TW200824668A - Unidirectional joint bending degree detecting device - Google Patents

Abstract

The invention relates to an unidirectional joint bending degree detecting device, especially to an easy, reliable unidirectional joint bending degree detecting device. The unidirectional joint bending degree detecting device utilizes a light sensor to directly receive light emitted by a LED. The method defines a maximum light flux received by the light sensor when the joint or the finger does not bend, and the light flux is decreasing when the bending degree becomes bigger. The light sensor converts the amount of the received light flux to electrical signal. A chip pre-processes the electrical signal and then sends the processed electrical signal to a computer for further applications. As described above, the usage reliability can be improved, so that a user with barely movable joints or fingers can use the device.

Description

200824668 IX. Description of the Invention: [Technical Field] The present invention relates to a technical field of single-action joint bending angle detection data, in particular to a simple and highly reliable single-action joint bending degree detecting device Improve its reliability and enable simple interaction between the physically and mentally handicapped and the average person. [Prior Art] _ According to the human language, the individual's thoughts and emotions are expressed, and people have a bridge of communication with each other. Unfortunately, people with hearing impairment may have hearing loss, severe cases or even general paralysis due to congenital heredity, illness or acquired head injury. Some users' joints or fingers can also be slightly moved and bent, but they cannot communicate with the outside world through sound, making life extremely inconvenient. Sign language is a luxury for these people. In view of this, the development of a glove-like parent-wife is a feasible way. Data gloves have been widely used in many fields, such as virtual reality, biomechanics, sign language input, etc. Although the movements of the hand include the bending and rotation of the knuckles and the pitching of the wrists, in the field of sign language or virtual reality, the main features are still reflected in the action of the finger 2, so the data gloves are mainly Take a message that the joint is bent. At present, the types of data gloves are mature in fiber-optic (Fiber_〇ptic, Resistive sens〇rs, and Mechanicai sasors). ^The fiber-optic tribute gloves are made of fiber optics. The detector changes the luminous flux in the fiber when the joint or the finger is bent, so the degree of bending of the joint or the finger can be judged by the amount of received light. The advantage is that the body of the optical fiber 5 200824668 4 is small and light and flexible. Sexuality requires correction before use. Disadvantages are poor durability, easy to produce permanent ^ Resistive gloves using a sensor made of a guide or strain gauge on each joint or finger. When the joint or finger is bent, Sensing=At the same time, the resistance value of the sensory change is changed. According to the change of the resistance value, the degree of the joint or the finger bending can be changed, but the disadvantage is that the sensitivity coefficient is easy to change with temperature. The rod and some of the mechanisms are characterized by high positional accuracy and the correct position of the object to be tested. Due to the mechanical structure, the movement is limited. The range affects the operator's movement posture, and is too cumbersome, not suitable for the user to wear and use, and expensive. Once again, there is a data glove with a tilt sensor as the sensing component, the advantage is light weight, precision High and low price; the disadvantage is that the measurement angle and the reaction speed are limited. Since the fiber-optic induction glove is a plastic optical fiber combined with a light-emitting diode and a photodetector as a sensing element, when the plastic optical fiber is bent, the optical signal The attenuation value becomes larger, and it needs to be processed by the amplifying circuit to make the signal. However, when some users' joints or fingers are encountered, only a slight motion can be performed, and the angle of the finger or the finger bending is limited due to the signal. The amount of change is small, which makes the fiber-optic gloves unsuitable for these users. • In view of this, the inventors have intensively discussed the problems faced by the aforementioned conventional data gloves by conducting research and development and manufacturing experience of related industries for many years. Seeking a solution, after a long period of hard work of research and development, finally successfully developed a single-action joint bending degree detection device, SUMMARY OF THE INVENTION The object of the present invention is to provide a simple and reliable single-action joint 6 200824668 $ curvature detecting device which uses a light-emitting diode and a light detector to make The tool for detecting joints or hand buckles has the advantages of simplicity and reliability, so that the physically and mentally handicapped person can easily communicate with the general person and improve the quality of life. The single-action joint bending degree detecting device capable of achieving the above object includes The light & detector is disposed at a position above the axis of motion of the joint or the back of the first knuckle of the finger adjacent to the palm; t-light body, which is disposed below the movement axis of the joint or the finger The back of the two knuckles; ® - analog wheel conversion unit, which is connected to (4) the output of the photodetector, which converts the luminous flux into an electronic signal; ^ a ## processor (or a computer) that is connected to the analog input The output of the unit is a 5 processor, and the signal processor (or computer) has a software that can process the aforementioned signals to match the virtual Chinese/English The keyboard performs the input 0. The inventor then cites a preferred embodiment, and further illustrates the present invention in conjunction with the drawings and the drawing numbers, so that the reviewing committee can have a more detailed understanding of the present invention, but the following The present invention is only intended to explain the present invention, and the preferred embodiment is not intended to limit the invention in any way, and is merely in the spirit of the invention, and is any type of decoration or % is still within the scope of the intention of the present invention. [Embodiment] For inputting a single-action joint curvature detecting device

