KR101743249B1 - Method, apparatus and program for finding reference vector for attaching sensor to determine movement of thumb - Google Patents

Abstract

The present invention relates to a method, an apparatus, and a program for selecting a reference vector to which a sensor is attached for grasping the movement of a thumb, and more particularly, Generating a plurality of 3D scanned images; A plurality of candidate vectors having a predetermined direction from a point are selected, and each of the candidate vectors is selected such that at least one of directions from points and points on the hand surface is different Selecting step; Measuring a curvature radius and a curvature angle of a virtual curve in every 3D scan image for each candidate vector when drawing a predetermined length virtual curve along a hand surface of the 3D scan image from a point along a candidate vector; Obtaining an indication value to be indicated when the sensor whose indicator value differs according to the curvature radius and the curvature angle is a curvature radius and a curvature angle measured in every 3D scan image for each candidate vector; Calculating an indication value calculated for every 3D scan image for each candidate vector by linearly approximating the gradient of the angle of the thumb to obtain a slope; And selecting a candidate vector having the largest slope of a linear approximate straight line among the plurality of candidate vectors as a reference vector for attaching the sensor.

Description

METHOD, APPARATUS AND PROGRAM FOR FINDING REFERENCE VECTOR FOR ATTACHING SENSOR TO DETERMINE MOVEMENT OF THUMB BACKGROUND OF THE INVENTION 1. Field of the Invention [0001]

The present invention relates to a method, an apparatus, and a program for selecting a reference vector to which a sensor is to be attached in order to grasp the movement of a thumb. In attaching a sensor to the hands of different users, When analyzing thumb movements with this changing sensor, it is necessary to select the most suitable point of attachment and orientation of sensor, Technology.

Recent advances in medical technology have increased the number of patients who survived stroke or spinal injury. However, the need for rehabilitation is increasing due to paralysis after stroke or spinal cord injury, among which hand paralysis occurs most frequently. Therefore, it is important to accurately measure the range of the posture and the motion of the patient's hand, since an accurate evaluation of the function of the hand is required for each patient so that a proper rehabilitation exercise prescription can be made.

For this purpose, a technique of measuring the movement of the finger by attaching a sensor to each joint of the finger using a flexible sensor (bending sensor, strainable sensor) is being developed to measure the posture of the patient's hand.

However, unlike other fingers, the thumb has various movements such as abduction / adduction, flexion and extension, and the size of the abductor pollicis brevis varies from person to person. Therefore, there is a problem that it is difficult to grasp the exact movement of the thumb compared to other fingers because the location where the sensor should be attached differs depending on the amount of development of the abduction muscle.

Korean Patent Laid-Open Publication No. 10-2015-0129919 (November 25, 2013): Finger Motion Measurement System and Measurement Method

A problem to be solved by the present invention is to find an optimal point and direction for attaching a sensor to measure the movement of the thumb in each person.

Especially, the shape of the hand and the amount of muscle development are different for each person, so that it is sought to find a suitable point and direction for grasping the movement of the thumb according to the characteristics of the individual's hand.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed.

According to another aspect of the present invention, there is provided a method of selecting a reference vector for attaching a sensor, the method comprising: generating a plurality of 3D scanned images by scanning a plurality of hand shapes with different thumb angles; Selecting the same point on the hand surface of each 3D scan image and selecting a plurality of candidate vectors having a predetermined direction from the point, each candidate vector having at least one of a point on the hand surface and a direction from the point Selecting a different one; Wherein when a virtual curve of a predetermined length is drawn along the hand surface of the 3D scanned image in the direction from the point in accordance with the candidate vector, the curvature radius and the curvature angle of the virtual curve are calculated for all of the 3D scans Measuring in an image; Obtaining an indication value to be indicated when the sensor whose indication value differs according to the curvature radius and the curvature angle is a curvature radius and a curvature angle measured in all of the 3D scanned images with respect to each of the candidate vectors; Calculating a slope by linearly approximating the indication value calculated for each of the 3D scan images for each candidate vector with respect to a change in the angle of the thumb; And selecting a candidate vector having the largest slope of the linear approximate straight line among the plurality of candidate vectors as a reference vector for attaching the sensor.

