CN114593900B - Method and system for testing dexterity and moving range of ice hockey gloves - Google Patents
Method and system for testing dexterity and moving range of ice hockey gloves Download PDFInfo
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- CN114593900B CN114593900B CN202111643738.6A CN202111643738A CN114593900B CN 114593900 B CN114593900 B CN 114593900B CN 202111643738 A CN202111643738 A CN 202111643738A CN 114593900 B CN114593900 B CN 114593900B
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Abstract
The invention provides a method and a system for testing dexterity and a movable range of hockey gloves, wherein the gloves do not comprise goalkeeper gloves, the gloves are worn on a manipulator, and the method comprises the following steps: controlling the action of the manipulator according to a preset control instruction so as to drive the glove to act; acquiring equivalent rotation stress of a manipulator knuckle and a knuckle bending angle; obtaining a fitting curve of the manipulator knuckle and the knuckle according to the equivalent rotation stress of the manipulator knuckle and the knuckle bending angle; obtaining the dexterity of the glove according to the slope of the fitting curve; and obtaining the moving range of the glove according to the knuckle bending angle. The embodiment of the invention can test the dexterity and the range of motion of different types of gloves, give out a test result and facilitate the user to select different types of gloves.
Description
Technical Field
The invention relates to the field of sports goods, in particular to a method and a system for testing dexterity and moving range of ice hockey gloves.
Background
The ice hockey sport is a sport on ice integrating confrontation, speed and skill, and in order to prevent injuries in intense confrontation, a sportsman needs to wear a protector all over the body during training or competition; the ice hockey gloves can protect the whole hands of an athlete, a palm back protection area is composed of a plurality of protection blocks, the wrist is covered by a protection plate, the protection blocks and the protection plate are wrapped by a breathable fabric, and all fingers are sewn through vehicle-mounted threads. The ice hockey gloves are used as wearing equipment which is essential in ice hockey sports, and the dexterity and the moving range of the ice hockey gloves greatly limit the action effect of athletes in the resisting process. In view of the above, it is desirable to provide a method for testing the dexterity and range of motion of hockey gloves.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method and a system for testing the dexterity and the range of motion of ice hockey gloves, so as to solve the problem that the dexterity and the range of motion of the ice hockey gloves greatly limit the action effect of athletes in the confrontation process.
In order to solve the technical problems, the invention provides the following technical scheme:
in one aspect, a method for testing dexterity and range of motion of a hockey glove, said glove not comprising a goalkeeper glove, said glove being worn on a robotic arm, said method comprising:
controlling the mechanical arm to act according to a preset control instruction so as to drive the glove to act;
acquiring the equivalent rotation stress of the mechanical arm knuckle and the knuckle bending angle;
obtaining a fitting curve of the manipulator knuckle and the knuckle according to the equivalent rotation stress of the manipulator knuckle and the knuckle bending angle;
deriving the dexterity of the glove from the slope of the fitted curve;
and obtaining the moving range of the glove according to the knuckle bending angle.
In a possible implementation manner, the controlling the manipulator to act according to a preset control instruction includes:
acquiring the coupling relation between the finger joints of the same finger;
obtaining first preset control instructions of different knuckles according to the coupling relation among the knuckles;
and controlling the manipulator to act according to the first preset control instruction.
In a possible implementation manner, the acquiring the coupling relationship between the same finger joints includes:
acquiring a rotation angle of a previous knuckle;
and superposing the rotation angle of the previous knuckle to the rotation angle of the current knuckle, and obtaining the coupling relation between the knuckles according to the rotation angles of the current knuckle and the previous knuckle.
In one possible implementation, the deriving the dexterity of the glove from the slope of the fitted curve includes:
the dexterity of the glove is obtained according to the following formula:
wherein D is the dexterity of the glove, alpha is the knuckle bending angle, and f is the knuckle rotation equivalent stress.
In one possible implementation, the method further includes:
when min (| D-D) min |/(D max -D min ),|D-D max |/(D max -D min ) When preset parameters), wherein D is greater than the preset parameters, the dexterity of the glove is obtained again min Minimum value of glove dexterity, D max Maximum dexterity of the glove.
In a possible implementation manner, the acquiring of the equivalent stress of the mechanical finger knuckle rotation comprises acquiring the interaction force between the mechanical finger knuckle rotation and the glove, wherein the interaction force is perpendicular to the finger knuckle direction during the finger knuckle rotation.
