DE102005011432B4 - Data glove - Google Patents

Data glove

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Publication number
DE102005011432B4
DE102005011432B4 DE102005011432.6A DE102005011432A DE102005011432B4 DE 102005011432 B4 DE102005011432 B4 DE 102005011432B4 DE 102005011432 A DE102005011432 A DE 102005011432A DE 102005011432 B4 DE102005011432 B4 DE 102005011432B4
Authority
DE
Germany
Prior art keywords
data glove
subject
finger
reference
means
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
DE102005011432.6A
Other languages
German (de)
Other versions
DE102005011432A1 (en
Inventor
Peter Zimmermann
Dr. Symietz Michael
Ralph Voges
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Volkswagen AG
Original Assignee
Volkswagen AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Volkswagen AG filed Critical Volkswagen AG
Priority to DE102005011432.6A priority Critical patent/DE102005011432B4/en
Publication of DE102005011432A1 publication Critical patent/DE102005011432A1/en
Application granted granted Critical
Publication of DE102005011432B4 publication Critical patent/DE102005011432B4/en
Application status is Active legal-status Critical
Anticipated expiration legal-status Critical

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Classifications

    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input 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
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016Input arrangements with force or tactile feedback as computer generated output to the user
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input 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
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/014Hand-worn input/output arrangements, e.g. data gloves
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00Input 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
    • G06F3/01Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/0304Detection arrangements using opto-electronic means
    • G06F3/0325Detection arrangements using opto-electronic means using a plurality of light emitters or reflectors or a plurality of detectors forming a reference frame from which to derive the orientation of the object, e.g. by triangulation or on the basis of reference deformation in the picked up image

Abstract

Data glove (40, 41) with a reference body (21) comprising at least two spatially separated by bars by means of a camera (10, 11, 12, 13) as reference points identifiable hand reference points (210, 211, 212, 213, 214), wherein the data glove (40, 41) comprises at least one receiving element (22, 23, 24) for receiving a fingertip of a subject (3) or a part of a finger of the subject (3), wherein the receiving element (22, 23, 24) at least one by means of the camera (10, 11, 12, 13) or another camera as a reference point identifiable finger reference point (25, 26, 27), and wherein the data glove (40, 41) connected to the receiving element (22, 23, 24) Includes actuator for generating a haptic feedback.