According to an aspect of the present invention, there is provided an apparatus and method for selecting a point and a direction which are suitable for attaching a sensor, the apparatus comprising: a scan unit for generating a plurality of 3D scanned images by scanning a plurality of postures with different thumb angles; Selecting the same point on the hand surface of each 3D scan image and selecting a plurality of candidate vectors having a predetermined direction from the point, each candidate vector having at least one of a point on the hand surface and a direction from the point A candidate vector selection unit for selecting the candidate vector to be different; Wherein when a virtual curve of a predetermined length is drawn along the hand surface of the 3D scanned image in the direction from the point in accordance with the candidate vector, the curvature radius and the curvature angle of the virtual curve are calculated for all of the 3D scans A sensor that measures in the image and that varies the indication value according to the curvature radius and the curvature angle, calculates an indication value to obtain an indication value to be indicated when the curvature radius and the curvature angle are measured in all of the 3D scanned images with respect to each of the candidate vectors Measuring unit; And calculating a slope by linearly approximating the indication value calculated for each of the 3D scan images with respect to an angle change of the thumb with respect to each of the candidate vectors, and calculating a slope of the linear approximate straight line among the plurality of candidate vectors And a reference vector selection unit for selecting the candidate vector as a reference vector for attaching the sensor.

According to the embodiment of the present invention, an individual can analyze the shape of a hand having various thumb angles to determine an accurate point where the angle of abduction / adduction, flexion and extension (Flexion / Extension) And direction can be selected.

The effects of the embodiments of the present invention are not limited to the above-mentioned effects, and various effects can be included within the scope that is obvious to a person skilled in the art from the following description.

1 is a view for explaining a joint constituting a hand;
2 is a view for explaining a direction in which a thumb can be moved.
3 is a diagram for explaining a method of obtaining the phase coordinate for one point on the hand surface and an angle with respect to the movement of the thumb.
FIG. 4 is a diagram for explaining a procedure of a method of selecting a reference vector to which a sensor is attached according to an embodiment.
5 is a diagram for explaining a step of generating a 3D scan image.
6 is a diagram for explaining a step of selecting a candidate vector.
7 is a view for explaining a step of measuring a curvature radius and a curvature angle of a virtual curve in a 3D scan image with respect to a candidate vector.
8 is a view for explaining a step of obtaining an indication value in the case of a curvature radius and a curvature angle measured in a 3D scan image.
9 is a view for explaining a step of obtaining a slope by linearly approximating an indication value of a sensor with respect to an angle change of a thumb.
10 is a view for explaining a point and a direction for attaching a sensor to a hand by selecting a reference vector.
11 is a view for explaining a step of selecting a plurality of identical points on a hand surface of all 3D scanned images as reference points and overlapping all 3D scanned images with reference to a reference point.
12 is a functional block diagram of an apparatus for selecting a reference vector for attaching a sensor according to an embodiment.

DETAILED DESCRIPTION OF THE EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment according to the present invention will be described in detail with reference to the accompanying drawings.

The embodiments disclosed herein should not be construed or interpreted as limiting the scope of the present invention. It will be apparent to those of ordinary skill in the art that the description including the embodiments of the present specification has various applications. Accordingly, any embodiment described in the Detailed Description of the Invention is illustrative for a better understanding of the invention and is not intended to limit the scope of the invention to embodiments.

The functional blocks shown in the drawings and described below are merely examples of possible implementations. In other implementations, other functional blocks may be used without departing from the spirit and scope of the following detailed description. Also, although one or more functional blocks of the present invention are represented as discrete blocks, one or more of the functional blocks of the present invention may be a combination of various hardware and software configurations that perform the same function.

