CN110764607B - Gesture sensing system using bionic ligament - Google Patents
Gesture sensing system using bionic ligament Download PDFInfo
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- CN110764607B CN110764607B CN201810832947.7A CN201810832947A CN110764607B CN 110764607 B CN110764607 B CN 110764607B CN 201810832947 A CN201810832947 A CN 201810832947A CN 110764607 B CN110764607 B CN 110764607B
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- ligament
- glove
- biomimetic
- bionic
- optical sensor
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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
Abstract
The invention discloses a gesture sensing system which comprises a glove, first to fifth bionic ligaments, first to fifth optical sensors and a microcontroller unit. The first to fifth bionic ligaments are respectively arranged on the first to fifth finger stall parts of the glove. The first to fifth optical sensors are disposed on the glove and respectively used for detecting displacement or deformation of the first to fifth biomimetic ligaments. The microcontroller unit is used for judging the gesture made by the user when wearing the glove according to the displacement or the deformation. Therefore, in the gesture sensing system of the invention, the displacement or deformation of the bionic ligament can accurately reflect the form of each finger, and the accuracy of the optical sensor cannot be influenced by sweat or other external factors.
Description
Technical Field
The present invention relates to a gesture sensing system, and more particularly, to a gesture sensing system using a bionic ligament.
Background
Virtual Reality (VR) is a three-dimensional space with high fidelity simulated by computer technology, and when a user enters the VR with a special display device, the VR creates an illusion that the VR is in reality. In this virtual reality space, the operator can interact with virtual objects or other players.
In addition to the virtual reality headset, some manufacturers have introduced virtual reality gloves to replace the handle operation control with more precise gesture recognition. The virtual reality gloves in the prior art mostly adopt optical fiber, mechanical or variable resistance detection technologies, and have heavy weight and inconvenient operation.
Disclosure of Invention
In view of the above problems of the prior art, an object of the present invention is to provide a gesture sensing system that is light and highly accurate.
To achieve the above objects, the present invention discloses a gesture sensing system using a bionic ligament, which includes a glove, first to fifth bionic ligaments, first to fifth optical sensors, and a microcontroller unit. The glove includes a first finger cuff portion, a second finger cuff portion, a third finger cuff portion, a fourth finger cuff portion, and a fifth finger cuff portion. The first to fifth bionic ligaments are respectively arranged on the first to fifth finger stall parts. The first to fifth optical sensors are arranged on the gloves and are respectively used for detecting displacement or deformation of the first to fifth bionic ligaments. The microcontroller unit is used for judging a gesture made by a user when the user wears the glove according to the displacement or the deformation.
Drawings
Fig. 1 is a functional block diagram of a gesture sensing system according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating an implementation of a gesture sensing system according to an embodiment of the present invention.
Fig. 3-5 are schematic diagrams illustrating displacement or deformation of a bionic ligament caused by different gestures according to embodiments of the present invention.
Fig. 6 and 7 are schematic views illustrating a detection method of displacement of a biomimetic ligament according to an embodiment of the present invention.
Fig. 8 and 9 are schematic views illustrating a detection method of deformation of a biomimetic ligament according to an embodiment of the present invention.
Fig. 10 and 11 are schematic diagrams of manufacturing manners of the bionic ligament, the optical sensor and the glove in the embodiment of the invention.
Fig. 12 is a schematic structural diagram of a biomimetic ligament in an embodiment of the present invention.
Fig. 13 is a schematic structural view of a biomimetic ligament according to another embodiment of the present invention.
Wherein the reference numerals are as follows:
10 left-hand sleeve
16. 26 detection unit
18. 28 optical sensing unit
20 right glove
11-15, 21-25 bionic ligament first end
31-35, 41-45 bionic ligament second end
50 deformable region
60 non-deformable area
100 gesture sensing system
MCU _ L, MCU _ R microcontroller unit
L1-L5 and R1-R5 bionic ligaments
SL 1-SL 5 and SR 1-SR 5 optical sensors
PX pattern
Detailed Description
Fig. 1 is a functional block diagram of a gesture sensing system 100 according to an embodiment of the present invention. Gesture sensing system 100 includes a left glove 10 and a right glove 20. The left glove 10 is provided with a left hand detecting unit 16, a left hand optical sensing unit 18 and a microcontroller unit MCU _ L. The right glove 20 is provided with a right hand detecting unit 26, a right hand optical sensing unit 28, and a microcontroller unit MCU _ R. The left hand detecting unit 16 includes 5 sets of bionic ligaments L1-L5, the left hand optical sensing unit 18 includes 5 sets of optical sensors SL 1-SL 5, the right hand detecting unit 26 includes 5 sets of bionic ligaments R1-R5, the left hand optical sensing unit 18 includes 5 sets of optical sensors SL 1-SL 5, and the right hand optical sensing unit 28 includes 5 sets of optical sensors SR 1-SR 5.