In one possible implementation manner, acquiring the equivalent force of the manipulator knuckle rotation includes:
and acquiring the knuckle bending angle when the knuckle rotation equivalent stress tends to be stable and a preset number of sampling periods are kept as the glove moving range.
In a possible implementation manner, the controlling the manipulator to act according to a preset control instruction further includes:
obtaining the coupling relation between the fingers according to the coupling relation between the finger joints,
obtaining second preset control instructions among different fingers according to the coupling relation among the fingers;
and controlling the manipulator to act according to the second preset control instruction.
In one possible implementation manner, acquiring the equivalent force of the manipulator knuckle rotation includes:
acquiring equivalent rotation stress of the knuckle of the abdomen and the back of the manipulator;
obtaining the maximum movement range of the glove according to a fitting curve of the equivalent rotation stress of the knuckle of the manipulator abdomen and the knuckle bending angle;
and obtaining the minimum movement range of the glove according to a fitting curve of equivalent stress of knuckle rotation and knuckle bending angle of the back of the manipulator.
In another aspect, a hockey glove dexterity and range of motion testing system is provided, the system comprising: a memory, a processor and a computer program stored on the memory, the processor executing the computer program to implement any of the methods described above.
The technical scheme of the invention has the following beneficial effects:
according to the testing method provided by the embodiment of the invention, the glove is sleeved on the mechanical arm, the movement of the mechanical arm is controlled to drive the glove to move, and the knuckle rotation equivalent stress and the knuckle bending angle of the glove are obtained to obtain a fitting curve of the knuckle rotation equivalent stress and the knuckle bending angle; obtaining dexterity parameters of the glove according to the slope of the fitting curve; and obtaining the moving range of the gloves according to the knuckle bending angles of the gloves, further completing the test of the dexterity and the moving range of the gloves of different types, giving a test result, and facilitating the selection of different types of gloves by a user.
Drawings
FIG. 1 is a flow chart of a method for testing dexterity and range of motion of ice hockey gloves according to an embodiment of the present invention;
FIG. 2 is a graph illustrating the relationship between the bending angle of the knuckle and the equivalent stress in FIG. 1;
FIG. 3 is a schematic view of a relationship curve of a maximum range of motion of a glove;
FIG. 4 is a graphical representation of a minimum range of motion relationship for a glove.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The ice hockey gloves are used as wearing equipment which is essential in ice hockey sports, and the dexterity and the moving range of the ice hockey gloves greatly limit the action effect of athletes in the resisting process. In view of the fact that the variety of the ice hockey gloves on the market is wide, and the user has no selective standard and basis when selecting the ice hockey gloves, the embodiment of the invention provides a method and a system for testing the dexterity and the activity range of the ice hockey gloves, and provides objective basis for quantitative performance evaluation of sports goods and selection of the ice hockey gloves by ice hockey players.
In one aspect, a method for testing dexterity and a range of motion of a hockey glove is provided, please refer to fig. 1, fig. 1 is a schematic flowchart of a method for testing dexterity and a range of motion of a hockey glove provided by an embodiment of the present invention, where a glove to be tested is worn on a manipulator, and the method includes:
and S101, controlling the manipulator to act according to a preset control instruction, and further driving the glove to act.
And S102, acquiring equivalent rotation stress of the mechanical arm knuckle and a knuckle bending angle.
And S103, obtaining a fitting curve of the manipulator knuckle and the knuckle according to the equivalent rotation stress of the manipulator knuckle and the knuckle bending angle.
And S104, obtaining the dexterity of the glove according to the slope of the fitting curve.
And S105, obtaining the moving range of the glove according to the knuckle bending angle.
The technical scheme of the invention has the following beneficial effects:
according to the testing method provided by the embodiment of the invention, the glove is sleeved on the mechanical arm, the movement of the mechanical arm is controlled to drive the glove to move, and the knuckle rotation equivalent stress and the knuckle bending angle of the glove are obtained to obtain a fitting curve of the knuckle rotation equivalent stress and the knuckle bending angle; obtaining dexterity parameters of the glove according to the slope of the fitting curve; the movement range of the gloves is obtained according to the knuckle bending angle of the gloves, so that the flexibility and the movement range of the gloves of different types are tested, the test result is given, and a user can conveniently select the gloves of different types.
