KR20220018855A - Band-shaped detachable motion measurement device - Google Patents

Abstract

The present invention discloses a motion recognition glove using a multi-joint bending measurement device, wherein data processing efficiency can be improved. The present invention comprises: a glove composed of rubber having a wrist resistance body (RB1), which has a flexible resistance body (RL) installed adjacently to finger resistance bodies (FR1-FR5) grouped for each finger shape and a median nerve to be arranged on each finger part and to measure the bending degree of each joint of a finger, thereby measuring the strength of a wrist tendon, arranged to correspond to the positions of the fingers of the glove and the position of the median nerve on the outer circumference surface of the glove composed of rubber, which is composed of nitrile rubber or natural latex and has been primarily molded and dried, and secondarily molded and dried; a housing installed and fixed to the outer circumference surface of the glove composed of rubber; and a constant voltage supply part for supplying constant voltage to the finger resistance bodies (FR1-FR5) and the wrist resistance body (RB1), each resistance measurement part included to generate a resistance value for each finger as digital data when constant voltage is supplied to the finger resistance bodies (FR1-FR5) and the wrist resistance body (RB1), a control part for collecting data measured by enabling each resistance measurement part sequentially and generating transmission data from the collected information based on a preset protocol, and a data transmission part for transmitting the transmission data to a receiving device under the command of the control part in a wired or wireless manner, which are installed inside the housing.

Description

Detachable band-type motion measurement equipment {BAND-SHAPED DETACHABLE MOTION MEASUREMENT DEVICE}

The present invention relates to a multi-joint bending measurement apparatus, and more particularly, to a multi-joint bending measurement apparatus capable of measuring rotation angles and strength for each knuckle and easily transmitting the same, and to a finger motion recognition device using the same.

Recently, due to the development of IT technology, virtual reality and augmented reality technologies are developing and are being widely applied to daily life. In order to implement such virtual reality and/or augmented reality, a motion recognition device that recognizes the user's motion, visually expresses real and virtual objects simultaneously, and receives information from the motion recognition device to determine the function of the motion. Various devices such as a display unit that can be implemented visually are required. Here, examples of the motion recognition device include shoes, gloves, and clothes. Among them, a glove is a representative example that is worn on a user's hand to command or recognize a motion.

One conventional example of such a glove for augmented reality is disclosed in Korean Patent No. 10-1738870. The motion recognition glove for augmented reality known in Patent No. 10-1738870 includes a finger motion sensor provided on each finger part of the glove to detect the movement of the finger, and a finger motion sensor provided on the back of the glove to detect the movement of the back of the hand. The back of the hand motion sensor, the sensor moving unit that moves the position of the finger motion sensor, is provided on the back or wrist of the glove and is connected to the finger motion sensor and the back motion sensor by wiring to supply power and detect the detected motion. It consists of a main circuit unit that analyzes and transmits movement to the outside, and a battery unit that is connected to the main circuit unit to supply power and is provided on the wrist of the glove.

The glove configured as described above can detect and analyze motion more precisely because the position of the finger motion sensor can be changed according to the wearer's hand size and joint position. By having a battery in the wrist part of the glove integrally, the part where the wearer feels uncomfortable due to wiring is removed, and by providing a space securing member between the back of the hand and the wrist, manufacturing and maintenance are easy to provide an effect.

As another conventional example, Korean Patent No. 10-0907103 discloses a glove-based human computer interface device. In the glove of Korean Patent No. 10-0907103, a bending sensor is provided on the inner surface of at least one finger of the glove, and the bending sensor is located at the finger distal joint of the glove and is attached to the finger of the glove so as to be in close contact with the glove. It includes a bend sensor and an inner bend sensor positioned in the palm direction of the glove, the lower end is attached to be in close contact with the finger of the glove, and the upper end is provided so as not to be attached to the finger and is disposed to cover the upper side of the end bend sensor, By connecting the upper end of the sensor with the finger of the glove, a link is provided so that the upper end of the inner bending sensor is in close contact with the glove when the finger is stretched.

Due to such a structural feature, when the virtual object and the virtual hand make contact in the virtual space, the effect of accurately reflecting the position of the real hand in the real space is provided. However, conventional gloves for virtual reality or augmented reality including the above patents have been shown to cause some problems. That is, when the user moves his/her hand to experience virtual reality or augmented reality while wearing the glove, various parts provided in the glove may be damaged or broken if the user touches or collides with surrounding facilities or obstacles.