In addition, the expression "including any element" is merely an expression of an open-ended expression, and is not to be construed as excluding the additional elements.

Further, when a component is referred to as being connected or connected to another component, it may be directly connected or connected to the other component, but it should be understood that there may be other components in between.

Also, the expressions such as 'first, second', etc. are used only to distinguish a plurality of configurations, and do not limit the order or other features between configurations.

Fig. 1 is a view for explaining a joint of a hand, and Fig. 2 is a view for explaining a direction in which a thumb can be moved.

Referring to FIG. 1, the thumb consists of a bone called Trapezium, Metacarpal, Proximal Phalanx, and Distal Phalanx, and joints such as a CMC joint, an MCP joint, and an IP joint.

In particular, the CMC joint of the thumb has a complex motion unlike the other fingers because the Metacarpal bone can move in many directions on the Trapezium.

1 and 2, when the bone moves in the Radial / Ulnar direction, it is called Abduction / Adduction, and when the bone moves in the Volar / Dorsal direction, it is called a Flexion / Extension.

Previously, we defined the movement based on the Trapezium joint in order to measure the movement of the thumb. It is difficult to measure the motion of the Trapezium joint of the thumb on the surface of the hand. Therefore, in the present invention, the CMC abduction angle and the CMC extension angle are defined as shown in FIG. 3 so as to grasp the angle at which the CMC joint moves on the hand surface rather than the Trapezium joint.

3 is a diagram for explaining a method of obtaining the phase coordinate for one point on the hand surface and an angle with respect to the movement of the thumb.

Referring to FIG. 3, in order to make a plane parallel to the back of the hand, for example, an arbitrary point near the wrist with respect to the three-dimensional space is referred to as an origin Pend, an MCP joint point of a second finger is referred to as Pindex, and an MCP joint point of a fourth finger is Pring To create a plane Sref passing through the Pend, Pindex, and Pring to create a plane parallel to the back of the hand. In this case, the vector perpendicular to the Sref plane is defined as the X-axis, the vector connecting the Pend and Pindex is defined as the Z-axis, and the vector perpendicular to the X-axis and the Z-axis is defined as the Y-axis.

On the other hand, the CMC joint point of the thumb is designated as Pcmc, and a plane Sroll passing through Pindex, Pend, and Pcmc is generated. At this time, Pth is the MCP joint of the thumb, and the line connecting Pcmc and Pth to the two points corresponds to the Metacarpal bone of the thumb.

The CMC abduction angle is defined as the angle between the Z axis and the metacarpal bone when projecting the thumb Metacarpal bone on the Sroll plane. When projecting only the starting point of the thumb Metacarpal bone vector on the Sroll plane, the angle between the Metacarpal bone vector and the Sroll plane The angle is defined as the CMC Flexion angle.

In one embodiment, when the X, Y, and Z axes are defined on such a reference, the coordinates of one point on the hand surface and the CMC abduction angle and CMC flexion angle of the thumb can be measured. However, this is only one example for specifying a point in the hand and measuring the angle of the thumb, but the present invention is not limited thereto.

In order to know the change of the angle according to the movement of the thumb, the present invention analyzes how the surface of the hand changes for each user according to the movement of the finger, selects the point and direction (reference vector) The method is as follows.

FIG. 4 is a diagram for explaining a procedure of a method for selecting a reference vector to which a sensor is attached according to an embodiment, and FIGS. 5 to 11 are views for explaining each step of the method.