Bionic ligaments L1-L5 are respectively arranged in the left glove 10 at positions corresponding to five fingers, and bionic ligaments R1-R5 are respectively arranged in the right glove 20 at positions corresponding to five fingers, so that when a left glove 10 and a right glove 20 are respectively worn by the left hand and the right hand of a user, the actions of the left hand and the right hand can respectively enable the bionic ligaments L1-L5 to displace or deform, and the actions of the right hand and the five fingers can respectively enable the bionic ligaments R1-R5 to displace or deform. The left-hand optical sensors SL 1-SL 5 can respectively detect the displacement or deformation of the left-hand bionic ligaments L1-L5, and the right-hand optical sensors SR 1-SR 5 can respectively detect the displacement or deformation of the right-hand bionic ligaments R1-R5. According to the displacement or deformation of the left-hand bionic ligaments L1-L5 and the right-hand bionic ligaments R1-R5, the micro-controller units MCU _ L and MCU _ R can respectively judge the gestures of the left hand and the right hand of the user.
FIG. 2 is a diagram illustrating an implementation of the gesture-sensing system 100 according to an embodiment of the invention. The left-hand bionic ligaments L1-L5 are respectively arranged in the left glove 10 and used for accommodating finger stall parts of a thumb, an index finger, a middle finger, a ring finger and a little finger of a left hand of a user and respectively used for detecting the actions of the five fingers of the left hand of the user, wherein the first ends 11-15 of the left-hand bionic ligaments L1-L5 are close to the positions of finger tips, and the second ends 31-35 of the left-hand bionic ligaments L1-L5 are close to the positions of the back of the hand. The right-hand bionic ligaments R1-R5 are respectively arranged in the right glove 20 and used for accommodating finger stall parts of a thumb, an index finger, a middle finger, a ring finger and a little finger of a right hand of a user and respectively used for detecting the action of the five fingers of the right hand of the user, wherein first ends 21-25 of the right-hand bionic ligaments R1-R5 are close to the positions of finger tips, and second ends 41-45 of the right-hand bionic ligaments R1-R5 are close to the positions of the back of the hand.
Fig. 3-5 are schematic diagrams illustrating displacement/deformation of a bionic ligament caused by different gestures according to embodiments of the present invention. The upper part of fig. 3-5 shows the left hand gesture of the user, and the lower part of fig. 3-5 shows the deformation amount of the corresponding bionic ligaments L1-L5. As shown in fig. 3-5, the more the fingers are bent, the greater the amount of displacement/deformation caused to the corresponding biomimetic ligament.
Fig. 6 and 7 are schematic views illustrating a detection method of displacement of a biomimetic ligament according to an embodiment of the present invention. Fig. 8 and 9 are schematic views of the detection manner of the deformation amount of the bionic ligament in the embodiment of the present invention, for the purpose of illustration, the bionic ligaments L1 to L5 disposed on the left glove 10 are used for illustration, and the operation principles of the bionic ligaments R1 to R5 disposed on the right glove 20 are the same, and therefore, the description thereof is omitted.
In the embodiment shown in fig. 6, the first end of the left-hand bionic ligament L1-L5 close to the tip of the five fingers is fixed, and the second end close to the back of the hand is movable. In the initial state of palm flattening, the bionic ligaments L1-L5 include a plurality of scales in the area between the second end and the position where the left-hand optical sensors SL 1-SL 5 are disposed, and the optical sensors SL 1-SL 5 respectively detect the scales on the bionic ligaments L1-L5 in each frame. The upper part of fig. 6 shows the process from flattening to making a fist of the left palm of the user, and the lower part of fig. 6 shows the scales detected by the optical sensors SL 1-SL 5 during the process of making a fist gesture by the left hand of the user. Under the initial state of palm flattening, the scale numbers detected by the left-hand optical sensors SL 1-SL 5 are 0; the second ends of the left-hand bionic ligaments L1-L5 are pulled to move towards the fingertip direction along with the bending of fingers, and the size scales detected by the left-hand optical sensors SL 1-SL 5 are increased; in the state of palm clenching, the scales detected by the left-hand optical sensors SL 1-SL 5 are 6. The displacement of each bionic ligament can be obtained according to the scale numbers observed by the left-hand optical sensors SL 1-SL 5, and the type (such as the bending angle of fingers) of each finger can be further determined.