The position of the system's architecture is above (or the joint of its motion axis is one of the inventions used for the hand) will be a finger 4 200824668

The lower position (or the back of the second knuckle of the finger) is provided with a light-emitting diode (2〇) [LED]' and the light detector (1〇) converts the luminous flux into an electronic signal and is connected with an analog input conversion unit, analogy The output of the input conversion unit (3〇) is connected to a single chip (40) capable of preprocessing signals, and the output of the single chip (4〇) is connected to a computer (5〇) with processing software. As shown in FIG. 3, the light emitted by the light-emitting diode (2〇) is directly received by the photodetector (1〇), which is received by the photodetector (1〇) according to the case where the joint or the finger is not bent. The luminous flux is the largest, and the greater the angle at which the joint or finger bends, the less light flux is received. The photodetector (10) converts to an electronic number based on the received luminous flux, performs pre-signal processing by the single chip (30), and then transmits it to the computer (40) for back-end application. The main I* month opening/it step of the light detector (10) receiving light energy in order to understand the joint or finger bending is explained in Fig. 2 and Fig. 3. The present invention contemplates that the beam distribution of the light-emitting diode (2G) may have a side lobes as shown in FIG. 4, so that the light-emitting diode (2 〇) is placed near the finger end [bend end], The relationship between the photodetector (10) is shown in Figure 2. Since the edge of the ϊ=!(20) is cut off when the joint or finger is bent, the output signal of the photodetector (1〇) has a monotonically decreasing relationship. . If the position of the light-emitting diode (10) in FIG. 2 is exchanged with the position of the photodetector (10), the joint or hand detector (10) receives the side lobes from the special month b, so that a corresponding side lobes are generated. The letter corresponds to the problem of non-early value. According to the geometric relationship of Fig. 3, when the joint or the finger is not bent, the illuminator: = Γ: two coincides with the optical axis of the photodetector (1°). Therefore, the light detection (1) is set to = °. == 'Cold (2) 'Ze Na \r〇) 8 4 200824668 /1) p(0) in the equation represents the amount of light power received by the photodetector in space, Η(Ω) is the light II The distribution function of the polar body (2〇) optical power density in space, Ω is the solid angle; cir(l/r〇) is the aperture of the photodetector (_Call function, r is the one-dimensional plane coordinate, u is The entrance radius of the detector ~ ❻ is the angle at which the joint or finger bends. When the joint or finger is blued, the light-emitting diode (2〇) does not coincide with the optical axis of the photodetector (1G), so (1) must be corrected. Without loss of precision, the case of (1) can be simplified into a one-dimensional model for analysis, so it can be expressed as (2):

