TW202026049A - A motion capture apparatus and gloves for virtual reality system - Google Patents

Abstract

This invention discloses a hand motion sensing device for virtual reality, comprising a glove assembly and a motion response module. The glove assembly is a multilayer kit that can be assembled and disassembled and comprises a non-slip covering member, a sleeving member, and a protective member. The sleeving member and the protective member comprise a hand back part and five half-finger sleeve parts extended outward from the hand back part to form a five-claw finger sleeve structure. The action response module comprises a finger sensing unit, a control unit, a wireless transceiving unit, and a power supply unit disposed between layers of the multilayer kit for tracking the hand movements of a user in a virtual reality environment. The finger sensing unit comprises a plurality of inertial sensors, which are configured according to the hand back, the connection position from the hand back to each finger, and the position of each finger joint of the user, and generate a motion message according to the hand movement of the user. The control unit receives the motion message and performs arithmetic processing to generate a motion data. The wireless transceiving unit is connected to the virtual reality host through a wireless network for performing data transmission. The power supply unit respectively supplies power to the electronic elements in the motion response module. Accordingly, this invention enhances the real interactive behaviors such as touch, swing, and instant feedback in the virtual reality interactive experience to achieve the authenticity of real hands integrated into the space.

Description

Hand motion sensing device for virtual reality and its glove assembly

The invention relates to the technical field of virtual reality, in particular to a dynamic data capture device and its glove structure which is worn on a human hand and under a virtual environment system to simulate and perceive the subtle movements of human fingers.

Virtual reality system is a high-tech in the field of graphics and images that has emerged in recent years. It is also called spiritual technology or artificial environment. Virtual reality is the use of computer simulation to generate a three-dimensional virtual world, providing users with visual and auditory The simulation of sensory organs such as, touch, etc., allows users to observe things in the three-dimensional space in a timely and unlimited manner. Generally speaking, a complete virtual reality system consists of a virtual environment and a high-performance computer. The core virtual environment processor, the visual system with the head-mounted display as the core, the auditory system with speech recognition, sound synthesis and sound localization as the core, the body orientation and posture tracking equipment with the orientation tracker, the data glove and the data suit as the main body, As well as functional units such as taste, smell, touch and force feedback systems.

In the past VR experience, most of the hand interaction methods used the joystick-type single-click trigger and the integration of the tracker to achieve real-time interaction in the VR environment. The practical benefits of the present invention are: The data glove in virtual reality contains multiple sensors installed inside the glove, and it also has data acquisition, transmission and control modules in the glove. In the smart virtual motion capture glove, it can be achieved by using it with VR eyes. Virtual reality, but ordinary smart virtual motion capture gloves need to install "lighthouses", cameras and other messy parts to locate the hands, making the gloves more bulky, and the gloves feel very uncomfortable to wear.

Furthermore, most of the tactile feedback from game experiencers to virtual objects uses somatosensory vibrators or ultrasonic vibrators to simulate the sense of touch. However, the shock waves generated by ultrasonic waves can easily damage the human body and have weak tactility, and somatosensory vibrators can only simulate touch. The vibration generated when touched, but cannot simulate the force feedback when the user holds the virtual object with the hand. As a result, users cannot fully immerse themselves in virtual games and get more fun.

In view of this, the inventor, in view of the shortcomings in the conventional technology, after careful experimentation and research, and a spirit of perseverance, finally conceived the present invention to overcome the above problems.

In view of this, the purpose of the present invention is to provide a hand motion sensing device for virtual reality and its glove assembly, a more realistic and high-quality hand kit and independent finger tips on each finger Sensors and data receiving modules are used to control the main board for data transmission and reception, and greatly reduce the volume of traditional data gloves. It can completely replace the handle of VR equipment. It is an ideal external connection for realizing virtual reality simulation training such as electricity. The device complements the real hand touch, swing, and instant feedback in the interactive experience, so as to achieve the authenticity of the real hand blending into the space.