In addition, there is a problem in that a serious injury to the user's hand is caused when the user's hand severely collides with surrounding facilities or obstacles. In addition, it is impossible to wash the gloves because of the risk of damage or breakdown of the parts, and there is a problem in that it is difficult to maintain, manage and repair the parts as well as the gloves themselves. In addition, as the conventional gloves for virtual reality or augmented reality are composed of a large number of parts, not only does it cause an increase in unit price, but also there is a problem that it is difficult to collect three-dimensional data because the bending strength of the finger cannot be measured.

1. Republic of Korea Patent No. 10-1738870 2. Republic of Korea Patent No. 10-0907103

The present invention was created to solve such a problem, and an object of the present invention is to provide a multi-joint bending measuring device capable of three-dimensional measurement so that the bending strength and the degree of bending of a finger can be simultaneously measured.

Another object of the present invention is to construct a haptic glove by inserting a finger joint sensor in the manufacturing process of the glove, so that it is easy to apply to augmented reality or virtual reality and a finger using a multi-joint bending measuring device that can drastically reduce the manufacturing cost It is to provide a motion recognition glove.

A multi-joint bending measuring apparatus according to an aspect of the present invention for achieving the above object is an apparatus for measuring multi-joint bending, wherein at least two or more flexible resistors (RL) having different resistance measurement bands are connected in series and , when a rated voltage is supplied to one end, a current measurement module for measuring the current flowing through the at least two or more flexible resistors (RL); a digital converter that converts the analog signal measured by the current measuring module to digital, and a resistance calculator that calculates resistance values of the at least two flexible resistors (RL) based on digital data provided to the digital converter; and a data transmitter for transmitting the output information of the resistance calculator to the outside according to a preset protocol.

In addition, the flexible resistance body (RL) according to the multi-joint bending measurement device of the present invention, so as to correspond to the finger joints of the human body, the distal joint (RL1), the proximal joint (RL2), the interphalangeal joint (RL4) and the metacarpophalangeal joint (RL4) Located in the finger joint (RL3), the flexible resistor (RL) is at least two or more resistors are connected in series; The resistor of the distal joint (RL1) is set as a flexible resistor of 10Ω to 90Ω, the resistor of the proximal joint (RL2) is set as a flexible resistor of 1KΩ to 9KΩ, and the resistor of the metacarpophalangeal joint (RL3) is It is characterized in that it is set as a flexible resistor of 100KΩ to 900KΩ.

On the other hand, in the motion recognition glove using the multi-joint bending measuring device according to the present invention, the flexible resistor (RL) is grouped by finger shape to measure the degree of bending for each joint provided for each finger part (FR1). ~ FR5) and the wrist resistor (RB1), which is installed close to the median nerve and measures the strength of the wrist tendon, is first molded with nitrile rubber or natural latex material and dried on the outer periphery of the rubber glove. Secondary molded and dried rubber gloves arranged to correspond to the position of the median nerve; a housing fixedly installed on the outer circumferential surface of the rubber glove; A constant voltage supply unit that is installed inside the housing and supplies rated voltage to the finger resistors FR1 to FR5 and the wrist resistor RB1, and the rated voltage is supplied to the finger resistors FR1 to FR5 and the wrist resistor RB1 Each resistance measuring unit provided to generate a resistance value for each finger as digital data, each resistance measuring unit is sequentially enabled to collect the measured data, and the collected information is transmitted based on a preset protocol It characterized in that it consists of a control unit that generates data, and a data transmission unit that transmits the transmission data to a receiving device by wire or wirelessly under the instruction of the control unit.

In addition, the finger resistor FR is formed in five groups to correspond to the fingers of the human body, and the finger resistor FR1 corresponding to the thumb is composed of two flexible resistors RL1 and RL3, the index finger, middle finger, ring finger, Finger resistors (FR2 ~ FR5) corresponding to the base are composed of three flexible resistors (RL1, RL2, RL3), and the wrist resistor (RB1) is installed in a position close to the median nerve to measure the degree of bending of the finger. It is characterized in that it is configured in the form of a band.