The methods provided by the embodiments of the present invention will be further explained and described by alternative embodiments.
And S101, controlling the manipulator to act according to a preset control instruction, and further driving the glove to act.
It should be noted that the hockey glove needs to be worn on the manipulator in the testing method provided by the embodiment of the invention, and since the arm and the finger joint of the manipulator can freely move, the manipulator can be controlled to simulate the movement of the user when using the glove, so as to drive the glove to move, and the test on the dexterity and the moving range of the glove is realized.
And the opening and closing and bending of different fingers of the manipulator are controlled based on the motion sequence and the bending degree of the fingers when the glove is used by the athlete, so that the dexterity and the moving range of the glove are tested with higher accuracy.
It should be noted that the range of motion provided by the embodiment of the present invention refers to the maximum rotation angle that the fingers are bent from the calibration state and the knuckle of the glove can reach after the robot wears the hockey puck glove; the range of motion may be defined as a, the knuckle rotation angle when the slope k changes towards stability, as an example, the slope k does not change more than 5%.
In an alternative embodiment, S101 includes: s1011, S1012, and S1013.
And S1011, acquiring the coupling relation between the knuckles.
In an alternative embodiment, S1011 includes:
acquiring a rotation angle of a previous knuckle;
and superposing the rotation angle of the previous knuckle to the rotation angle of the current knuckle, and obtaining the coupling relation between the knuckles according to the rotation angles of the current knuckle and the previous knuckle.
It should be noted that the knuckles of the manipulator provided by the embodiment of the present invention include a distal knuckle, a middle knuckle, and a proximal knuckle, and the knuckles of the manipulator correspond to the knuckles of the glove. The coupling relation between the knuckles refers to the state and state range of the rest knuckles when one knuckle acts. As an example, as the proximal knuckle moves, the middle knuckle and the distal knuckle move with it, and the middle knuckle moves with it the distal knuckle.
S1012, obtaining first preset control instructions of different knuckles according to the coupling relation among the knuckles.
The coupling relationship between the knuckles can be determined according to the test requirement, for example, when the bending angle of the knuckle of the glove needs to be tested, the proximal knuckle is bent by 30 degrees, the middle knuckle needs to be bent by 60 degrees, and the distal knuckle needs to be bent by 90 degrees. Therefore, each knuckle is controlled according to the bending angle of each knuckle, and the rotation equivalent stress of different knuckles of each finger is obtained. It should be noted that the acquisition of the equivalent stress of the knuckle rotation is acquired according to a certain sampling interval in the bending process of the knuckle from 0 degree to the limit angle, namely, the force is measured while rotating, the acquisition is performed for 1 time every 1 degree of movement in the embodiment of the invention, and the determination of the maximum movement range is determined according to the fact that the equivalent stress of the knuckle tends to be stable.
And S1013, controlling the manipulator to operate according to the first preset control command.
And S102, acquiring equivalent rotation stress of the mechanical arm knuckle and a knuckle bending angle.
It should be noted that, in the embodiment of the present invention, the thin film type pressure sensor may be disposed on the finger of the manipulator, and further, may be disposed on the finger web and the finger back of the manipulator finger, and the thin film type pressure sensor acquires the pressure applied to the manipulator finger, so as to apply the force as the equivalent force of the glove rotation. The gesture sensor is arranged on the finger of the manipulator, and the specific action gesture of the finger of the manipulator is acquired through the gesture sensor.
In an alternative embodiment, a thin film type pressure sensor may be provided on at least one finger, but in consideration of data acquisition and processing of the thin film type pressure sensors, thin film type pressure sensors may be provided on a thumb, a middle finger, and a ring finger, which are mainly applied when a user grips the hockey stick, and thin film type pressure sensors may not be provided on an index finger and a little finger.
And S103, obtaining a fitting curve of the manipulator knuckle and the knuckle according to the equivalent rotation stress of the manipulator knuckle and the knuckle bending angle.
The glove is worn on the manipulator, the mechanical finger joints drive the knuckle to bend under the driving of the driving mechanism, the equivalent stress of the knuckle bending of the manipulator is measured at the moment, and a relation graph of bending angles of the knuckles and the equivalent stress is drawn.