In order to achieve one of the objectives of the present invention, the present invention proposes a hand motion sensing device for virtual reality, which includes a glove assembly and a motion response module. The glove assembly includes a detachable multilayer kit to form a body part And five finger sleeves to provide a user to wear on the hand; the motion response module is used to track the user’s hand motion in a virtual reality environment, the motion response module is embedded between the kits and includes a Finger sensing unit, a control unit, a wireless transceiving unit and a power supply unit. The finger sensing unit includes a plurality of inertial sensors separately arranged on the main body and each finger cuff. The inertial sensors are based on the user’s The back of the hand, the back of the hand to the connection position of each finger and the position of each finger joint are arranged, and each inertial sensor is provided with a data collection chip at the lower end and it generates a motion message according to the user’s hand motion; the control unit is connected by a soft Wires are connected to each data collection chip to receive the motion information, and after performing arithmetic processing, a motion data that can be used by an external virtual reality host to determine the position and position change of the glove assembly in the virtual reality environment is generated; The transceiver unit is connected to the virtual reality host through a wireless network, so that the virtual reality host receives the motion data and performs data transmission; the power supply unit is respectively connected to the inertial sensors, the data collection chips, the control unit and the wireless transceiver Unit to power it.

In order to achieve another objective of the invention, the invention proposes a glove assembly based on a virtual reality-based hand motion sensing device, which is a detachable multi-layer kit and includes a set of parts, an object and a protective part. The fitting includes a back of the hand and five half-finger parts extending outward from the back of the hand to form a five-claw finger structure. One side of the back of the hand is provided with a groove and each half-finger part is connected to the groove A communicating groove extends to the end of the half-finger cuff portion; the object is arranged in the groove on the back of the hand and is used to place the control unit and the wireless transceiver unit in the action response module. A fixing part is provided to connect and fix the control unit; the protective part includes a back of the hand and five half-finger parts extending outward from the back of the hand to form the five-claw finger cuff structure, and the back of the hand is provided on one side of the corresponding sleeve A groove and each half-finger sleeve portion has a bump corresponding to the grooves of the sleeve; the object placed therein is placed between the groove of the sleeve and the groove of the guard, and the finger sensing unit It is placed between the concave groove of the sleeve and the convex block of the guard to stabilize the positions of the inertial sensors. The guard is wrapped around the sleeve to form a detachable multi-layer kit, thereby forming the main body and Five finger cuffs are provided for the user to wear on their hands.

According to an embodiment of the present invention, a vibration feedback unit is further included to identify the user's interaction between a virtual object in the virtual reality environment, and according to the related interaction type between the user and the virtual object The force data preset by the trigger is sent to the control unit.

According to an embodiment of the present invention, the vibration feedback unit includes a plurality of actuators, which are respectively arranged on the thumb, index finger, and middle finger of the finger sleeves of the glove assembly, so that the user and the virtual The virtual reality host sends the force data due to the triggering of the interaction type between the objects, and transmits the force data through the control unit for feedback to the user.

According to an embodiment of the present invention, it further includes a visual feedback unit for identifying the user's interaction between a virtual object in the virtual reality environment, and according to the type of interaction between the user and the virtual object The preset brightness data is triggered to be sent to the control unit.

According to an embodiment of the present invention, the visual feedback unit includes a plurality of LED light-emitting elements and is respectively arranged at the fingertip positions of the finger sleeve parts of the glove assembly, so that the interaction between the user and the virtual object is triggered The virtual reality host sends the brightness data, and transmits the brightness data through the control unit so that the user can visually understand the phased situation triggered in the interactive state.

According to an embodiment of the present invention, the hand motion sensing device in the virtual reality uses a near-end local area network (WLAN) architecture to form data transmission.

According to an embodiment of the present invention, the finger sensing unit further includes a plurality of magnetic reed switch elements connected to the control unit, and each of the magnetic reed switch elements is arranged at the fingertip position of each finger sleeve so that the user can be in a different position When the finger touches, a touch signal is triggered, and the control unit performs calculations according to the touch signal to generate a preset gesture data, and the virtual reality host receives the preset gesture data.