In addition, in the protocol, a preamble signal for defining the communication start is allocated with 2 bits, a direction signal of 1 bit for setting the data transmission direction is allocated, and the final result including 1 byte of time information and 36 bytes of data end includes a checksum; the time information is time information at which the controller enables each resistance measuring unit corresponding to each finger resistor and wrist resistor; The 36-byte data includes 5 bytes of information and 1 byte of identification code information for each finger and wrist resistor.

The multi-joint bending measuring device and the finger gesture recognition glove using the same provided in the present invention provide the effect of simultaneously measuring the bending strength as well as the bending degree of the finger. In addition, in the present invention, by inserting a finger joint sensor in the manufacturing process of the glove to configure the haptic glove, it is easy to apply to augmented reality or virtual reality, and there is an effect that can drastically reduce the manufacturing cost.

1 is a block diagram showing an apparatus for measuring multi-joint bending according to the present invention.
2 is a configuration diagram for explaining a gesture recognition glove according to the present invention.
3 is a diagram for explaining a communication protocol according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

First, the multi-joint bending measuring device proposed in the present invention is positioned close to each joint to measure the degree of bending of the joint, and it will be preferable to use a flexible resistor. The flexible resistor is configured in the form of a film, so that the resistance value changes corresponding to the degree of bending. The flexible resistor is positioned for each joint, and by setting a resistance measurement band for each location, the degree of bending of at least two or more joints is measured as one resistance value.

1 is a block diagram showing an apparatus for measuring multi-joint bending according to the present invention. As shown, at least two or more flexible resistors (RL) having different resistance measurement bands are connected in series, and when a rated voltage is supplied to one end, the current flowing through the at least two or more flexible resistors (RL) is measured a current measurement module 101, a digital converter 103 that converts the analog signal measured by the current measurement module 101 to digital, and the at least two It consists of a resistance calculator 105 that calculates the resistance value of the flexible resistor RL, and a data transmitter 107 that transmits the output information of the resistance calculator 105 to the outside according to a preset protocol.

As shown in the figure, the multi-joint bending measuring device measures the degree of bending of each joint, such as a finger of the human body. ), interphalangeal joint (RL4) and metacarpophalangeal joint (RL3). The distal joint (RL1) is the distal joint of the finger, the proximal joint (RL2) is the middle joint of the finger, the metacarpophalangeal joint (RL3) is the joint between the finger and the palm, and the interphalangeal joint (RL4) is the distal joint of the thumb.

Meanwhile, the flexible resistor RL has a structure in which at least two or more resistors are connected in series, and each resistor has a resistance installation interval multiplier and a respective resistance measurement band is set. For example, the resistor of the distal joint RL1 is set as a flexible resistor of 10Ω to 90Ω, the resistor of the proximal joint RL2 is set as a flexible resistor of 1KΩ to 9KΩ, and the metacarpophalangeal joint RL3 The resistor can be set as a flexible resistor of 100KΩ to 900KΩ.

In the present invention, to measure multi-joint bending of the joints of the fingers, the degree of bending of at least two joints and up to three joints is measured. Accordingly, the resistance measurement band of the flexible resistor may be limited to three types.

The resistance measurement band is defined for each joint position, and the interval between the resistance measurement bands, that is, the resistance installation interval multiplier, is defined as 100 times, so that the overlap in the resistance calculation process can be removed in advance. That is, the resistance measurement band of the flexible resistor of the distal joint (RL1) is defined as 10Ω to 90Ω, so that the resistance value measured in the resistor of the proximal joint (RL2), that is, the resistance value of 1KΩ to 9KΩ does not overlap. will be. In general, the measurement value of the flexible resistor exists in the resistance measurement band range, but since the measurement error is within 10%, the overlapping of the resistance values measured for each joint does not occur even if the measurement error is taken into account.

That is, the resistance value measured at the distal joint (RL1) is in the range of 10Ω ~ 90Ω, and the resistance value measured at the proximal joint (RL2) is 1KΩ ~ 9KΩ, and even if 10% of measurement error is applied, it is 0.9KΩ ~ 9.9KΩ. The resistance value measured at the two joints becomes 910Ω ~ 9,990Ω, so that the measured resistance value can be measured simultaneously from the number of digits of the measurement result.