Description

  • The invention relates to a data glove.
  • Such data gloves are e.g. Can be used in conjunction with virtual techniques, which can be used in particular in the product development process in the automotive industry. In addition to pure visualization in CAx systems and visualization under real-time conditions in virtual reality systems (VR) or augmented reality (AR) systems, this includes so-called interactive and immersive applications. Such applications may be used, for example, to perform ergonomic examinations and virtual assemblies.
  • Since humans are an immediate element in the entire control loop for interactive and immersive applications, these applications are subject to stricter real-time conditions. To make this loop stable, the frame rate (new information) should be at least about 10 fps, but preferably 20 to 25 fps. In addition to the stringent real-time conditions, it is desirable for successful completion of such tasks to be as intuitive as possible. For this purpose, interfaces in hardware and software can be provided which can fulfill this requirement. The hardware interfaces include, for example, displays, data gloves for grasping and gestures, force feedback and generally haptic feedback. Data gloves are among others from the WO 02/37466 A1 and the JP 082856627 A known. Such data gloves are to be distinguished in particular from glove-like input devices, such as the US 2003/0006962 A1 and the US 2004/0012574 A1 reveal. Data gloves for the aforementioned applications can be obtained, for example, from Virtual Technologies. These data gloves are also equipped with additional haptic feedbacks ("Force Feedback", Virtual Technologies). Either these are equipped mechanically (eg with cable pulls) or pneumatically (with air cushions). The cable pull solution also creates forces of a larger kind, which can pull back the fingers.
  • The DE 103 35 595 A1 discloses a method for determining the spatial location of markers in a volume relative to a reference coordinate system by means of cameras by measuring the position and orientation of each camera, taking a 2-D image of the volume with each camera and thus 2-D Images are obtained. The 2 D-pictures are read in digital form into an EDP device and there subjected to a marker recognition procedure, wherein each recognized marker position is measured and stored. Groups of 2-D positions are formed, each of which contains at most one 2-D position from each 2-D image, each 2-D position belonging to exactly one of the groups, thus obtaining a set of groups , In this way many more sentences are formed. From among the plurality of sets, one of these sets is selected using the bundle balance method, and the detected 2-D positions belonging to the same group thus found are interpreted as belonging to the same marker. The spatial positions of the markers with respect to the reference coordinate system are determined by means of the assignments thus obtained.
  • The US 2004/0046736 A1 discloses a hand puppet, which can be configured, for example, as a bird, and whose position can be determined by the fact that on their hands so-called targets and their lips curved so-called targets are attached. The movement of these so-called targets can be recorded by a pair of cameras and transformed by means of computers into signals that can be transmitted via the Internet. In this way, interacting with the hand puppet so equipped can be done in a different location.
  • The DE 297 19 995 U1 discloses a system for converting visually captured spatial data into perceptual and tactile information. There are two cameras on the head of a subject, the "straight ahead" filming. Part of the system is also a glove, in whose fingertips instruments are attached, which can exert pressure or create a feeling of pressure. Moreover, the glove designed in this way has ultrasound transmitters that emit pulsed signals that are picked up by microphones in order to determine the position of the glove in space.
  • The US 5,354,162 discloses an actuator system for providing haptic feedback intended to assist in the control of a robot hand by means of a human hand. In this case, a Polhemus sensor is provided, by means of which the position and orientation of a wrist is determined. In addition, fever-optic sensors are mounted on the user's hand to determine the movement and position of individual fingers. It is the object of the invention to improve virtual interactive or immersive applications, in particular for the product development process, in the automobile industry or to specify an improved production process for a motor vehicle.
  • The aforementioned object is achieved by a data glove according to claim 1, wherein among other things it is provided that the data glove comprises a reference body, the at least two spatially separated by means of a, in particular The camera comprises at least one receiving element for receiving a fingertip of a subject or a part of a finger of the subject, and wherein the receiving element at least one by means of the camera or another, in particular designed as an infrared camera, Camera as a reference point identifiable finger reference point includes. A data glove according to the invention is not limited to a glove in the strict sense. Rather, a data glove in the context of the invention should also include devices that cover only a portion of a human hand. The data glove also includes an actuator connected to the receiving element for generating a haptic feedback. Force feedback devices which can serve the haptic feedback are known, for example, from the following references:
    • - Bergamasco, M.: The GLAD-IN-ART Project, Virtual Reality, Applications and Trends in Research and Practice, IPA / IAO Forum, Springer Verlag, Berlin, pp. 251-258, 1993
    • - Bergamasco, M.: Theoretical Study and Experiments on Internal and External Force Replication, IEEE Workshop on Force Display on Virtual Environments and its Application to Robotic Teleoperation, IEEE, New York, 1993
    • - Burdea, CG: Force and Touch Feedback for Virtual Reality, ISBN 0-471-02141-5, John Wiley & Sons, New York, 1996
    • - Frank-Lothar Krause, Trac Tang, Ulrich Ahle (ed.), Final Report Leading Project Integrated Virtual Product Development, here Subproject 4.2, Development and Test of a Force Feedback System for Virtual Environments, p. 125 ff., Bmb + f, PT Forschungszentrum Karlsruhe , June 2002 ,
  • In an advantageous embodiment of the invention, the finger reference point comprises a light source, in particular an LED.
  • In a further advantageous embodiment of the invention, the reference body comprises at least four, in particular five, spatially separated manual reference points.
  • In a further advantageous embodiment of the invention, the data glove is designed such that the reference body (with the intended use of the data glove) is arranged on a back of the subject's hand.