According to an embodiment of the present invention, it further includes a non-slip covering member for providing the user to wear on the hand and the user's matching sleeve, object holding member and protective member are sequentially covered on the hand, the non-slip covering member It is made of elastic fiber cloth material, and the non-slip covering piece is made of bristled fiber cloth on the outer layer of the corresponding sleeve, so that the multi-layer kit composed of the sleeve, the holding piece and the protective piece is made of the anti-slip covering piece and the user's hand Form a non-slip fixation.

According to an embodiment of the present invention, the sleeve and the protective element are respectively made of soft rubber material to protect each element in the action response module, and the sleeve corresponding to the anti-slip covering is provided with a devil Felt, so that the sleeve is fixed by the devil felt and the bristles fiber cloth of the non-slip covering part.

According to an embodiment of the present invention, wherein the holding part is made of a hollow shell made of light-curable resin material, the inside of the hollow shell is used for arranging the control unit and fixing the control unit with a fixing part, and the fixing part is in the middle. The hollow shell is provided with threads and is locked and fixed with the control unit by screws.

According to an embodiment of the present invention, each of the half-finger cuff portions of the fitting member and the protective member respectively cover the part from the fingertip of each finger of the user to the first knuckle, and each of the fitting member Each of the grooves of the half-finger cuff portion extends to the position of the finger pad for placing a vibration feedback unit, and each of the grooves of the half-finger cuff portion of the sleeve is located at the fingertip position for A visual feedback unit is arranged, and the guard can be provided with a hole at the fingertip position to expose the visual feedback unit,

This "Summary of the Invention" introduces some selected concepts in a simplified form, which will be further described in the "Implementation Modes" below. This "Summary of the Invention" is not intended to identify the key features or basic features of the subject matter of the patent application, nor is it intended to be used to limit the scope of the subject matter of the patent application.

The detailed description and technical content of the present invention are described as follows in conjunction with the drawings. However, the drawings are only provided for reference and description, and are not intended to limit the present invention. Various embodiments of the present invention will be described in detail below with reference to the drawings, but the present invention is not limited to these embodiments. The present invention covers any alternatives, modifications, equivalent methods and solutions made on the essence and scope of the present invention. In order to allow the public to have a thorough understanding of the present invention, specific details are described in the following preferred embodiments of the present invention, and those skilled in the art can fully understand the present invention without the description of these details.

The following describes the technical means adopted by the present invention to achieve the intended purpose of the invention in conjunction with the drawings and preferred embodiments of the present invention. For the detailed description and technical content of the present invention, the attached drawings are only for reference and explanation. It is not used to limit the present invention. In the following description of the present invention, the terms "upper", "lower", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention to simplify the description, rather than indicating that each device or element in the text must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

Please refer to FIG. 1 and FIG. 2, which respectively draw the appearance schematic diagram and the action block diagram of the hand motion sensing device for virtual reality of the present invention. The hand motion sensing device for virtual reality of the present invention includes a glove assembly 10 and a motion response module 20; the technical features of the glove assembly of the present invention will be described first, and then hand motion sensing will be described in detail. The overall configuration and operation of the device. The glove assembly for virtual reality of the present invention includes a detachable multi-layer kit to form a body portion 11 and five finger sleeve portions 12 to provide a user to wear on the hand; it is explained here that the present invention The glove assembly can be a single piece of glove accessory worn on the left or right hand, or it can be a pair of left-handed and right-handed glove accessories. The one-hand accessory will be described below.

The multi-layer kits include a non-slip covering 101, a set 102, an object 103, and a protection 104; an action response module 20 for tracking the user's hand movements in a virtual reality environment The action response module 20 is embedded between the kits and includes a finger sensing unit 21, a control unit 22, and a wireless transceiver unit 23; the structure of the glove assembly will be described first.

