CN209216040U - A kind of hand motion capture system and interactive system - Google Patents
A kind of hand motion capture system and interactive system Download PDFInfo
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- CN209216040U CN209216040U CN201821639133.3U CN201821639133U CN209216040U CN 209216040 U CN209216040 U CN 209216040U CN 201821639133 U CN201821639133 U CN 201821639133U CN 209216040 U CN209216040 U CN 209216040U
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Abstract
The utility model discloses a kind of hand motion capture system and interactive system, system sensitivity with higher, stability, flexibility and stickiness, and can accurately measure the flexural number of finger, realize gesture identification, finger movement monitoring.The system includes glove bulk, one or more flexible strain transducer and integrated circuit；Wherein, the glove bulk is set as covering at least one joint of at least one finger；The flexibility strain transducer, is fixed at the position for covering the finger-joint back side on glove bulk, so that flexible strain transducer changes length with the activity of finger-joint and leads to the change of its equivalent resistance；The integrated circuit is arranged in glove bulk rear end, and is connect by conducting wire with the conducting wire tie point on flexible strain transducer, to obtain measurement data corresponding with flexible strain transducer deformation quantity.
Description
Technical field
The utility model relates to intelligent wearing, human-computer interaction technique field more particularly to a kind of hand motion capture systems
And interactive system.
Background technique
With the development of computer software and hardware and Internet technology, wearable device gradually starts to become people's daily life
A part.Wearable device is realized corresponding business function by portable wearing, can be widely applied usually taking human as carrier
In fields such as current consumption, industry, medical treatment, military affairs, education, amusements.Common intelligent wearable device has currently on the market, eye
Mirror, wrist-watch, bracelet, gloves, clothes, earphone etc..
Intelligent glove can realize various function according to different demands as human body limbs portable equipment the most flexible
Can, in being most widely used for the fields such as medical treatment, mobile interaction, game.Application No. is 201710332489.6 Chinese patents
Application discloses a kind of medical monitoring gloves based on fibre optical sensor, and the program at finger-joint by being arranged Fibre Optical Sensor
Device acquires the strain data of finger by the difference of analyte sensors wavelength.Although the program can accurately acquire finger
Strain data, but since its data analysis process is complicated, operand is big, need dedicated optical fiber and signal sampler to data into
Row processing, it is difficult to carry out practical application in Mobile portable field.
It can realize that the limbs of target person are tracked using Intelligent glove, be widely used in virtual reality, intelligence at present
The fields such as interactive system, implementation pass through the reality of optical system composed by camera or infrared transmitter and receiver mostly
It is existing, but to monitor this kind of subtle limb activity of finger movement, then it requires at higher imaging resolution and data analysis
Reason ability, scheme not only higher cost, and be not easy to dress, cause use scope to be subject to certain restrictions.
Utility model content
One of the purpose of this utility model at least that, for how to overcome the above-mentioned problems of the prior art, provide
A kind of hand motion capture system and interactive system, system sensitivity with higher, stability, flexibility and stickiness,
And the flexural number of finger can be accurately measured, realize the capture of the hand motions such as gesture identification, finger movement monitoring.
To achieve the goals above, the technical solution adopted in the utility model includes following aspects.
A kind of hand motion capture system comprising: glove bulk, one or more flexible strain transducer and
Integrated circuit；
Wherein, the glove bulk is set as covering at least one joint of at least one finger；The flexible strain passes
Sensor is fixed at the position for covering the finger-joint back side on glove bulk, so that flexible strain transducer is with finger-joint
Activity and change length and lead to the change of its equivalent resistance；
The integrated circuit is arranged on glove bulk, and passes through the conducting wire tie point on conducting wire and flexible strain transducer
Connection, to obtain measurement data corresponding with flexible strain transducer deformation quantity.
According to a kind of specific embodiment, in the hand motion capture system of the utility model, the flexible strain is passed
Sensor includes conductive fabric, and is respectively overlay in the upper fixing layer of the upper and lower surfaces of conductive fabric, lower fixing layer；It is described to lead
Electric fabric is made of elastic material, and upper fixing layer, lower fixing layer are made of non-elastic material；Upper fixing layer, lower fixing layer will
Conductive fabric is fixed in the non-resilient fixed accommodation space formed therebetween, and the amount of tension of conductive fabric and resistance are become
The relationship for changing characteristic is limited in and can linearly survey in range.
Further, at room temperature, the ratio between the stretchable amount of maximum and initial length of the elastic material
It is 0.1~2；Ratio < 0.1 between the stretchable amount of maximum and initial length of the non-elastic material.
Still further, the conductive fabric is made up of, nickel plating silver-plated to fabric or copper facing；Or by silver fiber,
One of nickel fiber, copper fiber, carbon fiber, electrically conductive organic fibre or a variety of and one of spandex, cotton, polyamide fibre are a variety of mixed
It is spun into.
According to a kind of specific embodiment, in the hand motion capture system of the utility model, the conductive fabric is adopted
With silver fiber 44%, cotton 35%, polyamide fibre 18.4%, the blended manufactured flexible conductive fabric of spandex 2.6%.
According to a kind of specific embodiment, in the hand motion capture system of the utility model, fixed layer, under
Fixing layer is realized using adhesive plaster, glue film or adhesive tape.