For example, when the series resistance value measured at the distal joint RL1 and the proximal joint RL2 is 1,030Ω, the resistance value of the distal joint RL1 is 30Ω, which is the lower two digits, and the proximal joint RL2 ) is the upper two digits of 10KΩ, and by measuring one series resistance value, the degree of bending of the two joints is calculated individually.

In the same way, in order to define the resistance installation interval multiplier of the metacarpophalangeal joint (RL3) as 100 times, the resistance measurement band of 100 times the resistance measurement band (1KΩ ~ 9KΩ) of the proximal limb joint (RL2) is 100KΩ ~ 900KΩ When defined as , even when a 10% error rate of the resistor for the metacarpophalangeal joint RL3 is taken into consideration, it does not overlap the measured resistance value of the proximal limb joint RL2.

That is, when the measured resistance of the distal joint (RL1) is 30Ω, the measured resistance of the proximal joint (RL2) is 3.5KΩ, and the measured resistance of the metacarpophalangeal joint (RL3) is 230KΩ, it is measured from three joints One resistance value is 230KΩ + 3.5KΩ + 30Ω, and the total resistance value is 233.53KΩ, which is 233,530Ω. By separating the data into the lower two digits, the middle two digits, and the upper two digits, the degree of bending for each joint can be measured as one data value.

As such, when exemplifying the fingers of the human body, each flexible resistor (RL) located at the joint of each finger, that is, the distal joint (RL1), the proximal joint (RL2), and the metacarpophalangeal joint (RL3) corresponding to the joint. is connected in series and as a rated voltage is supplied to one end, digitized resistance value information is provided by the resistance measuring unit 110 connected to the other end. As described above, the resistance measuring unit 110 measures the current flowing through the flexible resistor RL, converts it into a digital signal, and calculates the total resistance value of the parallel-connected flexible resistor RL. The resistance value information is transmitted to the outside through the data transmission unit 107 .

The data transmission unit 107 may be transmitted by wire based on a protocol set by a receiving device (not shown) provided outside, or wirelessly based on a short-distance communication system. When the flexible resistor (RL) according to the present invention is applied to three joints, the data transmission unit 107 will need a data capacity of 5 bytes to transmit data of 500KΩ. Of course, in order to transmit data for each finger joint of the human body, at least 3 more bits to identify the finger will be required, and only the final 6 bytes of data will be able to recognize the glove's motion.

2 is a view showing a connection structure of a flexible resistor applied as a finger gesture recognition glove according to the present invention.

First, the motion recognition glove applied in the present invention may be a glove made of nitrile-butadiene rubber (nitrile rubber), or may be composed of a natural latex material. Nitrile rubber or natural latex is applied to the surface of a glove-shaped molded product and dried. Due to the nature of the material, it has very high elasticity and is used for many purposes. The present invention provides a motion recognition glove based on such gloves made of nitrile rubber or natural latex.

To this end, after the process of applying and drying nitrile rubber or natural latex to the surface of the glove-shaped molded product is carried out one or more times, the glove shape is realized, and the above-described flexible resistor is arranged according to the shape of the finger of the glove, and then nitrile By applying and drying rubber or natural latex secondary, the flexible resistor is accommodated inside the glove material. Of course, a separate PCB for the digital converter 103, the data transmission unit 107, the controller, the secondary battery, etc. other than the flexible resistor is attached to the outer peripheral surface of the glove. Therefore, the flexible resistor is accommodated inside the glove material, so that it is possible to improve the elasticity and durability of the flexible resistor as well as ease of use of the glove.

As shown, flexible resistors are configured for each finger joint of the human body, and RL1 and RL2 are connected in series as two flexible resistors corresponding to the thumb, and RL1, RL2 and RL3 are connected in series. In addition, in order to measure the bending strength of the finger in addition to the degree of bending of the finger, it is installed close to the lower part of the wrist of the human body, that is, the wrist tendon or median nerve, and further includes a flexible resistor (RB1) for measuring the deformation of the wrist tendon. can do.

In order to implement finger gesture recognition gloves, the finger resistors (FR1 ~ FR5) for measuring the degree of joint bending in each joint part of the glove finger, and the lower part of the wrist, located close to the median nerve or wrist tendon By providing the wrist resistor RB1 for measuring the strain degree of the tendon, the bending degree and bending strength of the finger are generated as one data.