The fitting member 102 includes a back part 102a and five half-finger parts 102b extending outward from the back part to form a five-claw finger cover structure. One side of the back part 102a has a groove 1021 and each half-finger The sleeve portion 102b has a groove 1022 communicating with the groove 1021, and the groove 1022 extends to the end of the half-finger sleeve portion. The holding member 103 is arranged in the groove 1021 on the back of the hand and used to hold the control unit 22 and the wireless transceiver unit 23 in the action response module 20. The holding member 103 is provided with a fixing member 1031 and the The control unit 22 is connected and fixed; the protective member 104 includes a back of the hand 104a and five half-finger cuff portions 104b extending outward from the back of the hand 104a to form the five-claw finger claw structure; here, the cover 102 and the protective member 104’s five-finger cuff structure is basically similar to the overall structure, but not limited to this. The back portion 104 a of the protection member 104 has a groove 1041 on the side corresponding to the sleeve 102, and each half-finger portion 104 b has a protrusion 1042 corresponding to the grooves 1022 of the sleeve 102. The non-slip covering member 101 is used for providing the user to wear on the hand and the user cooperates with the sleeve 102, the object 103 and the protective member 104 to be put on the hand in sequence.

According to an embodiment of the present invention, the non-slip covering member 101 is made of elastic fiber cloth material, and the non-slip covering member 101 is made of bristle fiber cloth on the outer layer corresponding to the sleeve member 102, so that the sleeve member 102 , The multi-layer kit composed of the article 103 and the protective member 104 forms a non-slip fixing with the non-slip covering member 101 and the user's hand.

According to an embodiment of the present invention, the sleeve 102 and the protective element 104 are respectively made of soft rubber material to protect each element in the action response module 20, and the sleeve 102 corresponds to a non-slip bag One side of the covering member 101 is provided with a devil felt (not shown in the figure), so that the covering member 102 is non-slip fixed by the devil felt and the bristles of the non-slip covering member 101.

According to an embodiment of the present invention, the holding member 103 is made of a hollow shell made of light-curable resin material, and the inside of the hollow shell is used to house the control unit 22 and fix the control unit with the fixing member 1031 22. The fixing member 1031 is threaded on the hollow shell and locked and fixed to the control unit by screws.

According to an embodiment of the present invention, each of the half-finger cuff portions of the fitting 102 and the protective piece 104 respectively cover the part from the fingertips of the fingers of the user to the first knuckle, and mainly provide the user with Comfort and better control when wearing.

The above discloses the overall structural design of the glove assembly of the present invention, and then the hand motion sensing device of the present invention, the action response module 20 in the glove assembly 10 is mainly used to track the user in the virtual reality environment The finger-sensing unit 21 includes a plurality of inertial sensors 211 separately arranged on the body portion 11 and each of the finger cuff portions 12, and the inertial sensors 211 are based on the back of the user's hand (such as The body part 11), the connection position of the back of the hand to each finger (such as the finger cuff 12) and the position of each finger joint (such as the finger cuff 12) are configured, and each inertial sensor 211 is provided with a data collection chip 212 at the lower end. And it generates a motion message based on the user's hand motion. The control unit 22 is connected to each of the data collection chips 212 through a flexible connection wire 60 (for example, a flexible circuit board (FPC)) to receive the action information, and after performing arithmetic processing, it generates an external virtual reality host (not shown) (Shown) is a piece of motion data used to determine the position of the glove assembly 10 in the virtual reality environment and the position change. The wireless transceiver unit 23 is connected to the virtual reality host through a wireless network, so that the virtual reality host receives the exercise data and performs data transmission.

According to an embodiment of the present invention, the holding member 103 is disposed between the groove 1021 of the sleeve 102 and the groove 1041 of the protection member 104; the finger sensing unit 21 is disposed on the sleeve 102 Between the concave groove 1022 and the protrusion 1042 of the protective member 104 to resist and stabilize the positions of the inertial sensors 211, the protective member 104 is wrapped outside the sleeve 102 to form an assemblable The disassembled multi-layer kit constitutes the main body 11 and the five finger sleeves 12 for the user to wear on the hand.