According to a kind of specific embodiment, in the hand motion capture system of the utility model, the conductive fabric is set
It is set to two ends and is located at the same side, and have conducting wire tie point to connect with conducting wire；And using the reeded sheet metal of tool
The end of conductive fabric is wrapped up, which is set as the tie point of covering conductive fabric and conducting wire.
According to a kind of specific embodiment, in the hand motion capture system of the utility model, in the integrated circuit
Including measuring circuit, amplifying circuit, analog to digital conversion circuit, control circuit and communication interface；
Wherein, the measuring circuit has the first resistor in parallel with flexible strain transducer, and passes with flexibility strain
The concatenated second resistance of sensor, measuring circuit are defeated according to the resistance value of flexible strain transducer under the voltage effect that power supply applies
Corresponding voltage signal out；
The amplifying circuit, for voltage signal to be amplified to the input voltage range of analog to digital conversion circuit；Analog-to-digital conversion
Circuit, for voltage signal to be converted to digital signal；
The control circuit, digital signal for being exported according to analog to digital conversion circuit calculate flexible strain transducer etc.
The resistance value for imitating resistance generates measurement data corresponding with flexible strain transducer deformation quantity according to the change in resistance of equivalent resistance；
Communication interface, for sending measured data to receiving device；
The integrated circuit is set as successively triggering measuring circuit respectively using a control circuit to multiple flexible strains
Sensor successively measures the acquisition of data.
According to a kind of specific embodiment, in the hand motion capture system of the utility model, the system is also wrapped and is set
Set control, Data Analysis Services, storage, display function unit exterior terminal；
Wherein, storage unit stores the corresponding flexibility of each number and answers for each joint of each finger to be numbered
Become multiple resistance values and the resistance value of the corresponding multiple curvature-curvature data pair of sensor；Control unit is obtaining measurement
After resistance value in data, by resistance value-curvature data pair in inquiry storage unit, to obtain the curvature in each joint
Data；
The storage unit is used to store the multiple curvature and gesture pair of the corresponding flexible strain transducer of each number
Curvature-the gesture data pair that should be related to；Control unit is after obtaining the resistance value in measurement data, by inquiring storage unit
In curvature-gesture data pair, to obtain gesture data.
Further, data scaling unit is further comprised in the exterior terminal, wears institute for obtaining different users
State flexible strain transducer resistance value-bending situation data and curves of gloves generation.
Conceived based on same utility model, the utility model also provides a kind of interactive system comprising in the utility model
Hand motion capture system, data processing equipment, limb motion tracing equipment and output display unit；Between these equipment
By wireless network or cable network connection to transmit data；
The data processing equipment is used to obtain limb motion data by control limb motion tracing equipment, and is based on
Curvature data from the received each joint of gloves, come the limb motion data obtained.
According to a kind of specific embodiment, in the interactive system of the utility model, the limb motion tracing equipment packet
Include one or more hand follow-up mechanisms that glove bulk is set in the limbs tracking point at wrist location；On gloves
Integrated circuit is connect by conducting wire with hand follow-up mechanism, to control hand follow-up mechanism.
According to a kind of specific embodiment, in the interactive system of the utility model, the limb motion tracing equipment is adopted
With one or more of LED light, infrared transmitter, ultrasound feedback device, radar wave feedback device；
When using LED light, the data processing equipment is set as with imaging device, image processor and memory；
The data processing equipment is set as, and is controlled shining for limb motion tracing equipment by the control circuit on gloves, is passed through tune
The image data including gloves is acquired with imaging device, and the position of gloves upper limb body tracking point is identified by image processor
And its variation track is to obtain limb motion data；
When using infrared transmitter, ultrasound feedback device, radar wave feedback device, the data processing equipment setting
To judge the position of hand according to received echo and the distance between with data processing equipment, to obtain limb motion data.
Further, the limb motion tracing equipment includes the ground cushion that can judge human motion trend；The ground cushion
For obtaining Human Sole pressure distributed intelligence, by establishing different models, judge the human body on ground cushion be in lean forward, after
It faces upward, left-leaning, Right deviation state.
Still further, the ground cushion is also provided with fender rod along edge, which may be configured as detachable with ground cushion
Connection.
In conclusion by adopting the above-described technical solution, the utility model at least has the advantages that
Capture system acquires bending data and the cooperation of finger-joint by the way that flexible strain transducer is arranged on gloves
Data processing equipment is to obtain more abundant posture data, gloves sensitivity with higher, stability, flexibility and patch
Conjunction property, and the flexural number of finger can be accurately measured, realize gesture identification, finger movement monitoring.The interactive system can be
It obtains including acquiring entire wrist and other limb motions while the minutias such as finger subtle bending, and does not significantly increase
The complexity of conventional images identifying processing maintains portability and lower cost while improving posture data accuracy.
Detailed description of the invention
Fig. 1 is the structural schematic diagram according to a kind of hand motion capture system of an embodiment of the present invention.
Fig. 2 is the flexible strain transducer structural schematic diagram according to an embodiment of the present invention.
Fig. 3 is the flexible strain transducer structural schematic diagram according to another embodiment of the utility model.
Fig. 4 is the structural schematic diagram according to the circuit of the utility model embodiment.