Referring to FIG. 4, a method of selecting a reference vector for attaching a sensor includes a step (S110) of generating a plurality of 3D scanned images by scanning a plurality of hand shapes with different thumb angles, respectively. A plurality of candidate vectors having a predetermined direction from a point are selected, and each of the candidate vectors is selected such that at least one of directions from points and points on the hand surface is different Selecting (S120); Measuring the curvature radius and the curvature angle of the virtual curve in all 3D scan images for each candidate vector when drawing a predetermined length virtual curve along the hand surface of the 3D scan image from the point along the candidate vector ); A step S140 of obtaining an indication value to be indicated when the sensor whose indication value differs according to the curvature radius and the curvature angle is the curvature radius and curvature angle measured in all the 3D scanned images with respect to each candidate vector; Calculating a slope by linearly approximating an instruction value calculated for every 3D scan image for each candidate vector with respect to a change in angle of a thumb (S150); And a step (S160) of selecting a candidate vector in which a slope of a linear approximate straight line among the plurality of candidate vectors is calculated as a reference vector for attaching the sensor.

Referring to FIG. 5, the step of generating a plurality of 3D scanned images (S110) may respectively scan a hand shape having a plurality of postures with different angles of thumb.

For example, as shown in FIG. 5, a five-hole bottom plate having different thumb angles can be inserted into a base plate, You can change the angle of the thumb while changing the angle. According to these examples, the thumb can be placed in 45 different positions according to each guideline. However, this is only one example, and the angle of the thumb can be varied in various ways.

When a plurality of postures with different thumb angles are taken, a plurality of 3D scan images are generated by scanning a hand through a 3D scanner.

Referring to FIG. 6, the step of selecting a candidate vector (S120) may be selected on each 3D scan image, and the number of candidate vectors may vary depending on the setting.

The candidate vector is constructed by selecting one point and one direction, and the selected point is the phase coordinate (x, y, z) assuming that one end of the sensor is attached. It is also possible to select the direction of the other end of the sensor with respect to the selected point, which is the direction to assume that the other end of the sensor is attached along the surface of the hand from one end of the sensor toward the selected direction. The vector used in the present embodiment means a line extending from the starting point (x, y, z) to the direction of? .

On the other hand, the reason for assuming that the sensor is attached as described above is that instead of locating the most suitable position by directly attaching the sensor to the selected candidate vector, assuming that the sensor is attached, It will find the right location.

In this case, the sensor may be a sensor having a different indication value according to the curvature radius and the curvature angle. Such a sensor may be a flexible sensor, a bending sensor, or the like.

On the other hand, a plurality of candidate vectors are selected so that at least one of the one point on the surface of the hand and the direction from the point are different.

7, step S130 of measuring curvature radii and curvature angles of virtual curves in all 3D scanned images with respect to each candidate vector may be performed in the order of one direction (x, y, z) according to the candidate vector, The radius of curvature and the angle of curvature can be measured from the shape of the virtual curve when a virtual curve of a predetermined length is drawn along the hand surface of the 3D scanned image.

Referring to FIG. 8, step S140 of obtaining an indication value to be indicated when the curvature radius and the curvature angle are measured in all 3D scanned images is performed in the same manner as the virtual curve of step S130 when the sensor is actually attached to the candidate vector. Therefore, the indication value to be indicated by the sensor can be obtained through the radius of curvature and the curvature angle of the virtual curve obtained in step S130 without actually attaching the sensor to the candidate vector.

For example, if the length of the sensor to be used is 2 inches, the points within 2 inches from the starting point of the candidate vector are culled, a circle having the same curvature and curvature is selected from the selected points and the curvature radius and curvature angle Can be obtained. Thus, it is possible to obtain an indication value to be indicated by the sensor with respect to the candidate vector on all the 3D scan images.

Referring to FIG. 9, step S150 of obtaining a slope by linearly approximating an indication value calculated for every 3D scan image for each candidate vector with respect to an angle change of a thumb may be performed, for example, , It is possible to obtain a slope by linearly approximating the 45 instruction values calculated for 45 3D scan images based on one selected candidate vector according to the change of the angle of the thumb.