According to an embodiment of the present invention, it further includes a vibration feedback unit 30 for identifying the user's interaction between a virtual object in the virtual reality environment, and according to the related interaction between the user and the virtual object The force data preset by the type trigger is sent to the control unit 22; wherein the vibration feedback unit 30 includes a plurality of actuators (not shown), which are respectively arranged in the finger sleeve portions 12 of the glove assembly 10 The thumb, index finger, and middle finger, so that the virtual reality host sends the strength data due to the interaction type between the user and the virtual object, and transmits the strength data through the control unit for feedback to the user.

According to an embodiment of the present invention, it further includes a visual feedback unit 40 for identifying the user's interaction between a virtual object in the virtual reality environment, and according to the related interaction between the user and the virtual object The brightness data preset by the type trigger is sent to the control unit. The visual feedback unit 40 includes a plurality of LED light-emitting elements and is respectively arranged at the fingertip positions of the finger sleeve portions 12 of the glove assembly 10, for example: the groove 1022 buried in the sleeve 102 close to the fingertip Position, so that the virtual reality host sends the brightness data due to the interaction type between the user and the virtual object, and transmits the brightness data through the control unit 22 so that the user can visually understand that the user is in the interactive state The phased situation triggered by the next.

According to an embodiment of the present invention, the hand motion sensing device in the virtual reality uses a near-end local area network (WLAN) architecture to form data transmission.

According to an embodiment of the present invention, the finger sensing unit 21 further includes a plurality of reed switch elements 70 which are respectively connected to the control unit 22, and each of the reed switch elements is arranged at the fingertip position of each finger sleeve. In order to enable the user to trigger a contact signal when different fingers are in contact, the control unit performs calculations according to the contact signal to generate a preset gesture data, and the virtual reality host receives the preset gesture data.

According to an embodiment of the present invention, each of the grooves 1022 of each half-finger cuff portion 102b of the sleeve 102 can be extended to the position of the finger pad for positioning the vibration feedback unit (for example, actuation Each of the grooves 1022 of each half-finger cuff portion 102b of the sleeve 102 is located at the fingertip position for positioning the visual feedback unit (such as an LED light-emitting element), and the guard 104 is at the fingertip position A hole (not shown in the figure) can be opened to expose the visual feedback unit so that the user can observe clearly.

According to an embodiment of the present invention, the action response module 20 further includes a power supply unit 24 connected to the inertial sensors 211, the data collection chips 212, the control unit 22 and the wireless transceiver unit 23 respectively These components supply the required power, and the power supply unit 24 can be a battery or can be connected to other power sources, which is not limited here.

The hand motion sensing device of the present invention uses inertial sensors 211 and data collection chips 212 arranged on each finger cuff, and the inertial sensors and data collection chips 212 are respectively arranged at each knuckle position of each finger cuff, Send its own motion information (including posture, speed, acceleration, timing and other information) for the virtual reality host to determine the motion information of the fingers (thumb, index finger, middle finger, ring finger and little finger) worn on the finger. For example, the inertial sensor 101 can be arranged at the second knuckle of the first finger cuff 10 through the sensor base, and the inertial sensor wirelessly sends motion information directly to the virtual reality host. Furthermore, the inertial sensor 211 of the main body 11 is arranged on the back of the hand and transmits the collected motion information in a wireless manner directly to the virtual reality host. For example, the control unit 22 collects thumb motion information, index finger motion information, middle finger motion information, ring finger motion information, little finger motion information, and wrist motion information collected by inertial sensors, and performs integrated operations on these motion information. It is sent to the virtual reality host via the wireless transceiver unit 24 for corresponding processing.