In the embodiment shown in fig. 7, the first end of the left-hand bionic ligament L1-L5 close to the tip of the five fingers is fixed, and the second end close to the back of the hand is movable. In the initial state of palm flattening, the area between the second end of the bionic ligaments L1-L5 and the position where the optical sensors SL 1-SL 5 are disposed includes a plurality of different markers, and the optical sensors SL 1-SL 5 respectively detect the markers of the bionic ligaments L1-L5 in each frame. In the embodiment of the present invention, the labels on the biomimetic ligaments L1-L5 can be different numbers or symbols, and FIG. 7 shows an embodiment of numbers, but does not limit the scope of the present invention. FIG. 7 shows the process of making a fist-making gesture with the left hand of the user, and the marks detected by the optical sensors SL 1-SL 5 are numeral 1 in the initial state of palm flattening; the second ends of the bionic ligaments L1-L5 are pulled to move towards the fingertip direction along with the bending of the fingers, and the marks detected by the optical sensors SL 1-SL 5 are also different; in the state of palm clenching, the marks detected by the left-hand optical sensors SL 1-SL 5 are number 5. The displacement of each bionic ligament can be known according to the marks observed by the optical sensors SL 1-SL 5, and the type of each finger (such as the bending angle of the finger) can be further determined.
In the embodiment shown in FIG. 8, the two ends of the left-handed bionic ligament L1-L5 are fixed. In the initial state of palm flattening, the bionic ligaments L1-L5 each include a pattern PX in the region corresponding to the position where the optical sensors SL 1-SL 5 are disposed, and the optical sensors SL 1-SL 5 respectively detect the pitch (pitch) change of the patterns on the bionic ligaments L1-L5 in each frame. For illustrative purposes, the pattern PX shown in fig. 8 is a vertical grid line pattern with an equal distance, but the scope of the present invention is not limited thereto, and the pitch of the pattern PX may be defined by the distance between two adjacent grid lines. FIG. 8 shows the process of making a fist gesture by the left hand of the user, and in the initial state of palm flattening, the pattern pitches detected by the optical sensors SL 1-SL 5 are 0.1 unit of the initial values; the bionic ligaments L1-L5 are pulled along with the bending of fingers, the distance of each pattern PX is changed due to the deformation, and the distances of the patterns detected by the optical sensors SL 1-SL 5 are increased; in the palm fist state, the pattern pitch detected by the optical sensors SL 1-SL 5 is 1.6 units. The deformation of each bionic ligament can be obtained according to the pattern pitch observed by the optical sensors SL 1-SL 5, and the type of each finger (such as the bending angle of the finger) can be further determined.
In the embodiment shown in FIG. 9, the two ends of the left-handed bionic ligament L1-L5 are fixed. In the initial state of palm flattening, the bionic ligaments L1-L5 each include a pattern PX in the region corresponding to the location of the optical sensors SL 1-SL 5, and the optical sensors SL 1-SL 5 respectively detect the aspect ratio (aspect ratio) change of the patterns on the bionic ligaments L1-L5 in each frame. For illustrative purposes, the pattern PX shown in fig. 9 is a circular pattern, but does not limit the scope of the present invention, and the aspect ratio of the pattern PX may be defined by the ratio of the longest diameter to the shortest diameter. FIG. 9 is a top view showing a process of making a fist-making gesture by the left hand of the user, in which the aspect ratios of the patterns detected by the optical sensors SL 1-SL 5 are 1:1 of the initial values in the initial state of palm flattening; the bionic ligaments L1-L5 are pulled along with the bending of fingers, the length-width ratio of each pattern is changed due to the deformation, and the length-width ratios of the patterns detected by the left-hand optical sensors SL 1-SL 5 are increased; in the state of palm fist, the aspect ratio of the patterns detected by the left-hand optical sensors SL 1-SL 5 is 7: 1. The deformation of each bionic ligament can be obtained according to the length-width ratio of the patterns observed by the left-handed optical sensors SL 1-SL 5, and the type of each finger (such as the bending angle of the finger) can be further determined.
Fig. 10 and 11 are schematic diagrams of manufacturing manners of the bionic ligament, the optical sensor and the glove in the embodiment of the invention. The left and right gloves 10 and 20 may be made of an elastic material or a woven cloth, for example, silicon rubber (silicone rubber). Grooves for accommodating the biomimetic ligaments and the optical sensors can be formed in the material of the glove by injection molding (injection molding) or compression molding (compression molding), wherein the optical sensors are fixed in the material of the glove, and the biomimetic ligaments are not in contact with the material of the glove except for one end or two ends, so that the biomimetic ligaments can deform. FIG. 10 shows an embodiment of the left-hand sleeve 10, wherein the bionic ligaments L1-L5 and the optical sensors SL 1-SL 5 are arranged in an up-and-down manner; FIG. 11 shows an embodiment of the right glove 10 with the biomimetic ligaments R1-R5 and the optical sensors SR 1-SR 5 in a side-to-side configuration. In the left glove 10 and the right glove 20 of the gesture sensing system 100 of the present invention, the bionic ligament and the optical sensor may be disposed up and down or left and right, but the scope of the present invention is not limited thereto.