(2) (3) (4) To... handsome Ω Ωι = - tan'1 [r sin Θ I{R cosΘ + d)} Ω2 = ^ - tan'1 [(Rsin0 + 2ro)/(RcosΘ + d) ] 7 The photodetector (10) has the aperture point of the aperture function cir(r/^) as the reference, and the photodetector (10) passes through the aperture of the photodetector (10) ± r〇 (four) edge ray (job ginai (four) and the light-emitting diode (2〇) The angles of the optical axes are respectively shown in Figure 3 and (3) (4). Basically, in the detectable range, the output voltage is proportional to the magnitude of p(0). (3) (4) Equation analysis, there are three parameters affecting the result, which are the distribution function H(9) of the power density of the light-emitting diode (20) and the distance & and the heart, which changes the Η(9), R#0 d, etc. The factors can affect the results of the test, and the best case for constructing the use. Because 乖) is related to the current (I) of the light-emitting diode (10), it is the easiest to control. The voltage level of the reaction bending degree is related to the negative wearing resistance of the photodetecting circuit and the receiving power responsivity (unit: A/W) of the photodetector; according to the principle of the circuit, f Ρ (θ) is larger than a certain upper limit value ( Pmax) saturates the output voltage. If it is less than the lower limit (Pmin), the output voltage is zero. Therefore, the relationship can be expressed as follows: 9 200824668 p max P (Θ) = < P (Θ) 0 &lt ; Ρ{θ)<Ρ{θ)< 〇, > θ > o > θ > et (5) θ m plane where <9i is the starting angle of the reaction bending, and the initial 0 dirty is The maximum angle that can be detected; that is, the measurement range is from 0 to 0, and the smaller the range, the more the stem sensitivity is. If the user's joints or fingers cannot be straightened, and often remain in a bent state (corresponding to the starting angle 仏), and the maximum angle at which the bending can be performed, the data glove of the present invention can be adjusted by R, d, and illuminating. The current (I) of the polar body (2〇) meets the needs of the user or user. Basically, R, • d must be determined by the mechanism, but the current can even be manipulated by software, which is most convenient. In addition, another focus of the present invention is the input method portion; the present invention combines the above-mentioned data gloves to design a virtual keyboard input method, and plans a 10-8 array system based on the concept of coordinate input, which is displayed on the screen. . The user uses the index finger and the middle finger to represent the χ and γ axis coordinates of the input keyboard, and the child element of the k 后, and then confirms the input by the thumb, and the keyboard input operation can be completed by using the method. If the natural input method is used to achieve the functions of character input and voice output, the physically and mentally handicapped person can communicate with the average person to improve the quality of life. Example 1 Verifying the Correctness of the Geometric Model First, the energy distribution function of the light-emitting diode (20) is detected, and the results are shown in Fig. 4. Then, the simulation and comparison of the light-emitting diode (2G) and the photodetector (10) at a distance of 1.5 cm were performed according to the geometric model. In order to verify the results, the I, the polar body (2G) was mounted on the motor rotating platform, and the photodetector...) was fixed on the support rod. When the platform was rotated, the light-emitting diode (10) was rounded to the platform. . Rotating 'by this; ^ the case where the joint or finger is bent. Figure 5 shows the comparison between the experimental results and the simulation results. The vertical axis is the detection voltage of the photodetector (10), and the horizontal axis of the 200824668 axis is the bending angle. The inference of the geometric model is correct. When the optical signal is converted to an electronic signal, it is represented by an 8-bit (0_255 grayscale) grayscale signal. Figure 6 and Figure 7 show the experimental results of 2 mA and 4 mA of the LED (20). It is obvious that the control current can control the saturation range and the range of use; for example, in Figure 7, the range is from 25. (degrees) to 9 〇. (degrees), if the current is increased, the starting angle is increased, so it is easy to adjust the range of use according to the state of the user. The figure is the relationship between the voltage signal detected by the photodetector (10) and the angle of the flex, and the graphs respectively correspond to the currents of the LEDs of different sizes; if the measurement is 2 mA, which corresponds to the full range, it is greater than 2—There is a saturated region, and the range is represented by a horizontal line. Example 2 Test glove performance

For the 7-knife, a cylinder of 4.5 cm and 6 cm in diameter is used as a standard. The cylinders of different diameters are held by hand to measure the joint or finger bending, and the distribution of signal values is analyzed. Figure IX, Figure 10 and Figure 11: Representing the situation when the joint or finger is straightened and the experimental results and statistics of holding the straight (4) 45: 6cm cylinder. The vertical axis in the figure represents the number of pens, and the horizontal axis represents the distribution of values. Here, the standard i s is used to estimate

The results of the evaluation are compiled into Tables 1 to 3.

200824668 Middle finger 0.1729 236.01 97% 97% 97% Table 2 Grab a 4.5cm diameter cylinder, as shown in Figure 10 (N=l00) 4.5cm SXX soil SX±2S X±3S Thumb 0.4943 72.66 67% 99% 99% Index finger 0.357 68.85 85% 85% 100% Middle finger 0.5109 65.67 69% 98% 98% Table 3 Grab the 6cm diameter cylinder, as shown in Figure XI (N=100) 6cm SXX soil SX±2S X+3S Thumb 0.3756 112.83 83% 83 % 100% index finger 0.5771 102.37 56% 97% 99% middle finger 0.491 130.33 65% 99% 100% where X represents the average value of the data captured, N is the number of data,

Xi is the i-th data, and the X-S, X-S, 2S, and X-S3 in the table respectively represent that the captured data falls within the range of one standard deviation, within the range of two standard deviations, and the range of three standard deviations. Distribution within. Based on the results of the evaluation, the accuracy has met the practical requirements to prove the reliability of the present invention. The virtual Chinese/English keyboards are arranged according to the habits of ordinary people using keyboards. After the user's trial, they have the ability to input text. The face of the analog keyboard operation is shown in Figure 12. When the values of the X and Y axes are both 2, the selected character is S, and then the character is displayed in the upper instrument box to complete the input action of one character. 12 200824668 And the Chinese keyboard needs to select the C/N button first, “show.”, the wheel-in mode, as shown in Figure 13, the present invention is simple and low-cost through the foregoing technology: 'meal, except for a wide structure 1. Shizheng. There are the following characteristics of the mouth move. () The single-action joint bending test glove of the present invention is not only easy to operate, but also, if the data is made, the number of fingers during operation is improved; It can be manipulated.