At this time, the slope can be obtained by linearly approximating the change of the indication value of the sensor based on the change of the movement of the thumb to be measured. For example, when the change of the indication value of the sensor according to the angle change of the thumb according to the abduction or flexion movement, The slope can be approximated.

Referring to FIG. 10, in step S160 of selecting a reference vector for attaching a sensor, a candidate vector having the largest slope of a linear approximated line from a plurality of candidate vectors is selected as a reference vector. The reference vector is the optimal point at which the actual sensor will be attached to the user's hand.

The large slope of the linear approximated straight line means that the change in the indicated value indicated by the sensor is large as the angle of the thumb changes. Therefore, the larger the slope, the easier it is to observe the angle at which the thumb changes more finely. Therefore, the candidate vector with the largest linear slope is selected.

On the other hand, even if the linear approximate slope is large, if the error range between the linear approximate straight line and the actual indicated value is large, an error occurs in grasping the movement of the thumb. Therefore, in selecting the reference vector, the reference vector can be selected by taking into account not only the slope of the linear approximate straight line but also the standard deviation of the indicated value for the linear approximated straight line.

For example, a reference vector can be selected using the equation (1), where a is the slope of the linear approximation straight line of the candidate vector (x, y, z, Ø), e is the candidate vector x, y, z, Ø). Also, w1 and w2 are constants, which can be set differently depending on whether the slope or the standard deviation is to be taken into consideration.

At this time, the larger the slope of the linear approximation line, the finer the change of the angle of the thumb can be observed, and the smaller the standard deviation, the higher the accuracy of the measurement. Therefore, a candidate vector with the smallest value of J (x, y, z, Ø) can be selected as the reference vector, and the optimal point and direction to attach the sensor can be selected.

In addition, it is possible to consider a point where there is little change in the angle of the other joint, which is accompanied by the movement according to the movement of the interested object, with respect to the change of the finger angle of interest. For example, even if the thumb moves in an abduction motion, the flexion movement is accompanied by the influence of the connected muscles. Therefore, in order to observe the motion of one object of interest in a pure manner, the reference vector can be selected by taking into consideration the motion of another object accompanied by the motion.

For example, a reference vector can be selected using Equation (2), where a is the slope of a linear approximation straight line of the candidate vector (x, y, z, Ø), e is a candidate vector x, y, z, Ø) and Var is the variance of the approximate straight line slope obtained for all candidate vectors. W1, w2, and w3 are constants and can be set differently depending on whether the slope of interest, the inclination of the subject accompanied by motion, and the standard deviation are considered important.

At this time, as the slope a1 of the linear approximation straight line of interest is larger, the angle change of the thumb can be observed finely, and as the slope a2 of the linear approximation line of the object with motion is smaller, , And the smaller the standard deviation e1 of the indicated value for the linear approximation line of interest, the higher the accuracy of the measurement. Therefore, a candidate vector with the smallest value of J (x, y, z, Ø) can be selected as the reference vector, and the optimal point and direction to attach the sensor can be selected.

11 is a view for explaining a step of selecting a plurality of identical points on a hand surface of all 3D scanned images as reference points and overlapping all 3D scanned images with reference to a reference point.

Referring to FIG. 11, a reference vector selection method for attaching a sensor is another embodiment. After generating a plurality of 3D scan images (S110), a plurality of identical points on a hand surface of all 3D scan images are set as reference points And overlapping all of the 3D scanned images based on the reference point. This is because a plurality of candidate vectors are uniformly selected on the overlapping scan image, the curvature radius and the curvature angle are measured, and accuracy can be improved as compared with performing each step separately in each image. That is, the step after the step of overlapping all the 3D scan images can be performed in each step in the overlapping scan image.

Therefore, it is preferable that the reference point is defined as a point for maintaining a unique phase coordinate even though the angle of the thumb is different on each 3D scan image. The joints of the other fingers except for the thumb can be defined as the reference point of the metacarpophalangeal joint and the carpometacarpal joint (see FIG. 2) of the index finger and the stop finger, since the position of the joint does not change even when the thumb is moved.