  • In a further advantageous embodiment of the invention, the actuator comprises an actuator layer whose volume is variable by means of an electrical voltage or an electric current. The Aktorschicht is advantageously within a cylinder-like element for receiving the fingertip of the subject or a part of a finger of the subject, within the receiving element, wherein the receiving element is designed as a rigid body or in part as a rigid body, or within a configured as a rigid body part arranged the receiving element. In this case, part of a finger of the subject or of a fingertip or a fingertip of the subject (when the data glove is used as intended) is completely or partially enclosed by the actuator layer.
  • In a further advantageous embodiment of the invention, the actuator comprises a winding whose length is variable by means of an electrical voltage or an electric current. In this case, a part of a test person's finger or a fingertip or a fingertip of the test person (when the data glove is used as intended) is enclosed by the winding.
  • An aforementioned data glove may be part of a virtual reality system, wherein the virtual reality system comprises at least one, in particular designed as an infrared camera, and a recording element for receiving a fingertip of a subject or part of a finger of the subject, and wherein the Recording element comprises at least one by means of the camera or another, in particular designed as an infrared camera, camera as a reference point identifiable finger reference point. A virtual reality system in this sense is intended not only virtual reality systems in the strict sense but, for. also include augmented reality systems.
  • In an advantageous embodiment of the invention, the virtual reality system comprises at least four, in particular designed as infrared cameras, cameras for identifying the finger reference point.
  • In a further advantageous embodiment of the invention, the virtual reality system comprises an evaluation system for determining the (spatial) position of at least one finger of the subject or at least one fingertip of the subject as a function of an output signal of the camera, in response to an output signal of at least one of the at least four cameras or in response to output signals of the at least four cameras.
  • The aforementioned data glove can be used in a method for manufacturing a motor vehicle or a component for a motor vehicle, wherein the motor vehicle or the component is designed, wherein a virtual reality model of the motor vehicle or of the component is produced, wherein the virtual reality model of the motor vehicle or the component is tested by at least one subject using an aforementioned data glove or an aforementioned virtual reality system, and wherein the motor vehicle or the component is implemented or redesigned depending on this test.
  • Motor vehicle in the sense of the invention is in particular a land vehicle which can be used individually in road traffic. Motor vehicles according to the invention are not limited in particular to land vehicles with internal combustion engine.
  • Further advantages and details emerge from the following description of exemplary embodiments. Showing:
    • 1 an embodiment of a virtual reality system,
    • 2 an embodiment of a data glove,
    • 3 another embodiment of a data glove,
    • 4 An embodiment of a receiving element for receiving a fingertip of a subject or a part of a finger of the subject with an actuator for generating a haptic feedback,
    • 5 a further embodiment of a receiving element with an actuator for generating a haptic feedback and
    • 6 An embodiment of a method for producing a motor vehicle or a component for a motor vehicle.
  • 1 shows an embodiment of a virtual reality system 1 , The virtual reality system 1 includes at least four, in particular designed as infrared cameras, cameras 10 . 11 . 12 . 13 for optically capturing an image of a subject 3 in a test arrangement 2 such as a seat box equipped with monitors. The virtual reality system 1 also includes an evaluation system 15 to determine the (spatial) position of the subject 3 or at least one finger of the subject 3 or at least a fingertip of the subject 3 depending on output signals of the at least four cameras 10 . 11 . 12 . 13 , In addition, by means of the evaluation system 15 z. B. a virtual image of a motor vehicle and the subject 3 displayed in a spatial association with the motor vehicle. Suitable cameras and evaluation systems can be obtained, for example, from ART advanced realtime tracking GmbH, Weilheim (www.ar-tracking.de).
  • 2 shows an embodiment of a data glove 40 for a hand 4 of the subject 3 , The data glove 40 includes a reference body 21 , the five spatially by bars 215 . 216 . 217 and 218 separated by means of the cameras 10 . 11 . 12 . 13 Hand reference points identifiable as reference points 210 . 211 . 212 . 213 and 214 having. The reference body 21 is on a radio IC 20 of the data glove 40 to build a wireless - in 1 with reference number 5 designated - communication link between the evaluation system 15 and the radio IC 20 arranged. The data glove 40 is designed such that the reference body 21 (if the data glove is used as intended 40 ) on the back of the person's hand 3 is arranged. This can be the data glove 40 a fastening tape 37 for mounting the radio IC 20 on the back of the subject 3 exhibit.
  • In the embodiment according to 2 includes the data glove 40 for the thumb, the index finger and the middle finger of the hand 4 of the subject 3 one each - with reference to 4 and 5 closer explained - receiving element 22 . 23 . 24 each with one by means of the cameras 10 . 11 . 12 . 13 as a reference point identifiable, a LED comprehensive or designed as an LED finger reference point 25 . 26 . 27 , The LEDs are over with reference numerals 30 . 31 and 32 designated leads from the radio IC 20 supplied with electrical energy. The radio IC 20 in turn can be supplied with electrical energy wirelessly, may include an energy storage, not shown, and / or may - as in 3 shown - via a supply line 36 by means of an external, by the subject 3 portable energy storage 35 be supplied with electrical energy.
  • 3 shows a further embodiment of a - essentially the data glove 40 corresponding - data glove 41 , wherein the same reference numerals as in 2 designate identical or similar elements. While the recording elements 22 . 23 . 24 of the data glove 40 configured separately, ie not with each other and only by means of the supply lines 30 . 31 and 32 with the radio IC 20 connected, and individually on the thumb, the index finger or the middle finger of the hand 4 of the subject 3 are pluggable and while the data glove 40 the fastening tape 37 for mounting the radio IC 20 on the back of the subject 3 are included in the data glove 41 the receiving elements 22 . 23 . 24 and the radio IC 20 integrated in a glove, not shown for reasons of clarity. At least the reference body is 21 (and possibly the wireless IC 20 ) are arranged on the outside of the glove. The glove can be configured, for example, as a black leather glove.