Five fingers must be used in the design; hand:: The input device is used for these people. + root hand ^ to operate, can not fit (7) when the user's joints or fingers move within the range, the invention can be changed by the interval of 4 angles; 5 4 μ owed to the first pole, light detector The driving current of the first diode is adjusted to adjust the detection range and sensitivity, and the month b is adapted to users of various limb barriers. (7) The present invention is a sensor for detecting the bending angle of a joint, and has a high repetition rate and a degree of expansion, and can expand the _ knot or the fifteen joints of the finger and the wrist. (4) The present invention is lightweight, simple, and low-cost. This glove is used to repeatedly grab cylinders of different diameters for testing. According to the standard deviation analysis of the signal, the error is within the range of gray scale values, and the accuracy can meet the practical requirements. The virtual Chinese/English keyboard is arranged according to the habit of the average person using the keyboard, and has the ability to input text and voice output after the user's trial. In summary, it can be understood that the present invention is an excellent creation, and the same or similar product creation or public use is not seen in the same technical field, and the efficiency is improved, so the invention has met the invention patent. The requirement for "New 13 200824668 = "Life" and Progressiveness" is to file an invention patent application in accordance with the law, and pray for the early grant of the invention patent. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic diagram of the system architecture of the present invention. Fig. 2 is a schematic view showing the relationship between the bending and detecting methods of the finger of the present invention. Figure 2 is a schematic diagram showing the geometric relationship of the finger bending of the present invention. Fig. 4 is a schematic view showing the energy distribution curve of the actual light-emitting diode of the present invention. Figure 5 is a schematic diagram comparing the experimental results of the present invention with the simulation results. Fig. 6 is a schematic view showing the experimental results of the current of the light-emitting diode of the present invention of 2 mA. Fig. 7 is a schematic view showing the experimental results of the current of the light-emitting diode of 4 mA. Fig. 8A is a schematic view showing the experimental results of the current 1 m A and the detection angle of the light-emitting diode of the present invention. Fig. 8B is a schematic view showing the experimental results of the current 2ma and the detection angle of the light-emitting diode of the present invention. Fig. 8C is a schematic view showing the experimental results of the current 3 mA and the detection angle of the light-emitting diode of the present invention. Fig. 8D is a schematic view showing the experimental results of the current 4 mA and the detection angle of the light-emitting diode of the present invention. Fig. 8E is a schematic view showing the experimental results of the current 5 mA and the detection angle of the light-emitting diode of the present invention. Figure 9 is a schematic view of the finger without bending in the present invention. Figure 10 is a schematic view of the present invention for grasping a cylinder having a diameter of 4·5 cm. Figure 11 is a schematic view of a 6 cc cylindrical cylinder of the present invention. 14 200824668 Figure 12 is a schematic diagram of the English virtual keyboard of the present invention. FIG. 13 is a schematic diagram of a Chinese virtual keyboard according to the present invention. [Main component symbol description] 1 0 Photodetector 2〇 Light-emitting diode 3 0 analog input conversion unit 40 Early wafer 50 Computer Reference 15

Claims (1)

200824668 X. Patent application scope: 1 · A single-action joint bending degree detecting device, comprising: a photodetector, which is disposed above a movement axis of the joint; a light-emitting diode, which is attached to the movement of the joint The position below the axis. Analog input conversion unit, which is connected to the wheel end of the photodetector, can convert the luminous flux into an electronic signal; Rebel, which is connected to the analog output input unit, the u processing (4) There is a Chinese/English keyboard that can handle (4) of the above signals for input. Equivalent to the single-action joint curvature as described in item 1 of the sham 2. 2. The light detection (4) directly receives the 2 first line of the light-emitting diode and according to the _ or the hand shirt (4) The degree of light flux received by the time-lapse detection is converted into an electronic signal, and the application of the trial end is composed of a simple, == J = node curvature detecting device structure. P 3. ΓΓ Secondary school:? The single-action joint bending test device described in item 1 = Lu Zhitian is connected to the wheel-out end of the input conversion unit - pre-processor. And the output end of the early cymbal piece is connected to the signal position. 4 · As claimed in the patent scope 箆1 〇罟苴 φ, the use range and sensitivity of the 早 早 早 早 关节 弯曲 弯曲 弯曲 弯曲 可 可 可 可 可 可Light-emitting diodes 'photodetectors and light-emitting diodes ~ or user needs. _ stream size to meet the user's single-action joint bending test as described in item 1, where the nickname processor is a computer. 5.