Measuring the data measured for each joint of the finger as one piece of information increases the sensing speed of the gesture recognition glove, thereby increasing the reaction speed of the remote device corresponding to the gesture recognition glove. This is to measure the movement of each joint of the gesture recognition glove in real time, and it improves the precision of the movement by preventing the delay of the remote device that responds to the gesture recognition glove in advance.

As described above, the motion recognition glove according to the present invention is provided for each finger part and installed close to the finger resistors (FR1 to FR5) for measuring the degree of bending for each joint of the finger and the median nerve to measure the strength of the wrist tendon. When the rated voltage is supplied to the constant voltage supply unit 213 for supplying the rated voltage to the wrist resistor RB1 and the finger resistors FR1 to FR5 and the wrist resistor RB1, each finger generates a resistance value as digital data. Each resistance measuring unit 103 provided so as to collect the measured data by sequentially enabling each of the resistance measuring units 103, and a control unit for generating transmission data based on the collected information based on a preset protocol (201) and a data transmission unit (107) that transmits the transmission data to the receiving device (210) by wire or wirelessly under the instruction of the control unit (201).

The above protocol is a total of 5 bytes of data as measured resistance values for each finger resistor (FR1 ~ FR5) and wrist resistor (RB1), and 1 byte of data that includes an identification code for identifying each finger resistor and wrist resistor. Contains 6 bytes of data.

As shown, the finger resistors FR are formed in five groups to correspond to the fingers of the human body, and the finger resistors FR1 corresponding to the thumb are composed of two flexible resistors RL1 and RL3. The finger resistors (FR2 ~ FR5) corresponding to the ring and small fingers are composed of three flexible resistors (RL1, RL2, RL3). In addition, the wrist resistor RB1 is installed in a position close to the median nerve to measure the strength of the wrist tendon, that is, the degree of bending, and is configured in the form of a band.

Each finger resistor has a flexible resistor (RL1) at the position corresponding to the distal joint, a flexible resistor (RL2) at the position corresponding to the proximal joint, and a flexible resistor (RL3) at the position corresponding to the metacarpophalangeal joint. At this location, the degree of movement of each joint is generated as one data.

Each of the finger resistors includes a resistance measuring unit 103 composed of a resistance measuring unit 1 to a resistance measuring unit 6 to generate a series resistance value for at least two or more flexible resistors as a digital signal. Accordingly, the control unit 201 sequentially enables each resistance measuring unit to collect resistance value information for each finger resistor and wrist resistor RB1.

The control unit 201 generates a unique code for each position corresponding to the median nerve of the thumb, index finger, middle finger, ring finger, small finger, and wrist when measuring the resistance value for each finger resistor and wrist resistor, and the finger corresponding to the thumb For the measurement value of the resistor (FR5), the identification code is assigned as binary '0001', the identification code corresponding to the index finger is assigned as binary '0010', and the identification code corresponding to the middle finger is assigned as binary '0011' and identification codes corresponding to the ring finger and the holding finger may be assigned as binary '0100' and '0101'. In addition, the identification code corresponding to the wrist resistor may be assigned as binary '0111' to generate an identification code for each finger resistor and wrist resistor.

Accordingly, the control unit 201 generates 6-byte information consisting of 1-byte information corresponding to the identification code and 5 bytes of information corresponding to each finger resistor and wrist resistor as serial information, and the data transmission unit 107 generates serial information. will be provided as

3 is a configuration diagram for explaining a communication protocol according to the present invention.

As shown, the preamble signal for defining the communication start is allocated with 2 bits, and the direction signal of 1 bit for setting the data transmission direction is allocated, followed by 1 byte of time information and 36 bytes of data. The final stage includes a checksum.

Here, the time information is a time for the controller 201 to enable each resistance measuring unit 103 corresponding to each finger resistor and wrist resistor, and when enabled in units of 1/16 second, 16 data per second means the time sequence for That is, one byte of time information is time information for identifying the result of measuring finger movements in units of 1/16 of a second. This is to decompose and transmit the bending degree and bending strength for all joints corresponding to the finger 16 times per second. Therefore, when the motion recognition glove according to the present invention is applied to an AR or VR device, the user's finger reaction degree can be transmitted in real time, thereby expanding the scope of application.