Fig. 5 is the rear view according to a kind of gloves of hand motion capture system of another embodiment of the utility model.
Fig. 6 is the curvature and gesture schematic diagram according to a kind of hand motion capture system of the utility model embodiment.
Fig. 7 is the structural representation according to the interactive system including hand motion capture system of the utility model embodiment
Figure.
Specific embodiment
With reference to the accompanying drawings and embodiments, the present invention will be further described in detail, so that the utility model
Objects, technical solutions and advantages are more clearly understood.It should be appreciated that specific embodiment described herein is only to explain this reality
With novel, it is not used to limit the utility model.
Fig. 1 shows a kind of structural schematic diagram of hand motion capture system according to the utility model embodiment, according to
The embodiment system includes: glove bulk, one or more flexible strain transducer and integrated circuit.
Wherein, glove bulk is set as covering at least one joint (glove bulk shown in FIG. 1 of at least one finger
Whole joints of all fingers of a hand are covered, in other embodiments, can according to need and select covered hand
Finger and amount of articulation), glove bulk changes glove bulk overleaf side and palm of the hand side with the flexion of finger-joint
Length, accommodate the position at finger-joint back side when digital flexion (i.e. outside) especially on glove bulk, bending degree and
Length variation is the most significant；The realization of existing gloves can be used in the glove bulk, for example, by using cotton yarn, fiber, leather, rubber
The gloves Deng made of.
The flexibility strain transducer, is fixed on glove bulk by modes such as gluing, sewing, braidings and covers finger pass
At the position for saving the back side, so that flexible strain transducer changes length with the flexion of finger-joint, cause its equivalent
The change of resistance value, so as to detect the bending state for the finger-joint that flexible strain transducer covers.According to different application
Environment and measurement accuracy, the bending state can refer to whether finger is bent, and also can refer to the degree of bending or actual flexion degree.Figure
In 1 embodiment, entire finger is covered by a flexible strain transducer, to measure the integrally bending state of entire finger；
The embodiment of Fig. 5 measures the bending in each joint of finger by multiple flexible strain transducers corresponding with the joint of finger
Degree, to obtain more acurrate measurement data, will be described in more detail below descriptions.
Integrated circuit is arranged at glove bulk rear end (for example, at the palm back side or palm of the hand) to avoid bending, and passes through
Conducting wire is connect with the conducting wire tie point on flexible strain transducer, to obtain resistance value corresponding with flexible strain transducer deformation quantity
And/or the measurement data such as voltage.
Fig. 2 shows the flexible strain transducer structural schematic diagrams according to the utility model embodiment.According to this embodiment
Flexible strain transducer include conductive fabric, and be respectively overlay in the upper fixing layer, lower solid of the upper and lower surfaces of conductive fabric
Given layer (herein be in contrast, to be referred to as first, second fixing layer above and below)；The conductive fabric is by elastic material
Material is made, and upper fixing layer, lower fixing layer are made of non-elastic material；Upper fixing layer, lower fixing layer are by bonding (for example, glue
Gluing) conductive fabric is fixed in the non-resilient fixed accommodation space formed therebetween by mode, by the drawing of conductive fabric
The amount of stretching and the relationship of resistance variation characteristic are limited in and can linearly survey in range.It linear is surveyed it should be noted that described
Range is simultaneously nisi linear, and error can all occur in any measurement, therefore any embodiment needs to handle measurement data,
The prior art has mature algorithm and handles measurement data, such as nonlinear regression backoff algorithm.
Traditional flexible strain transducer based on conductive fabric is usually caused using the deformation that conductive fabric stress generates
The resistance or capacitance characteristic of conductive fabric change, and then the case where detection conductive fabric pressure or pulling force；But in reality
During trampling, the amount of tension of conductive fabric and the relationship of resistance/capacitance variation characteristic are usually nonlinear change and usually such
Variation is unstable variation, and easily generates drift phenomenon in maximum tension amount position, causes accurately detect conductive fabric
Deformation quantity.Flexibility strain transducer described in the utility model uses special knot of the elastic conduction fabric in conjunction with non-resilient fixing layer
Structure, can be limited in the relationship of the amount of tension of conductive fabric and resistance variation characteristic can linearly survey in range, can accurately detect curved
Curved variable, true to reflect finger-joint activity condition, error is small and stability is high.
In the present invention, the elasticity or the non-resilient ratio referred between the maximum stretchable amount of material and initial length
Value is elasticity in a certain range or non-resilient (maximum stretchable amount refers between maximum tension length and initial length herein
Difference).Definition referring to American Society Testing and Materials (ASTM) to elastomer, at room temperature, material can stretch repeatedly
It is former 2 times long to being at least, it can restore rapidly after external force release to the long material of original to be elastomer.In the present invention, bullet
Property be defined herein as, under the conditions of room temperature (about 20 DEG C or so such as 18~25 DEG C), the maximum stretchable amount of material and initial length it
Between ratio 0.1~2；It is non-resilient to be defined as, at room temperature, the ratio between the maximum stretchable amount of material and initial length
< 0.1.
