A tactile data glove according to claim 1 wherein there are two secondary compression mechanisms (166) and two secondary compression mechanisms (166) are orthogonal to the primary compression mechanism (165).
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| CN201810716124.8A CN110658912B (en) | 2018-06-29 | 2018-06-29 | Touch data glove based on magnetic field feedback |
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| CN201810716124.8A CN110658912B (en) | 2018-06-29 | 2018-06-29 | Touch data glove based on magnetic field feedback |
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| CN110658912B true CN110658912B (en) | 2023-04-14 |
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| CN111596762B (en) * | 2020-05-12 | 2023-07-14 | 鹏城实验室 | Wearable force feedback device based on magnetic suspension driving |
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| US9652038B2 (en) * | 2015-02-20 | 2017-05-16 | Sony Interactive Entertainment Inc. | Magnetic tracking of glove fingertips |
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