As an example, please refer to fig. 2, where fig. 2 is a diagram for establishing a two-dimensional coordinate system by using the equivalent force of the rotation of the knuckle and the bending angle of the knuckle according to the embodiment of the present invention, and a coordinate system is established by using the bending angle of the knuckle as the abscissa, and the slope of the fitting curve is the dexterity of the glove. In FIG. 2, i denotes a finger number, and j denotes a knuckle number. The peak of the curve in fig. 2 represents the glove reaching the flex limit.
In an alternative embodiment, deriving the dexterity of the glove from the slope of the fitted curve comprises:
the dexterity of the glove is obtained according to the following formula:
wherein D is the dexterity of the glove, alpha is the knuckle bending angle, and f is the knuckle rotation equivalent stress.
In an optional embodiment, the method further comprises:
when min (| D-D) min |/(D max -D min ),|D-D max |/(D max -D min ) If the parameters are preset), the dexterity of the glove is acquired again.
Wherein D is min Minimum value of glove dexterity, D max Is the maximum value of glove dexterity.
As an example, the preset parameter may be 5%, and the preset parameter may be set as needed, and the preset parameter is not limited to this in the embodiment of the present invention.
In an alternative embodiment, obtaining equivalent force for the rotation of the manipulator knuckle includes obtaining the interaction force between the manipulator knuckle and the glove perpendicular to the knuckle direction during the rotation of the knuckle.
In an alternative embodiment, obtaining robot knuckle rotation equivalent force comprises:
and acquiring the knuckle bending angle when the knuckle rotation equivalent stress tends to be stable and the preset number of sampling periods are kept as the glove moving range.
It will be appreciated that the difference in performance of the glove is not substantially great at small angles of rotation, but the range of motion of the glove is well visible by taking the maximum value of the bending angle of the glove. Therefore, the embodiment of the invention ensures the accuracy of the obtained data by obtaining the equivalent stress of the knuckle rotation when the knuckle bending angle reaches the maximum angle and by obtaining the preset number of sampling periods. For example, the preset number may be 3, 4, or 5, and the specific number may be determined according to the test requirement, and the preset number is not limited thereto in the embodiment of the present invention.
In an alternative embodiment, S101 further includes:
obtaining the coupling relation between the fingers according to the coupling relation between the finger joints,
obtaining a second preset control instruction between different fingers according to the coupling relation between the fingers;
and controlling the manipulator to act according to the second preset control instruction.
It should be noted that, when the user uses the glove, the user needs to grasp the glove through the matching action of the fingers, so that the user needs to simulate the action of the user during the test, and at this time, the coupling relationship between the fingers, that is, the stretching relationship between the fingers needs to be known, so as to ensure that the test result corresponds to the actual use result.
As an example, when the club needs to be grasped, fingers need to be matched with each other to grasp the club, and when the state of the index finger is obtained as the bending state, the states of the middle finger, the ring finger and the little finger are adjusted to be the bending state. Further, a direction in which the glove needs to grip the club may be obtained, as an example, the user may select that the head of the club faces upward, or the head of the club faces downward, at which time the extension and retraction degrees of the little finger and the ring finger are different, when the head of the club faces upward, the bending angle of the ring finger and the little finger is required to be small to adjust the direction of the club, and when the head of the club faces downward, the bending angle of the ring finger and the little finger is required to be large, so that a second preset control instruction between different fingers is obtained according to the coupling relationship between the fingers; and controlling the action of the manipulator according to a second preset control instruction. It should be noted that the above examples are only exemplary, and the control manner between the fingers according to the embodiment of the present invention is not limited thereto.
In an optional embodiment, different states of the glove in use can be obtained first, then the coupling mode between fingers of the glove in different states, the bending degree of different fingers in different states, and the coupling mode between finger joints in different bending degrees are determined, then the movement of the manipulator is controlled according to the coupling mode and the bending degree, and the key wear part is tested for many times according to the conditions of different parts of the glove in use, so that the accuracy of the test is ensured.
It should be noted that, in the embodiment of the present invention, the upper computer may set parameters of the robot motion, read the rotation equivalent stress and the knuckle bending angle of the mechanical finger joint, perform data analysis on the rotation equivalent stress and the knuckle bending angle, give an analysis result, and perform data processing.