In the various implementations of the utility model, conductive fabric can the system such as, nickel plating silver-plated by fabric, copper facing
At, or using logical by the materials such as silver fiber, nickel fiber, copper fiber, carbon fiber, electrically conductive organic fibre etc. and spandex, polyamide fibre
The flexible blended material that overmulling is spun into；And existing adhesive plaster, glue film, adhesive tape can be used in upper fixing layer, lower fixing layer
Deng, can also be used without viscosity regular non elastic fabric.
Conductive fabric in the non-resilient fixed accommodation space of above-described embodiment specifically can be set to strip.At other
In embodiment, for the ease of conductive fabric can be set to U, W-shaped, two ends of conductive fabric from the same side extraction wire
Portion is provided with conducting wire tie point, for connecting with conducting wire.
The modes such as direct gluing can be used, welds or rivets in the connection type of conductive fabric and conducting wire.For moving more
Frequent application scenarios can use knot as shown in Figure 3 in order to avoid generating the case where falling off in the long-term use
Structure, using the end for having reeded sheet metal (such as copper sheet) package conductive fabric, which is set as covering conductive fabric
With the tie point of conducting wire.Both further increase the stability of connection using which, and the marginal position of sheet metal not with
Conductive fabric forms close connection, avoids and sheet metal is used for a long time to conductive fabric generation cutting, influence conductive effect.
Fig. 4 shows the structural schematic diagram of the integrated circuit according to the utility model embodiment.Collect according to this embodiment
At being provided with measuring circuit, amplifying circuit, analog to digital conversion circuit, control circuit and communication interface in circuit.
Wherein, measuring circuit can test circuit using bridge-type, and flexible strain transducer accesses measurement electricity as a bridge arm
Lu Zhong；Specifically, the lead of flexible strain transducer one end is connected to DC power supply, the other end and the first fixed resistance value resistance string
It is grounded after connection；One end of resistance value adjustable resistance is connected to DC power supply, and the other end connects with the second fixed resistance value resistance and is followed by ground；
Third fixed resistance value resistance is in parallel with the flexible lead of strain transducer；By the first fixed resistance value resistance and the second fixed resistance value electricity
Voltage difference between resistance and ground is exported as voltage signal to amplifier；Measuring circuit basis under the voltage effect that power supply applies
The resistance value of flexible strain transducer exports corresponding voltage signal, wherein third fixed resistance value resistance is set as answering in flexibility
Useful signal can be exported by becoming in the biggish situation of change in resistance range of sensor, even if the voltage signal of measuring circuit output exists
Within the input voltage range of analog to digital conversion circuit.
Amplifying circuit, for voltage signal to be amplified to the input voltage range of analog to digital conversion circuit；Analog to digital conversion circuit,
For voltage signal to be converted to digital signal；Control circuit, the digital signal for being exported according to analog to digital conversion circuit calculate
The resistance value of the equivalent resistance of flexible strain transducer generates and flexible strain transducer deformation according to the change in resistance of equivalent resistance
Measure the measurement data such as corresponding resistance value and/or voltage；Communication interface can be with for sending measured data to receiving device
It, can also be wired using USB, optical fiber, twisted pair etc. using wireless communication interfaces such as WIFI, bluetooth, NFC, cellular data networks
Communication interface.
It in some applications, can be in glove bulk rear end (for example, overlapping the difference in circuit board with integrated circuit
Layer) miniscope connecting with the control circuit in integrated circuit is set (for example, 1.77 inches or smaller TFT liquid crystal
Display screen), to directly display the measurement data of acquisition.
Said integrated circuit can be realized the initial acquisition and processing function of data, but if desired more accurate or complicated
May also include using, the system be provided with the functional units such as control, Data Analysis Services, storage, display exterior terminal (on
The realization for stating function belongs to the prior art, and the utility model is not elaborated), the exterior terminal is by communication interface and integrates
Circuit realizes data transmission.The exterior terminal specifically can be using PC, mobile phone or plate etc., by transmitting to integrated circuit acquisition
Hand bending data carry out deeper into analysis, storage and display, be suitable for specific environment application.For example, some
In interactive application, which can also realize shows with the real-time synchronization of hand motion capture.
In the control circuit of integrated circuit, the data acquisition of each flexible strain transducer of setting can be set
Work is acquired for trigger circuit simultaneously.In to power consumption and the higher application scenarios of volume requirement, due to requiring gloves
Volume is smaller, therefore need to control the volume of integrated circuit as far as possible, and reduces the data operation quantity in integrated circuit as far as possible,
Therefore, the algorithm that the utility model acquires data in control circuit is set as using the successively triggering survey respectively of a control circuit
Amount circuit successively measures the acquisition of data to multiple flexible strain transducers.For example, if the five fingers on glove bulk successively
It is covered provided with flexible strain transducer, then control circuit can trigger measuring circuit to the flexible strain transducer of setting respectively
Deformation data is successively acquired respectively, and interval time may be configured as 10ms.If a finger is provided with multiple flexible strains and passes
Sensor covering, then the interval time of data acquisition may be configured as 2ms.
In addition, single flexible strain transducer needs to be introduced into both ends as circuit connection point in circuit in circuit connection,
If the five fingers are all respectively provided with a piece of flexible strain transducer and cover all articulations digitorum manus, 10 conducting wire access integrated circuits are needed
In, similarly, if two panels is respectively set in the five fingers, flexibility strain transducer is covered each by articulations digitorum manus, needs 20 integrated electricity of conducting wire access
Lu Zhong, too many tie point not only result in conducting wire and entwine, and also technique can be made more complicated.In the present invention, institute is flexible answers
The one end for becoming sensor need to only be connected in parallel to one end of a wherein flexible strain transducer, do in the conducting wire access integrated circuit at the end
Grounding effectively reduces the connection of actual wire.