  • 4 shows the example of a cross section of the receiving element 22 An embodiment of the advantageous embodiment of the receiving elements 22 . 23 respectively. 24 , The receiving element 22 includes an LED 250 for illumination of the finger reference point 25 , In an advantageous embodiment, it is provided that the data glove 40 respectively. 41 one with the receiving element 22 connected actuator for generating a haptic feedback includes. To implement such an actuator, the receiving element comprises 22 in an advantageous embodiment, a cylinder-like rigid body 50 (Thimble) for receiving the fingertip of the middle finger of the subject 3 , wherein within the cylinder-like rigid body 50 an actuator layer 51 is arranged, whose volume by means of a via the supply line 30 transferable electrical voltage or one over the supply line 30 transferable electric current is changeable. The actuator layer 51 is so on the inside 52 of the cylinder-like rigid body 50 arranged that the fingertip of the middle finger of the subject 3 (if the data glove is used as intended 40 respectively. 41 ) completely or partially from the actuator layer 51 is enclosed.
  • The actuator layer 51 In an advantageous embodiment, it is a layer comprising, in particular, non-ionic, dielectric elastomer, or comprises such a layer. As dielectric elastomers can eg in the article "Actuation Response of polyacrylate dielectric elastomers" by Kofod, Guggi, Kornbluh, Roy D., Pelrine, Ron, Sommer-Larsen, Peter, Proc. SPIE Vol. 4329, pp. 141-147 disclosed materials are used. Particularly suitable elastomers are, for example, from the article "Hyper-Redundant Robot Manipulators Actuated by Optimized Binary Dielectric Polymers" published by Roberts.mit.edu/publications/PDF/188.pdf by Andreas Winger, Matthew Lichter, Steven Dubowsky, Moustapha Hafez, Department of Mechanical Engineering, Massachusetts Institute of Technology. Other suitable elastomers (EAP) are, for example in the DE 101 51 556 A1 . US 2002/0054060 A1 . US 2002/0130673 A1 and the US Pat. No. 6,586,859 B2 disclosed. The actuator layer 51 If appropriate, it can also be designed as a titanium-zinc alloy or as a magnetically controllable so-called "memory" alloy.
  • 5 shows the example of another embodiment of a cross section of the receiving element 22 a further advantageous embodiment of the receiving elements 22 . 23 respectively. 24 , wherein the same reference numerals as in 4 designate identical or similar elements. To implement an aforementioned actuator, the in 5 illustrated embodiment of the receiving element 22 in an advantageous embodiment, a thimble slit on the papilla side (of the finger) 61 who is in a rigid body 60 can be arranged. To the slotted thimble 61 there is a winding around 62 ie a wire wound as a coil or coil, arranged such that the fingertip of the middle finger of the subject 3 (if the data glove is used as intended 40 respectively. 41 ) completely or partially from the winding 62 is enclosed. The winding 62 is designed (eg as a titanium-zinc alloy) such that its length is variable by means of an electrical voltage or an electric current. The winding 62 is so around the slotted thimble 61 wrapped that when contraction of the winding 62 the thimble 61 on the papilla of the corresponding finger acts and the other side (to the fingernail) receives a force.
  • By means of the evaluation system 15 can be from the output signals of the cameras 10 . 11 . 12 . 13 by evaluation of the hand reference points 210 . 211 . 212 . 213 . 214 the position of the hand 4 and their attitude (direction of rotation) are determined. Based on the position and posture of the hand 4 can the evaluation system 15 from the output signals of the cameras 10 . 11 . 12 . 13 by evaluation of the finger reference points 25 . 26 . 27 the position of the fingertips of the thumb, forefinger and middle finger of the hand 4 determine. The position of the fingertips of the thumb, forefinger and middle finger of the hand 4 can by means of the evaluation system 15 spatially assigned to a virtual motor vehicle or a component of a virtual motor vehicle.
  • If there is a touch of one of the fingertips of the thumb, forefinger and middle finger of the hand 4 with the virtual motor vehicle or the component of the virtual motor vehicle, this contact can by a reference to 4 respectively. 5 described haptic feedback can be simulated for the subject. This is done by means of the wireless communication link 5 a corresponding control command from the evaluation system 15 to the radio IC 20 transferred, in turn, an electrical variable for the corresponding excitation of the actuator layer 51 or the winding 62 the corresponding receiving element 22 . 23 . 24 generated. In addition, visual, acoustic and possibly olfactory feedbacks can be provided.
  • 7 shows a method of manufacturing a motor vehicle or a component for a motor vehicle. In this case, the motor vehicle or the component in one step 70 designed. The step 70 follows a step 71 in which a virtual reality model of the motor vehicle or the component is generated. The step 71 follows a step 72 in which the virtual reality model of the motor vehicle or the component by subjects such as the subjects 3 using the virtual reality system 1 or the data glove 40 or 41 according to with reference to 1 . 2 . 3 . 4 and 5 tested and evaluated.
  • The step 72 follows a query 73 whether the vehicle or component tested in this way should be implemented (on the basis of the test results or the rating). If the motor vehicle or component tested in the aforementioned manner is to be implemented, the query follows 73 a step 74 in which the motor vehicle or the component is implemented. On the other hand, if the motor vehicle or component tested in the aforementioned manner is not to be implemented in this way, the query follows 73 the step 70 in which the motor vehicle or component is designed to be altered.
  • With reference to 1 . 2 . 3 . 4 and 5 described virtual reality system 1 can be used with appropriate modification for other body parts (hand, arm, knee, foot, etc.).
  • The elements in 1 are drawn in the light of simplicity and clarity and not necessarily to scale. For example, the magnitudes of some elements are exaggerated over other elements to enhance understanding of the embodiments of the present invention.
  • LIST OF REFERENCE NUMBERS
  • 1
    Virtual Reality System
    2
    experimental arrangement
    3
    Family
    4
    hand
    5
    wireless communication connection
    10, 11, 12, 13
    camera
    15
    evaluation system
    20
    RF IC
    21
    reference body
    22, 23, 24
    receiving element
    25, 26, 27
    Finger reference point
    30, 31, 32, 36
    supply
    35
    energy storage
    37
    fixing tape
    40, 41
    Data glove
    50, 60
    rigid body
    51
    actuator layer
    52
    inside
    61
    foxglove
    62
    winding
    70, 71, 72, 74
    step
    73
    query
    210, 211, 212, 213.214
    Hand reference point
    215,216,217,218
    Rod
    250
    LED