In an alternative embodiment, obtaining robot knuckle rotation equivalent force comprises:
acquiring equivalent rotation stress of the knuckle of the belly and the back of the manipulator;
obtaining the maximum movement range of the glove according to a fitting curve of the equivalent rotation stress of the knuckle of the manipulator abdomen and the knuckle bending angle;
and obtaining the minimum movement range of the glove according to a fitting curve of equivalent stress of knuckle rotation and knuckle bending angle of the back of the manipulator.
Referring to fig. 3-4, fig. 3 is a diagram illustrating a maximum movement range curve of a glove; FIG. 4 is a graphical representation of a minimum range of motion relationship for a glove. It should be noted that, in the embodiment of the present invention, the bending angle and the rotational equivalent stress of the knuckle are collected, and then the knuckle and the rotational equivalent stress are fitted, so that the curves of the knuckle and the knuckle abdomen are different from the curve of the knuckle back, and the data of the knuckle and the knuckle abdomen are obtained and then analyzed according to the curves. Furthermore, the maximum value of the movable range is the corresponding knuckle rotation angle when the equivalent stress tends to be stable, and the minimum value of the movable range is the corresponding knuckle rotation angle when the equivalent stress of the knuckle is minimum.
In another aspect, a system for testing dexterity and range of motion of hockey gloves is provided, the system comprising: a memory, a processor and a computer program stored on the memory, the processor executing the computer program to implement any of the methods described above.
The system also comprises a knuckle angle acquisition module, a multi-channel AD conversion module, a main control module and the like which are connected with the processor. As an example, the processor can be a single chip microcomputer, a control board of the single chip microcomputer is powered on and initialized, and a PWM signal generated by the upper computer and the control board of the single chip microcomputer controls the manipulator to drive the knuckle to move according to a standard mode or a user-defined mode.
The system also comprises an upper computer, and the upper computer can set the motion sequence, knuckle angle and cycle number of the fingers of the manipulator according to the requirements of a user. The setting method of the finger movement sequence comprises three schemes of left-to-right linkage, right-to-left linkage and five linkage; the setting method of the knuckle angle comprises the steps of firstly selecting a knuckle, then setting the angle, obtaining a PWM value through a program in an upper computer interactive interface, and finally inputting the value into a control program and downloading the value to a single chip microcomputer control panel; the setting method of the circulation times is a limited circulation time scheme and an infinite circulation time scheme.
The upper computer reads data in the main control module in a visual interface of an upper computer interactive interface through an RS232-USB interface, wherein the data comprises thin film type pressure sensor reading and attitude sensor reading, the thin film type pressure sensor reading is called joint rotation equivalent stress, and refers to interaction force between a finger joint and a glove in a direction perpendicular to a knuckle during rotation of the finger joint, and the interaction effect is to block forward rotation of the knuckle.
The upper computer defines the dexterity grade according to the slope of a fitting curve of equivalent stress of knuckle angle-joint rotation, and determines the activity range of the glove, and the analysis method of the activity range determines the activity range from the relative angle of the knuckle required by the fact that the manipulator is opened to push a person normally to the relative angle of fingers capable of completely holding the ice hockey stick. Wherein, the relative angle of a certain knuckle is the included angle between the knuckle and the tangent of the adjacent knuckle close to one side of the palm.
The method for testing the dexterity and the moving range of the ice hockey glove provided by the embodiment of the invention is beneficial to establishing an efficacy evaluation method, a standard, equipment and a system of wearing equipment for ice and snow sports in China. By quantitatively evaluating the dexterity and the moving range of the ice hockey gloves, objective basis is provided for quantitative performance evaluation of sports goods and selection of the ice hockey gloves by ice hockey athletes.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A hockey glove dexterity and range of motion testing method, said glove not including a goalkeeper glove, wherein said glove is worn on a manipulator, said method comprising:
controlling the mechanical arm to act according to a preset control instruction so as to drive the glove to act;
acquiring the equivalent rotation stress of the mechanical arm knuckle and the knuckle bending angle;
obtaining a fitting curve of the manipulator knuckle and the knuckle according to the equivalent rotation stress of the manipulator knuckle and the knuckle bending angle; the manipulator knuckle rotation equivalent stress is a vertical coordinate, the knuckle bending angle is a horizontal coordinate, and the fitting curve slope is the manipulator knuckle rotation equivalent stress/knuckle bending angle;
deriving the dexterity of the glove from the slope of the fitted curve, comprising: the dexterity of the glove is obtained according to the following formula:
wherein D is the dexterity of the glove, alpha is the bending angle of the knuckle, and f is the equivalent stress of the knuckle rotation;
and obtaining the moving range of the glove according to the knuckle bending angle.