Fig. 5 shows a kind of rear view of the gloves of hand motion capture system according to the utility model embodiment.
Gloves have flexible strain transducer identical with finger-joint quantity according to this embodiment, cover each joint of finger,
To obtain the measurement data for reacting each joint flexion.
As an example, conductive fabric in setting Fig. 5 in each flexible strain transducer using silver fiber and spandex, brocade,
And the blended manufactured flexible conductive fabric of polyamide fibre is (for example, silver fiber 44%, cotton 35%, polyamide fibre 18.4%, spandex
2.6%), the length is 2.00cm, width 0.2cm, shape be it is U-shaped (in practical applications can be according to different uses
Different gloves sizes is arranged in crowd, and corresponding flexibility strain transducer may also set up different length and widths).Conductive fabric
Upper and lower surface can further cover the sticking PU film of tool, which is that length is 3.00cm, and width is the rectangular of 1.5cm,
Elastic conduction fabric is fixed on centre.
Flexible strain transducer is in the curved situation of non-stress, and the voltage that power supply applies is 3V, what control circuit obtained
The initial resistance value of flexible strain transducer is about 22 Ω in measurement data；When flexible strain transducer is because of the bending in each joint of finger
Activity and when being stretched, the curvature range of the resistance value of flexible strain transducer, length and corresponding joint is as shown in table 1 below
(amount of tension herein refers to the length after flexible strain transducer is stretched and the difference between initial length):
Table 1
| Flexible strain transducer resistance | Sensor amount of tension | Corresponding curvature range |
| 22Ω | 0 | 0 °~10 ° |
| 35Ω | 0.4mm | 20 °~30 ° |
| 55Ω | 0.6mm | 35 °~45 ° |
| 60Ω | 0.8mm | 50 °~60 ° |
| 65Ω | 1mm | 80 °~90 ° |
From the foregoing, it will be observed that the special construction of the flexible strain transducer by the utility model, by the amount of tension of conductive fabric
It is fixed in one section of linear measurable range with resistance variation characteristic.Due to conductive fabric in flexible strain transducer length not
Together, initial resistance value is also different, and measured resistance value also can be different after stretching.It therefore, can be in integrated circuit or exterior terminal
Middle setting storage unit is in the present embodiment numbered each joint of each finger in exterior terminal setting storage unit,
Store each multiple resistance values for numbering corresponding flexible strain transducer and the resistance value of corresponding multiple curvature-bending degree
According to right；Control circuit passes through resistance value-curvature data in inquiry storage unit after obtaining the resistance value in measurement data
It is right, the curvature data in available each joint.
In practical applications, if being bent degree without accurate feedback, flexible strain sensing can be fixed in some cases
The data relationship of the resistance value of device and bending situation is constant to detect bending change；But in most applications, due to different
Wearer's finger length, size have a difference, integrated circuit acquisition to flexible strain transducer bend after resistance value with
Curved line relation between actual digital flexion situation has difference, detects according to the data and curves relationship of a certain fixation
Bending situation can then generate error.In order to eliminate this error, the utility model also settable data in exterior terminal
Unit is demarcated, wears flexible strain transducer resistance value-bending situation number that the gloves generate for obtaining different users
According to curve；Bending situation herein can be customized by users, and be 0 as can define bending situation under nature straight configuration, half is bent
In the case of be 50%, state of holding with a firm grip completely is 100%, and acquisition active user is from finger nature straight configuration to holding with a firm grip completely first
Data and curves of state each sensor resistance and bending situation variation during this, the data and curves relationship with it is corresponding
User data is stored in storage unit, completes calibration；Subsequently into the course of work, user's finger random movement (can also basis
Application scenarios carry out in required movement, such as game, rehabilitation), measuring circuit obtains real-time sensor resistance, passes through
The data and curves of calibration obtain real-time digital flexion data.Same user can be demarcated once, can directly be adjusted when reusing
The nominal data for taking the stored user in storage unit avoids repeating to demarcate.Certainly more accurate application scenarios are being needed
In, bending situation may also indicate that actual bending degree, obtain resistance value, the length of flexible strain transducer through the foregoing embodiment
Relationship between degree and the curvature range of corresponding joint, detects the actual flexion degree of finger, implementation institute specific as follows
It states.
Further, curvature-gesture number of multiple curvature Yu gesture corresponding relationship can also be stored in storage unit
According to right.For example, as shown in fig. 6, successively by the corresponding flexible strain transducer in each joint of the finger from finger tip to volar direction
Number is the first flexible strain transducer, the second flexible strain transducer, third flexibility strain transducer.First when index finger closes
Bent-segment degree is 30 °~90 °, and the curvature of second joint is 60 °~90 °, and the curvature in third joint is 10 °~60 °；Big thumb
The first joint flexion referred to is 60 °~90 °, and the curvature of second joint is 20 °~60 °；Also, other each joints of finger
Curvature be 0 °~30 ° when, corresponding gesture be OK.Alternatively, when the curvature of index finger and each joint of middle finger is 0 °~
15°；Also, when the curvature in other each joints of finger is 60 °~90 °, corresponding gesture is V.Alternatively, when each finger
When the curvature in each joint is at 0 °~15 °, corresponding gesture is PALM (palm).Alternatively, working as each pass of each finger
When the curvature of section is at 70 °~90 °, corresponding gesture is FIST (clenching fist).The gloves of above-described embodiment can pass through outside
The gesture that the display real-time display control circuit of terminal is identified.