Meanwhile, each step of the method for selecting the reference vector to which the sensor is to be attached in order to grasp the motion of the thumb can be implemented by a processor of the computer. For example, hardware, firmware, software, or a combination thereof.

In the case of hardware implementation, the method according to embodiments of the present invention may be implemented in one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs) , FPGAs (Field Programmable Gate Arrays), processors, controllers, microcontrollers, microprocessors, and the like.

In the case of an implementation by firmware or software, the method according to embodiments of the present invention may be implemented in the form of a module, a procedure or a function for performing the functions or operations described above. The software code can be stored in a memory unit and driven by the processor. The memory unit may be located inside or outside the processor, and may exchange data with the processor by various well-known means.

12 is a functional block diagram of an apparatus for selecting a reference vector for attaching a sensor according to an embodiment.

Referring to FIG. 12, an apparatus for selecting a reference vector to which a sensor is attached includes a scan unit, a candidate vector selection unit, an indication value measurement unit, and a reference vector selection unit.

The scan unit scans each of the plurality of postures with different thumb angles to generate a plurality of 3D scan images.

The candidate vector selection unit selects the same point on the hand surface of each 3D scan image and selects a plurality of candidate vectors having a predetermined direction from the point, each candidate vector having a point on the hand surface and a direction from the point At least one of them is different.

In this case, the candidate vector selecting unit may select a plurality of identical points on the hand surface of all the 3D scan images as reference points, and may select candidate vectors after all the 3D scan images are overlapped on the reference point. May be a point that maintains the unique phase coordinates even though the angle of the thumb is different on the image. There are Metacarpophalangeal joints and Carpometacarpal joint points of these index finger and stop finger.

The indication value measuring unit calculates the curvature radius and the curvature angle of the virtual curved line when the virtual curved line is drawn along the hand surface of the 3D scanned image in the direction from the point corresponding to the candidate vector, , And an indicator to be indicated when a sensor having a different indication value according to a curvature radius and a curvature angle has a curvature radius and a curvature angle measured in all of the 3D scanned images with respect to each candidate vector is obtained.

The reference vector selection unit obtains a slope by linearly approximating the indication value calculated for every 3D scan image with respect to the angle change of the thumb with respect to each candidate vector and calculates a slope of the linear approximated straight line among the plurality of candidate vectors, The candidate vector is selected as the reference vector for attaching the sensor.

At this time, the reference vector selection unit may select the reference vector by further considering the standard deviation of the calculated indication value for the linear approximation line, or may take into account a point where there is little change in the other angles accompanying the movement according to the movement of the object of interest .

The details of the device for selecting the reference vector for attaching the sensor shown in FIG. 12 are the same as the method for selecting the reference vector to attach the sensor. And a description of how to do so.

On the other hand, the candidate vector selecting unit, the instruction value measuring unit, and the reference vector selecting unit included in the above-described embodiments are provided with a memory including an instruction programmed to perform their functions, and a microprocessor for executing the instruction Can be implemented.

Thus, those skilled in the art will appreciate that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the embodiments described above are to be considered in all respects only as illustrative and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

200: a device for selecting a reference vector to which a sensor is attached
210:
220: candidate vector selection unit
230: Linear approximation
240: Reference vector selection unit

Claims (16)