To further illustrate, the operating state of the hand motion sensing device of the present invention is illustrated by taking HTC VIVE as an example. Through the wifi wireless communication environment, the virtual reality host receives the movement information collected by the inertial sensors worn on the user's glove assembly 10 (for example, left hand and right hand), and determines to wear the glove assembly 10 according to the received movement information According to the physical movement information of the thumb, index finger, middle finger, ring finger, little finger and wrist, the posture, position and gesture information of the virtual object are generated according to the determined physical movement information; the head-mounted display (not shown) is used to receive and display the virtual The posture, position and gesture information of the virtual object generated by the reality host. In the virtual reality environment, the principle of calibrating the hand motion sensing device is to make the installation part of the motion measurement module in a known posture, and then according to the measured posture of the motion measurement module and the known body part The posture comparison determines the deviation of the installation orientation of the motion measurement module. For example, in the case of the calibration movement of the inertial sensor at the wrist, it may be the standard calibration movement with the hand facing forward and the palm facing down. For example, after the hand motion sensing device is worn in a predetermined manner, it is necessary to calibrate the installation error of each inertial sensor.

As mentioned above, the calibration can be performed according to the existing human body calibration actions on the system software; during calibration, the measurement object needs to make corresponding calibration actions according to the posture of the software interface. For example, straight fingers, drooping arms, or straight fingers and arms raised flat. The receiving processor calibrates the calculated motion information according to the human biomechanical constraints and external constraints. After the calibration is completed, you can start to capture the motion of the motion capture object (object under test). For example, after the hand motion sensing device is worn in a predetermined manner, the corresponding software on the virtual reality host is turned on. According to the information of the motion capture object and the installation position of each inertial sensor on the motion capture object, select the model of the motion capture object on the virtual reality host software interface. If the model of the corresponding object is not included in the software, you can manually create or input the object model Model, the model of the object includes the connection relationship of each part of the object, the size and initial position of each part, and so on.

Continuing from the above, for the object model, you can also set or modify the constraints and restrictions between the various parts, such as the allowable joint movement angle, etc.; after determining the object model, according to the actual installation position of the inertial sensor, in the virtual reality host The software interface specifies the installation location of each sensor, and the specified location needs to be consistent with the actual location. After determining the installation position of the inertial sensor, it is necessary to calibrate the installation error of each inertial sensor. The calibration can be performed in accordance with the existing human body calibration actions on the software, or the calibration posture can be specified and designed by the user. When calibrating, the measuring object needs to make corresponding calibration actions according to the posture of the software interface. The receiving processor determines the installation error of the inertial sensor according to the known posture and the motion information measured by the inertial sensor. After completing the calibration of the inertial sensor, you can start to capture the motion of the motion capture object.

When performing motion capture, assuming that the position of the shoulder relative to the head is fixed, the virtual reality host will use the motion information transmitted by the inertial sensor 212 arranged on the main body 1 (position of the back of the hand) and the calibrated inertial sensor and arranged on the finger cot The relative posture between the inertial sensors of the part 12 (finger position) determines the movement information of the wrist (including speed, acceleration, timing, posture, etc.), so that the virtual reality host can obtain the information based on the preset upper arm length and shoulder position The position of the elbow relative to the head. Afterwards, the virtual reality host is based on the movement information transmitted by each inertial sensor of the five finger cots (the position of each finger joint) respectively arranged on the finger cot part 12, and the calibrated relationship between the inertial sensors and each finger. The relative posture determines the motion information of each finger joint (including speed, acceleration, timing, posture, etc.); the virtual reality host obtains the relative position of each finger joint based on the preset palm length and the obtained wrist position.

As mentioned above, the virtual reality host transmits the motion information and the calibrated inertial sensor corresponding to the inertial sensor disposed on the finger cuff 12 (for example, the position of the thumb) according to the motion information transmitted by the inertial sensor disposed on the main body 11 (such as the position of the back of the hand). The relative posture between the calibrated inertial sensors and the relative posture of the inertial sensors determines the thumb’s movement information (including speed, acceleration, timing, posture, etc.); the virtual reality host is based on the preset thumb knuckle length and the obtained thumb root position Get the position and posture of each knuckle of the thumb. In the same way, the position and posture of the knuckles of other fingers (for example, index finger, middle finger, ring finger, or little finger) are obtained based on the same calculation processing method.