Claims (6)

  1. Data glove (40, 41) with a reference body (21) comprising at least two spatially separated by bars by means of a camera (10, 11, 12, 13) as reference points identifiable hand reference points (210, 211, 212, 213, 214), wherein the data glove (40, 41) comprises at least one receiving element (22, 23, 24) for receiving a fingertip of a subject (3) or a part of a finger of the subject (3), wherein the receiving element (22, 23, 24) at least one by means of the camera (10, 11, 12, 13) or another camera as a reference point identifiable finger reference point (25, 26, 27), and wherein the data glove (40, 41) connected to the receiving element (22, 23, 24) Includes actuator for generating a haptic feedback.
  2. Data glove (40, 41) after Claim 1 , characterized in that the finger reference point (25, 26, 27) comprises a lighting means (250).
  3. Data glove (40, 41) after Claim 1 or 2 , characterized in that the reference body (21) at least four, in particular five, spatially separated manual reference points (210, 211, 212, 213, 214).
  4. Data glove (40, 41) after Claim 1 . 2 or 3 , characterized in that the data glove (40, 41) is designed such that the reference body (21) on a back of the hand of the subject (3) is arranged.
  5. Data glove (40, 41) according to any one of the preceding claims, characterized in that the haptic feedback generated by the actuator of the simulation of a touch of a virtual object is used.
  6. Data glove (40, 41) according to any one of the preceding claims, characterized in that the actuator comprises an actuator layer (51) whose volume is variable by means of an electrical voltage or an electric current.
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DE102007053008A1 (en) 2007-11-05 2009-05-14 Repetzki, Sebastian, Dr.-Ing. Target body and method for determining its spatial position
DE102010008985A1 (en) * 2010-02-24 2011-06-30 Deutsches Zentrum für Luft- und Raumfahrt e.V., 51147 Tracing device i.e. marker, for movement-tracing of finger limb in human hand, has reflection elements arranged at distance to each other to determine position and orientation of human limb to be traced in simultaneous manner
ES2397031B1 (en) * 2011-05-10 2014-01-27 Universidade Da Coruña Virtual reality system for the evaluation and treatment of motor disorders associated with neurodegenerative diseases and age.
DE102011114535A1 (en) 2011-09-29 2013-04-04 Eads Deutschland Gmbh Data glove with tactile feedback information and procedures
CN106933341A (en) * 2015-12-31 2017-07-07 北京体基科技有限公司 It is a kind of to determine the method in region, device and wrist equipment residing for finger in the picture

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