2. The method for testing dexterity and range of motion of hockey gloves of claim 1, wherein the step of controlling the manipulator to act according to preset control instructions comprises the following steps:
acquiring the coupling relation between the finger joints of the same finger;
obtaining first preset control instructions of different knuckles according to the coupling relation among the knuckles;
and controlling the manipulator to act according to the first preset control instruction.
3. The method for testing dexterity and range of motion of hockey gloves of claim 2, wherein said obtaining the coupling relationship between the same finger joints comprises:
acquiring a rotation angle of a previous knuckle;
and superposing the rotation angle of the previous knuckle to the rotation angle of the current knuckle, and obtaining the coupling relation between the knuckles according to the rotation angles of the current knuckle and the previous knuckle.
4. The hockey glove dexterity and range of motion test method of claim 3, wherein the method further comprises:
when min (| D-D) min |/(D max -D min ),|D-D max |/(D max -D min ) Preset parameters, wherein D is greater than D) regaining dexterity of the glove min Minimum value of glove dexterity, D max Is the maximum value of glove dexterity.
5. The method for testing dexterity and range of motion of hockey gloves of claim 1, wherein said obtaining the equivalent force of rotation of the knuckles of the manipulator comprises obtaining the interaction force between the knuckle and the glove in a direction perpendicular to the knuckle direction during rotation of the knuckle.
6. The method for testing dexterity and range of motion of hockey gloves of claim 1, wherein obtaining the equivalent force of mechanical arm knuckle rotation comprises:
and acquiring the knuckle bending angle when the knuckle rotation equivalent stress tends to be stable and a preset number of sampling periods are kept as the glove moving range.
7. The method for testing dexterity and range of motion of hockey gloves of claim 2, wherein said controlling the movement of said manipulator according to preset control commands further comprises:
obtaining the coupling relation among the fingers according to the coupling relation among the finger sections,
obtaining second preset control instructions among different fingers according to the coupling relation among the fingers;
and controlling the manipulator to act according to the second preset control instruction.
8. The method for testing dexterity and range of motion of hockey gloves of claim 1, wherein obtaining the equivalent force of mechanical arm knuckle rotation comprises:
acquiring equivalent rotation stress of the knuckle of the abdomen and the back of the manipulator;
obtaining the maximum moving range of the glove according to a fitting curve of the equivalent stress of the manipulator abdomen knuckle rotation and the knuckle bending angle, wherein the maximum moving range is the corresponding knuckle bending angle when the equivalent stress is stable;
and obtaining the minimum movement range of the glove according to a fitting curve of the equivalent rotation stress of the knuckle on the back of the manipulator and the bending angle of the knuckle, wherein the minimum value of the movement range is the corresponding bending angle of the knuckle when the equivalent rotation stress of the knuckle is minimum.
9. A hockey glove dexterity and range of motion testing system, the system comprising: memory, processor and computer program stored on the memory, characterized in that the processor executes the computer program to implement the method of any of claims 1-8.
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| CN202111643738.6A CN114593900B (en) | 2021-12-29 | 2021-12-29 | Method and system for testing dexterity and moving range of ice hockey gloves |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2273889A1 (en) * | 1999-06-09 | 2000-12-09 | Donald Francis Macdonald | Glove or mitt principally for use as a catching glove by ice hockey goalkeepers |
| US20120167667A1 (en) * | 2010-11-03 | 2012-07-05 | Shipley Randall L | Glove testing device and method |
| CN105643665A (en) * | 2014-11-26 | 2016-06-08 | 苏茂 | Thumb far-end joint detection device for data glove |
| CN105150188A (en) * | 2015-10-10 | 2015-12-16 | 花茂盛 | System and method for controlling actions of robot |
| KR102099185B1 (en) * | 2018-03-21 | 2020-04-10 | 서울대학교산학협력단 | Dexterity test device for glove and dexterity test assembly for glove |
| CN208609973U (en) * | 2018-08-16 | 2019-03-19 | 厦门博特运动器材有限公司 | A kind of ice hockey gloves with sheet body in the detachable centre of the palm |
| DE102019214140B4 (en) * | 2019-09-17 | 2023-11-02 | Adidas Ag | Glove, especially goalkeeper glove |
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