Fig. 7 shows the interactive system including above-mentioned hand motion capture system according to the utility model embodiment.It should
Interactive system includes hand motion capture system, data processing equipment, limb motion tracing equipment and output display unit, this
By wireless network or cable network connection to transmit data between a little equipment.
Wherein, limb motion tracing equipment includes that glove bulk is arranged in the limbs tracking point at wrist location
One or more hand follow-up mechanisms；Integrated circuit on gloves is connect by conducting wire with hand follow-up mechanism, to control hand
Follow-up mechanism.Hand follow-up mechanism can use acceleration transducer directly to send the movement number of wrist location to integrated circuit
According to.
In the case where only needing to carry out gesture identification etc. and the application scenarios of acceleration transducer data processing, data processing equipment
More detailed curvature-gesture can be can store using mobile terminals such as mobile phone, tablet computer, portable computers
Data pair, obtain each joint from gloves curvature data simultaneously, pass through limb motion tracing equipment obtain limbs
The limb motion data of tracking point, and gesture-movement-limbs of storage is combined to express data pair, it is available more accurate
Limbs express data.For example, gesture-movement-limbs expression data are to can store are as follows: identifying that gesture is PALM, and limb
When motion state is that left and right swings (for example, swinging less than 20 centimetres) by a small margin in body exercise data, corresponding limbs table
Up to for NO.In the application of more displaying, such as in game, the curvature data and limbs in each joint can also be directly based upon
Exercise data, to change the state of corresponding role or device in scene of game.
In a further embodiment, limb motion tracing equipment can be anti-using LED light, infrared transmitter, ultrasonic wave
Present device, radar wave feedback device perceives position and the direction of motion, state of hand etc., and sets in integrated circuit and data processing
Under standby cooperation, the motion profile at wrist location is obtained.
Specifically, when using LED light, data processing equipment is set as with imaging device (for example, motion capture images
Head), image processor and memory；On the one hand, LED light, infrared transmitter are controlled to preset by the control circuit on gloves
Frequency issue the visible light or black light of specific wavelength, while by calling imaging device to acquire the figure including gloves
The limb motions data such as position and its variation track of gloves upper limb body tracking point are identified as data, and by image processor；
On the other hand, the memory in data processing equipment can store curvature-gesture data and express, gesture-movement-limbs
Data equity, by receiving the curvature data from gloves, available finger and hand overall motion data and its correspondence
Limbs express data, and then can by graphics processor and display equipment, the curvature data that will acquire, gesture data,
Limbs expression data etc. are applied in the scene of the software buildings such as the game such as virtual reality, augmented reality, amusement, education, medical treatment.
When using infrared transmitter, ultrasound feedback device, radar wave feedback device, with above-mentioned principle, data processing
Equipment is set as with ultrasonic wave, radar wave producer, using existing infrared ray, ultrasonic wave, radar wave range measurement principle, according to
Received echo judges the position of hand and the distance between with data processing equipment, obtains the exercise data of hand.
Above-mentioned interactive system, which is realized, acquires entire wrist while obtaining includes the minutias such as finger subtle bending
Limb motion, and do not significantly increase the complexity of conventional images identifying processing, while improving posture data accuracy,
Maintain portability and lower cost.
Meanwhile utilizing the curved detection function of flexible strain transducer, in the present invention the limb motion tracking
Equipment can also be the curved detection sensor that elbow, knee position is arranged in, and obtain the number of bends of wearer's elbow, knee
According to determining the motion state and trend of wearer；The curved detection sensor realizes have using above-mentioned flexible strain transducer
Body setting can refer to digital flexion detection part.
The output display unit can be PC machine, and Helmet Mounted Display HMD, mobile phone, plate etc. is having a display function to be set
It is standby, the number of bends such as the hand exercise data of the gesture data, the acquisition of hand follow-up mechanism that are obtained by gloves and elbow, knee
It is input to data processing equipment according to as data, then output display is transmitted to by wired or wireless communication by data processing equipment
Equipment can create game animation scene, the 3D immersion environment such as true nature environment of simulation in systems, realize wearer and institute
Interaction between the environment of creation.
In the present invention, in order to improve the interactivity and interest between system and wearer, further comprising can
Judge the ground cushion of human motion trend.The ground cushion is for obtaining Human Sole pressure distributed intelligence, by establishing different moulds
Type, judge human body on ground cushion be in lean forward, swing back, "Left"-deviationist, the states such as Right deviation, using above-mentioned state, system is settable to lean forward
It is equal to the order of retrogressing equal to advancing, swinging back, realizes the creation of the interactive scene of movement.Specifically, the ground cushion can be used now
There is flexible array pressure sensor in technology to realize, such as the Pressure Distribution Measuring System that U.S. Teksan, SPI company researches and develops,
By obtaining plantar pressure information, the pressure distribution image of different location is analyzed, current stance is judged according to the model of creation
To lean forward, swinging back, "Left"-deviationist, Right deviation etc..Also it can use elastic force conductive flexible strain transducer conduct described in the utility model
The detection part of ground cushion establishes corresponding model by the distribution of resistance information of flexible strain transducer under the different stances of acquisition,
Measure the real-time movement tendency of wearer.