Figures 12 and 13 are schematic views of the structure of a biomimetic ligament in the embodiment of figures 8 and 9 of the present invention. In the embodiment shown in fig. 12, each of the simulated ligaments L1-L5 and R1-R5 includes a deformable region 50 (made of elastic material), the left side of fig. 12 shows the length of the deformable region 50 in the initial state, and the right side of fig. 12 shows the length of the deformable region 50 in the initial state of being pulled, wherein the deformation of the simulated ligaments L1-L5 and R1-R5 occurs in a wide range of deformable regions 50. In the embodiment shown in fig. 13, each of the biomimetic ligaments L1-L5 and R1-R5 includes a deformable region 50 (made of elastic material) and two non-deformable regions 60 (made of non-elastic material), and the position of the deformable region 50 corresponds to the position of the associated optical sensor. Fig. 13 shows the length of the deformed region 50 in the initial state on the left, and fig. 13 shows the length of the deformed region 50 in the initial state of being pulled on the right, wherein the deformation of the biomimetic ligaments L1-L5 and R1-R5 occurs in the deformable region 50 in a small range, so that the recognition accuracy of the related optical sensor can be improved.
In summary, the present invention provides a gesture sensing system using a bionic ligament, which is light in weight and easy to implement in a material of a general virtual reality glove with an optical sensor. The displacement or deformation of the bionic ligament can accurately reflect the form of each finger (such as the bending angle of the finger), and the accuracy of the optical sensor cannot be influenced by sweat or other external factors.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A gesture sensing system using a biomimetic ligament, comprising:
a first finger cuff comprising a first finger cuff portion, a second finger cuff portion, a third finger cuff portion, a fourth finger cuff portion, and a fifth finger cuff portion;
the first bionic ligament is arranged on the first finger sleeve part;
the second bionic ligament is arranged on the second finger sleeve part;
the third bionic ligament is arranged on the third finger sleeve part;
the fourth bionic ligament is arranged on the fourth finger sleeve part;
the fifth bionic ligament is arranged on the fifth finger sleeve part;
the first optical sensor is arranged on the first glove and used for detecting a first deformation quantity of the first bionic ligament;
a second optical sensor disposed on the first glove for detecting a second shape variable of the second biomimetic ligament;
a third optical sensor disposed on the first glove for detecting a third deformation of the third biomimetic ligament;
a fourth optical sensor disposed on the first glove for detecting a fourth deformation of the fourth biomimetic ligament;
a fifth optical sensor disposed on the first glove for detecting a fifth deformation of the fifth biomimetic ligament; and
a first microcontroller unit for determining a first gesture made by a user wearing the first glove according to the first to fifth deformation, wherein:
first ends and second ends of the first to fifth biomimetic ligaments are fixed on the first glove;
the first to fifth biomimetic ligaments respectively comprise a first pattern to a fifth pattern in areas corresponding to the arrangement positions of the first to fifth optical sensors; and is
The first to fifth optical sensors respectively detect a change in pitch or a length-width ratio of the first to fifth patterns to obtain the first to fifth deformation amounts.
2. The gesture sensing system of claim 1, wherein:
the first ends of the first to fifth biomimetic ligaments are located at fingertip positions of the first glove;
the second ends of the first to fifth biomimetic ligaments are located at the back of the hand position of the first glove; and is
The first to fifth optical sensors are located between first and second ends of the first to fifth biomimetic ligaments, respectively.
3. The gesture sensing system of claim 1, wherein:
each bionic ligament is made of an elastic material in the area corresponding to the arrangement position of the optical sensor, and is made of a non-elastic material in other areas.
4. The gesture sensing system of claim 1, wherein each biomimetic ligament and each optical sensor are formed in the material of the first glove by injection molding or compression molding techniques.