On the other hand, the 36-byte data is formed of 6 groups of 6-byte information as 5 bytes of information and 1 byte of identification code information on the resistor for each finger and wrist resistor, and the 36-byte information is transmitted 16 times per second. is sent

Data generated according to the protocol is provided to the receiver 210 by the data transmitter 107 . The receiving device 210 may include an application utilized based on the received data.

RL: flexible resistor 101: current measurement module
103: digital converter 105: resistance output unit
107: data transmission unit 110: resistance measuring unit
FR: finger resistor RB1: wrist resistor
201: control unit 210: receiving device
213: constant voltage supply

Claims (5)

An apparatus for measuring multi-joint bending, comprising:
At least two or more flexible resistors (RL) having different resistance measurement bands are connected in series, and when a rated voltage is supplied to one end, a current measuring module ( 101);
A digital converter 103 that converts the analog signal measured by the current measurement module 101 to digital, and the resistance value of the at least two flexible resistors RL based on the digital data provided to the digital converter 103 a resistance calculator 105 for calculating ; and a data transmission unit (107) for transmitting the output information of the resistance calculation unit (105) to the outside according to a preset protocol. The method of claim 1,
The flexible resistor (RL) is located in the distal joint (RL1), the proximal joint (RL2), the interphalangeal joint (RL4) and the metacarpophalangeal joint (RL3) to correspond to the human finger joint, and the flexible resistor (RL) ) indicates that at least two or more resistors are connected in series;
The resistor of the distal joint (RL1) is set as a flexible resistor of 10Ω to 90Ω, the resistor of the proximal joint (RL2) is set as a flexible resistor of 1KΩ to 9KΩ, and the resistor of the metacarpophalangeal joint (RL3) is Multi-joint bending measuring device, characterized in that it is set as a flexible resistor of 100KΩ ~ 900KΩ. In the motion recognition glove using the multi-joint bending measuring device according to claim 1,
In order to measure the degree of bending for each joint of each finger provided for each finger part, the flexible resistor (RL) is installed close to the finger resistors (FR1 to FR5) grouped by finger shape and the median nerve to measure the strength of the wrist tendon. After the wrist resistor (RB1) is arranged to correspond to the position of the finger and median nerve of the glove on the outer circumferential surface of the rubber glove that is first molded and dried with nitrile rubber or natural latex material, the secondary molded and dried rubber glove ;
a housing fixedly installed on the outer circumferential surface of the rubber glove;
A constant voltage supply unit 213 installed inside the housing and supplying rated voltage to the finger resistors FR1 to FR5 and the wrist resistor RB1, rated to the finger resistor FR1 to FR5 and the wrist resistor RB1 When a voltage is supplied, each resistance measuring unit 103 provided to generate a resistance value for each finger as digital data, each resistance measuring unit 103 is sequentially enabled to collect the measured data and collect A control unit 201 that generates transmission data based on a preset protocol, and a data transmission unit 107 that transmits the transmission data to the receiving device 210 by wire or wirelessly under the direction of the control unit 201 Motion recognition gloves using a multi-joint bending measuring device, characterized in that made. 4. The method of claim 3,
The finger resistors FR are formed in five groups to correspond to the fingers of the human body, and the finger resistors FR1 corresponding to the thumb are composed of two flexible resistors RL1 and RL3. The corresponding finger resistors FR2 to FR5 are composed of three flexible resistors RL1, RL2, RL3, and the wrist resistor RB1 is installed in a position close to the median nerve to measure the degree of bending of the finger. Motion recognition gloves using a multi-joint bending measuring device, characterized in that it consists of. 4. The method of claim 3,
In the protocol, a preamble signal for defining the communication start is allocated with 2 bits, a direction signal of 1 bit for setting the data transmission direction is allocated, and the final end includes 1 byte of time information and 36 bytes of data. contains a checksum;
the time information is time information at which the controller 201 enables each resistance measuring unit 103 corresponding to each finger resistor and wrist resistor;
The 36-byte data is a motion recognition glove using a multi-joint bending measuring device, characterized in that it includes 5 bytes of information and 1 byte of identification code information for each finger and wrist resistance body.

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