Further, human body is fallen on ground cushion in order to prevent, and the edge along ground cushion is also provided with fender rod, the fender rod
It may be configured as being detachably connected with ground cushion.Certainly, ground cushion is further increased to the accurate of human motion Trend judgement in order to increase
Property, fender rod are also provided with a circle conductive flexible strain transducer, and when human body leans forward, body can be forward by making the conduction of the side
The resistance of flexible strain transducer changes, can more accurate judgement human motion trend in conjunction with human body direction is obtained ahead of time.
In a further embodiment, above-mentioned ground cushion can also realize human motion with the gait monitoring shoes or insole substitution of the prior art
The detection of trend.
The above, the only detailed description of specific embodiment of the present invention, rather than limitations of the present invention.
Those skilled in the technology concerned in the case where not departing from the principle and range of the utility model, the various replacements made,
Modification and improvement should be included within the scope of protection of this utility model.
Claims (14)
1. a kind of hand motion capture system, which is characterized in that the system comprises: glove bulk, one or more flexibility
Strain transducer and integrated circuit；
Wherein, the glove bulk is set as covering at least one joint of at least one finger；The flexibility strain transducer,
It is fixed at the position for covering the finger-joint back side on glove bulk, so that activity of the flexible strain transducer with finger-joint
And changes length and lead to the change of its equivalent resistance；
The integrated circuit is arranged on glove bulk, and is connected by the conducting wire tie point on conducting wire and flexible strain transducer
It connects, to obtain measurement data corresponding with flexible strain transducer deformation quantity.
2. hand motion capture system according to claim 1, which is characterized in that the flexibility strain transducer includes leading
Electric fabric, and it is respectively overlay in the upper fixing layer of the upper and lower surfaces of conductive fabric, lower fixing layer；The conductive fabric is by bullet
Property material is made, and upper fixing layer, lower fixing layer are made of non-elastic material；Upper fixing layer, lower fixing layer consolidate conductive fabric
Due in the non-resilient fixed accommodation space formed therebetween, by the pass of the amount of tension of conductive fabric and resistance variation characteristic
System is limited in and can linearly survey in range.
3. hand motion capture system according to claim 2, which is characterized in that at room temperature, the elasticity material
Ratio between the stretchable amount of maximum and initial length of material is 0.1~2；The stretchable amount of maximum of the non-elastic material and just
Ratio < 0.1 between beginning length.
4. hand motion capture system according to claim 3, which is characterized in that the conductive fabric is by plating fabric
Silver, nickel plating or copper facing are made；Or by one of silver fiber, nickel fiber, copper fiber, carbon fiber, electrically conductive organic fibre or
It is a variety of with one of spandex, cotton, polyamide fibre or a variety of blended to be made.
5. hand motion capture system according to claim 3, which is characterized in that fixed layer, lower fixing layer are adopted
It is realized with adhesive plaster, glue film or adhesive tape.
6. hand motion capture system according to claim 2, which is characterized in that the conductive fabric is set as two ends
Portion is located at the same side, and has conducting wire tie point to connect with conducting wire；And it is knitted using having reeded sheet metal package conduction
The end of object, the groove are set as the tie point of covering conductive fabric and conducting wire.
7. hand motion capture system according to claim 1, which is characterized in that include measurement electricity in the integrated circuit
Road, amplifying circuit, analog to digital conversion circuit, control circuit and communication interface；
Wherein, the measuring circuit, have the first resistor in parallel with flexible strain transducer, and with flexible strain transducer
Concatenated second resistance, measuring circuit is under the voltage effect that power supply applies according to the resistance value output phase of flexible strain transducer
The voltage signal answered；
The amplifying circuit, for voltage signal to be amplified to the input voltage range of analog to digital conversion circuit；Analog to digital conversion circuit,
For voltage signal to be converted to digital signal；
The control circuit, the digital signal for being exported according to analog to digital conversion circuit calculate the equivalent electricity of flexible strain transducer
The resistance value of resistance generates measurement data corresponding with flexible strain transducer deformation quantity according to the change in resistance of equivalent resistance；Communication
Interface, for sending measured data to receiving device；
The integrated circuit is set as successively triggering measuring circuit respectively using a control circuit to multiple flexible strain sensings
Device successively measures the acquisition of data.
8. hand motion capture system according to claim 1, which is characterized in that the system also includes be provided with control
System, Data Analysis Services, storage, display function unit exterior terminal；
Wherein, storage unit stores the corresponding flexible strain of each number and passes for each joint of each finger to be numbered
Multiple resistance values of sensor and the resistance value of corresponding multiple curvature-curvature data pair；Control unit is obtaining measurement data
In resistance value after, by inquiry storage unit in resistance value-curvature data pair, to obtain the bending degree in each joint
According to；
The storage unit is used to store multiple curvature pass corresponding with gesture of the corresponding flexible strain transducer of each number
Curvature-gesture data pair of system；Control unit is after obtaining the resistance value in measurement data, by inquiry storage unit
Curvature-gesture data pair, to obtain gesture data.