5. The gesture sensing system of claim 1, further comprising:
a second cuff comprising a sixth cuff portion, a seventh cuff portion, an eighth cuff portion, a ninth cuff portion, and a tenth cuff portion;
the sixth bionic ligament is arranged on the sixth finger sleeve part;
the seventh bionic ligament is arranged on the seventh finger sleeve part;
the eighth bionic ligament is arranged on the eighth finger sleeve part;
the ninth bionic ligament is arranged on the ninth finger sleeve part;
a tenth biomimetic ligament disposed at the tenth finger cuff portion;
a sixth optical sensor disposed on the second glove for detecting a sixth deformation of the sixth biomimetic ligament;
a seventh optical sensor disposed on the second glove for detecting a seventh deformation of the seventh biomimetic ligament;
an eighth optical sensor, disposed on the second glove, for detecting an eighth amount of deformation of the eighth biomimetic ligament;
a ninth optical sensor disposed on the second glove for detecting a ninth deformation of the ninth biomimetic ligament;
a tenth optical sensor disposed on the second glove for detecting a tenth deformation of the tenth biomimetic ligament; and
a second microcontroller unit for determining a second gesture made by the user wearing the second glove according to the sixth to tenth deformation.
6. A gesture sensing system using a biomimetic ligament, comprising:
a first finger cuff comprising a first finger cuff portion, a second finger cuff portion, a third finger cuff portion, a fourth finger cuff portion, and a fifth finger cuff portion;
the first bionic ligament is arranged on the first finger sleeve part;
the second bionic ligament is arranged on the second finger sleeve part;
the third bionic ligament is arranged on the third finger sleeve part;
the fourth bionic ligament is arranged on the fourth finger sleeve part;
the fifth bionic ligament is arranged on the fifth finger sleeve part;
the first optical sensor is arranged on the first glove and used for detecting a first displacement of the first bionic ligament;
the second optical sensor is arranged on the first glove and used for detecting a second displacement of the second bionic ligament;
a third optical sensor disposed on the first glove for detecting a third displacement of the third biomimetic ligament;
a fourth optical sensor disposed on the first glove for detecting a fourth displacement of the fourth biomimetic ligament;
a fifth optical sensor disposed on the first glove for detecting a fifth displacement of the fifth biomimetic ligament; and
a first microcontroller unit for determining a first gesture made by a user wearing the first glove according to the first displacement to the fifth displacement, wherein:
first ends of the first to fifth biomimetic ligaments are fixed on the first glove;
the second ends of the first to fifth biomimetic ligaments are movably disposed on the first glove;
each bionic ligament comprises a plurality of scales or a plurality of different marks in the area between the corresponding second end and the corresponding optical sensor arrangement position; and is
The first optical sensor to the fifth optical sensor respectively detect the scale numbers or mark types on the first bionic ligament to the fifth bionic ligament to respectively obtain the first displacement to the fifth displacement.
7. The gesture sensing system of claim 6, wherein:
the first ends of the first to fifth biomimetic ligaments are located at fingertip positions of the first glove;
the second ends of the first to fifth biomimetic ligaments are located at the back of the hand position of the first glove; and is
The first to fifth optical sensors are located between first and second ends of the first to fifth biomimetic ligaments, respectively.
8. The gesture sensing system of claim 6, wherein each biomimetic ligament and each optical sensor are formed in the material of the first glove by injection molding or compression molding techniques.
9. The gesture sensing system of claim 6, further comprising:
a second cuff comprising a sixth cuff portion, a seventh cuff portion, an eighth cuff portion, a ninth cuff portion, and a tenth cuff portion;
the sixth bionic ligament is arranged on the sixth finger sleeve part;
the seventh bionic ligament is arranged on the seventh finger sleeve part;
the eighth bionic ligament is arranged on the eighth finger sleeve part;
the ninth bionic ligament is arranged on the ninth finger sleeve part;
a tenth biomimetic ligament disposed at the tenth finger cuff portion;
a sixth optical sensor, disposed on the second glove, for detecting a sixth displacement of the sixth biomimetic ligament;
a seventh optical sensor, disposed on the second glove, for detecting a seventh displacement of the seventh biomimetic ligament;
an eighth optical sensor disposed on the second glove for detecting an eighth displacement of the eighth biomimetic ligament;
a ninth optical sensor disposed on the second glove for detecting a ninth displacement of the ninth biomimetic ligament;
a tenth optical sensor disposed on the second glove for detecting a tenth displacement of the tenth biomimetic ligament; and
a second microcontroller unit for determining a second gesture made by the user wearing the second glove according to the sixth displacement amount to the tenth displacement amount.
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| US4542291A (en) * | 1982-09-29 | 1985-09-17 | Vpl Research Inc. | Optical flex sensor |
| US5676157A (en) * | 1992-07-06 | 1997-10-14 | Virtual Technologies, Inc. | Determination of kinematically constrained multi-articulated structures |
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