Generating a plurality of 3D scanned images by scanning each of the plurality of postures with different thumb angles;
Selecting the same point on the hand surface of each 3D scan image and selecting a plurality of candidate vectors having a predetermined direction from the point, each candidate vector having at least one of a point on the hand surface and a direction from the point Selecting a different one;
Wherein when a virtual curve of a predetermined length is drawn along the hand surface of the 3D scanned image in the direction from the point in accordance with the candidate vector, the curvature radius and the curvature angle of the virtual curve are calculated for all of the 3D scans Measuring in an image;
Obtaining an indication value to be indicated when the sensor whose indication value differs according to the curvature radius and the curvature angle is a curvature radius and a curvature angle measured in all of the 3D scanned images with respect to each of the candidate vectors;
Calculating a slope by linearly approximating the indication value calculated for each of the 3D scan images for each candidate vector with respect to a change in the angle of the thumb; And
Selecting a candidate vector having the largest slope of the linear approximate straight line among the plurality of candidate vectors as a reference vector for attaching the sensor
A method for selecting a reference vector to which a sensor including a sensor is attached.
The method according to claim 1,
After generating the plurality of 3D scan images,
Selecting a plurality of identical points on a hand surface of all 3D scanned images as reference points and overlapping all of the 3D scanned images with reference to the reference point;
Further comprising:
After the step of overlapping all of the 3D scanned images,
Each step in the superimposed scan image is performed
A method of selecting a reference vector to attach a sensor.
3. The method of claim 2,
The reference point,
Although the angles of the thumb are different on each 3D scan image,
A method of selecting a reference vector to attach a sensor.
The method of claim 3,
The reference point,
Metacarpophalangeal joint and Carpometacarpal joint point of index finger and stop finger
A method of selecting a reference vector to attach a sensor.
The method according to claim 1,
Wherein the plurality of postures include:
Abduction angle of the thumb or Flexion angle
A method of selecting a reference vector to attach a sensor.
The method according to claim 1,
Wherein the step of selecting the reference vector comprises:
The reference vector is selected by further considering the standard deviation of the calculated indication value for the linear approximate straight line
A method of selecting a reference vector to attach a sensor.
The method according to claim 1,
Wherein the step of selecting the reference vector comprises:

A candidate vector (x, y, z, Ø) having the smallest J value is selected as a reference vector,
Wherein a1 is a slope of a first linear approximation linearly approximating a change in an indication value with respect to a first angle change of a thumb for grasping movement from a candidate vector (x, y, z, Ø) to a sensor, Wherein the gradient of the second linear approximation line is a linear approximation of the change in the indicator value with respect to the second angle change accompanied by the movement in accordance with the first movement in the vector (x, y, z, and Var1 is a variance of all first linear approximate straight line slopes obtained for all candidate vectors, and Var2 is a standard deviation of the first linear approximation straight line with respect to all candidate vectors, And w1, w2, and w3 are distributions of all second linear approximate linear slopes obtained for the first linear approximation linear slopes,
A method of selecting a reference vector to attach a sensor.
A scan unit for generating a plurality of 3D scanned images by scanning a plurality of postures with different thumb angles, respectively;
Selecting the same point on the hand surface of each 3D scan image and selecting a plurality of candidate vectors having a predetermined direction from the point, each candidate vector having at least one of a point on the hand surface and a direction from the point A candidate vector selection unit for selecting the candidate vector to be different;
Wherein when a virtual curve of a predetermined length is drawn along the hand surface of the 3D scanned image in the direction from the point in accordance with the candidate vector, the curvature radius and the curvature angle of the virtual curve are calculated for all of the 3D scans A sensor that measures in the image and that varies the indication value according to the curvature radius and the curvature angle, calculates an indication value to obtain an indication value to be indicated when the curvature radius and the curvature angle are measured in all of the 3D scanned images with respect to each of the candidate vectors Measuring unit; And
Calculating a slope by linearly approximating the indication value calculated for each of the 3D scanned images with respect to the angle change of the thumb with respect to each of the candidate vectors, and calculating a slope of the linear approximate straight line among the plurality of candidate vectors A reference vector selection unit for selecting the calculated candidate vector as a reference vector for attaching the sensor;
And a sensor for detecting the position of the sensor.
9. The method of claim 8,
Wherein the candidate vector selecting unit comprises:
A plurality of identical points are selected as reference points on the hand surface of all the 3D scan images, and all the 3D scan images are overlapped on the basis of the reference points, and a candidate vector is selected
Optimum point and orientation selection device to attach sensor.
10. The method of claim 9,
The reference point,
Although the angles of the thumb are different on each 3D scan image,
Optimum point and orientation selection device to attach sensor.
11. The method of claim 10,
The reference point,
Metacarpophalangeal joint and Carpometacarpal joint point of index finger and stop finger
Optimum point and orientation selection device to attach sensor.
9. The method of claim 8,
Wherein the plurality of postures include:
Abduction angle of the thumb or Flexion angle
Optimum point and orientation selection device to attach sensor.
9. The method of claim 8,
Wherein the reference vector selection unit comprises:
The reference vector is selected by further considering the standard deviation of the calculated indication value for the linear approximate straight line
Optimum point and orientation selection device to attach sensor.
9. The method of claim 8,
Wherein the reference vector selection unit comprises:

A candidate vector (x, y, z, Ø) having the smallest J value is selected as a reference vector,
Wherein a1 is a slope of a first linear approximation linearly approximating a change in an indication value with respect to a first angle change of a thumb for grasping movement from a candidate vector (x, y, z, Ø) to a sensor, Wherein the gradient of the second linear approximation line is a linear approximation of the change in the indicator value with respect to the second angle change accompanied by the movement in accordance with the first movement in the vector (x, y, z, and Var1 is a variance of all first linear approximate straight line slopes obtained for all candidate vectors, Var2 is a standard deviation of the first linear approximation straight line with respect to all candidate vectors, And w1, w2, and w3 are distributions of all second linear approximate linear slopes obtained for the first linear approximation linear slopes,
Optimum point and orientation selection device to attach sensor.
Generating a plurality of 3D scanned images by scanning each of the plurality of postures with different thumb angles;
Selecting the same point on the hand surface of each 3D scan image and selecting a plurality of candidate vectors having a predetermined direction from the point, each candidate vector having at least one of a point on the hand surface and a direction from the point Selecting a different one;
Wherein when a virtual curve of a predetermined length is drawn along the hand surface of the 3D scanned image in the direction from the point in accordance with the candidate vector, the curvature radius and the curvature angle of the virtual curve are calculated for all of the 3D scans Measuring in an image;
Obtaining an indication value to be indicated when the sensor whose indication value differs according to the curvature radius and the curvature angle is a curvature radius and a curvature angle measured in all of the 3D scanned images with respect to each of the candidate vectors;
Calculating a slope by linearly approximating the indication value calculated for each of the 3D scan images for each candidate vector with respect to a change in the angle of the thumb; And
Selecting a candidate vector having the largest slope of the linear approximate straight line among the plurality of candidate vectors as a reference vector for attaching the sensor
On a computer-readable recording medium.
Generating a plurality of 3D scanned images by scanning each of the plurality of postures with different thumb angles;
Selecting the same point on the hand surface of each 3D scan image and selecting a plurality of candidate vectors having a predetermined direction from the point, each candidate vector having at least one of a point on the hand surface and a direction from the point Selecting a different one;
Wherein when a virtual curve of a predetermined length is drawn along the hand surface of the 3D scanned image in the direction from the point in accordance with the candidate vector, the curvature radius and the curvature angle of the virtual curve are calculated for all of the 3D scans Measuring in an image;
Obtaining an indication value to be indicated when the sensor whose indication value differs according to the curvature radius and the curvature angle is a curvature radius and a curvature angle measured in all of the 3D scanned images with respect to each of the candidate vectors;
Calculating a slope by linearly approximating the indication value calculated for each of the 3D scan images for each candidate vector with respect to a change in the angle of the thumb; And
Selecting a candidate vector having the largest slope of the linear approximate straight line among the plurality of candidate vectors as a reference vector for attaching the sensor
The program comprising the steps of: < - >

Images