9. hand motion capture system according to claim 8, which is characterized in that further comprise number in the exterior terminal
According to calibration unit, flexible strain transducer resistance value-bending situation that the gloves generate is worn for obtaining different users
Data and curves.
10. a kind of interactive system, which is characterized in that including hand motion capture according to any one of claim 1 to 6
System, data processing equipment, limb motion tracing equipment and output display unit；Between these equipment by wireless network or
Person's cable network is connected to transmit data；
The data processing equipment is used to obtain limb motion data by control limb motion tracing equipment, and is based on from hand
The curvature data in received each joint are covered, come the limb motion data obtained.
11. interactive system according to claim 10, which is characterized in that the limb motion tracing equipment includes that setting exists
One or more hand follow-up mechanisms of the glove bulk in the limbs tracking point at wrist location；Integrated circuit on gloves
It is connect by conducting wire with hand follow-up mechanism, to control hand follow-up mechanism.
12. interactive system according to claim 10, which is characterized in that the limb motion tracing equipment using LED light,
One or more of infrared transmitter, ultrasound feedback device, radar wave feedback device；
When using LED light, the data processing equipment is set as with imaging device, image processor and memory；It is described
Data processing equipment is set as, and controls shining for limb motion tracing equipment by control circuit on gloves, by call at
Acquire the image data including gloves as device, and by image processor identify gloves upper limb body tracking point position and its
Variation track is to obtain limb motion data；
When using infrared transmitter, ultrasound feedback device, radar wave feedback device, the data processing equipment is set as root
The position of hand is judged according to received echo and the distance between with data processing equipment, to obtain limb motion data.
13. interactive system according to claim 10, which is characterized in that the limb motion tracing equipment includes that can sentence
The ground cushion of disconnected human motion trend；The ground cushion is for obtaining Human Sole pressure distributed intelligence, by establishing different models,
Judge human body on ground cushion be in lean forward, swing back, left-leaning, Right deviation state.
14. interactive system according to claim 13, which is characterized in that the ground cushion is also provided with fender rod along edge,
The fender rod may be configured as being detachably connected with ground cushion.
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| CN201821639133.3U CN209216040U (en) | 2018-10-09 | 2018-10-09 | A kind of hand motion capture system and interactive system |
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| CN201821639133.3U CN209216040U (en) | 2018-10-09 | 2018-10-09 | A kind of hand motion capture system and interactive system |
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| CN209216040U true CN209216040U (en) | 2019-08-06 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109407836A (en) * | 2018-10-09 | 2019-03-01 | 成都柔电云科科技有限公司 | A kind of hand motion capture system and interactive system |
| CN112380943A (en) * | 2020-11-06 | 2021-02-19 | 北京航空航天大学 | Multi-position limb motion capture method based on electrical impedance |
| CN112545454A (en) * | 2020-11-03 | 2021-03-26 | 深圳市刷新智能电子有限公司 | Sweat detection sensing device and sweat amount detection method |
| CN112631428A (en) * | 2020-12-25 | 2021-04-09 | 睿爱智能科技(上海)有限责任公司 | Gloves of intelligence response |
| CN112947149A (en) * | 2021-01-28 | 2021-06-11 | 深圳市中医院 | Intelligent knee joint state monitoring system and method based on infrared sensing |
| CN113288124A (en) * | 2021-06-07 | 2021-08-24 | 宿州赛尔沃德物联网科技有限公司 | Flexible collector for bending action of fingers |
| CN113538514A (en) * | 2021-07-14 | 2021-10-22 | 厦门大学 | Ankle joint motion tracking method, system and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109407836A (en) * | 2018-10-09 | 2019-03-01 | 成都柔电云科科技有限公司 | A kind of hand motion capture system and interactive system |
| CN109407836B (en) * | 2018-10-09 | 2024-08-30 | 成都柔电云科科技有限公司 | Hand motion capturing system and interaction system |
| CN112545454A (en) * | 2020-11-03 | 2021-03-26 | 深圳市刷新智能电子有限公司 | Sweat detection sensing device and sweat amount detection method |
| CN112380943A (en) * | 2020-11-06 | 2021-02-19 | 北京航空航天大学 | Multi-position limb motion capture method based on electrical impedance |
| CN112631428A (en) * | 2020-12-25 | 2021-04-09 | 睿爱智能科技(上海)有限责任公司 | Gloves of intelligence response |
| CN112947149A (en) * | 2021-01-28 | 2021-06-11 | 深圳市中医院 | Intelligent knee joint state monitoring system and method based on infrared sensing |
| CN113288124A (en) * | 2021-06-07 | 2021-08-24 | 宿州赛尔沃德物联网科技有限公司 | Flexible collector for bending action of fingers |
| CN113538514A (en) * | 2021-07-14 | 2021-10-22 | 厦门大学 | Ankle joint motion tracking method, system and storage medium |
| CN113538514B (en) * | 2021-07-14 | 2023-08-08 | 厦门大学 | Ankle joint movement tracking method, system and storage medium |
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