The movement information of the five fingers (the movement information of the thumb, index finger, middle finger, ring finger and little finger) acquired through the aforementioned hand movement sensing device and its glove assembly. In this way, all fingers and wrists can be obtained in real time through the aforementioned motion capture glove The movement information can complete most of the actions required in the virtual reality system, such as click operation, long press operation, grasp operation, pinch operation, etc. Furthermore, using the magnetic reed switch design to judge the current state of touch between the fingers, it can effectively distinguish OK gestures or finger gestures related to more detailed hand gestures, which can be reflected in the virtual reality so that the user can see the hand through the display Various detailed actions of the department to enhance the user experience.

In summary, the hand motion sensing device for virtual reality and its glove assembly of the present invention, as the use of hand interactive sensing for providing an immersive VR interactive experience, has at least the following advantages:

1. The present invention provides users with more flexibility to interact and integrate hand posture conditions with virtual reality content.

2. The transmission mode of the present invention adopts the near-end WLAN architecture transmission, and the main medium communication method is WiFi, which can transmit the packet data to multiple virtual reality hosts at once, saving transmission time.

3. In the mechanical design of the glove assembly of the present invention, the quick-release devil felt type is used for adhesive coating, which provides users with a considerable degree of convenience.

4. The hand motion sensing device of the present invention is designed with LED and vibration modules at the front of the glove, providing users with real-time feedback experience when they touch or trigger related physical content/situation items in a virtual environment.

5. The hand motion sensing device of the present invention uses a bending module for detection in the detection mode of each part of the finger, and can judge the degree of bending of the finger according to the parameter change, achieving high sensitivity and excellent hand shape discrimination.

6. The hand motion sensing device of the present invention uses a magnetic reed switch design for hand detection situations, and judges the current contact status between the fingers, which can effectively distinguish related hand gesture actions such as OK or making a fist.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Anyone who is familiar with this technology can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection of the present invention The scope shall be subject to the definition of the appended invention application patent scope.

10: Glove components 101: Non-slip coating 102: Fitting 102a: back of the hand 102b: Half finger cuff 1021: groove 1022: groove 103: place objects 1031: fixed parts 104: protective parts 104a: back of the hand 104b: Half finger cuff 1041: groove 1042: bump 11: Body part 12: Finger Cots 20: Action response module 21: Finger sensing unit 211: Inertial Sensor 212: Data Collection Chip 22: control unit 23: wireless transceiver unit 24: Power supply unit 30: Vibration feedback unit 40: Visual feedback unit 60: Flexible connecting material 70: Reed switch element

FIG. 1 is a schematic diagram of the appearance of the hand motion sensing device of the present invention. Fig. 2 is an exploded schematic diagram showing one side of the glove assembly of the present invention. Fig. 3 is an exploded schematic diagram showing the other side of the glove assembly of the present invention. Fig. 4 is a schematic diagram of the assembly of the glove assembly of the present invention. Fig. 5 is a schematic diagram showing the tearing-off of the glove assembly of the present invention through the devil felt. Fig. 6 is a schematic diagram (decomposed state) of the application of the glove assembly of the present invention. Fig. 7 is a schematic diagram of the application (combined state) of the glove assembly of the present invention.

10: Glove components

101: Non-slip coating

102: Fitting

104: protective parts

20: Action response module

21: Finger sensing unit

211: Inertial Sensor

212: Data Collection Chip

22: control unit

23: wireless transceiver unit

24: Power supply unit

30: Vibration feedback unit

40: Visual feedback unit

60: Flexible connecting material

70: Reed switch element

Claims (10)

A hand motion sensing device for virtual reality, including: A glove assembly, including a multi-layer kit that can be assembled and disassembled to form a body part and five finger sleeve parts, so as to provide a user to wear on the hand; An action response module for tracking the user's hand movements in a virtual reality environment, the action response module is embedded between the packages and includes: A finger sensing unit, including a plurality of inertial sensors separately arranged on the main body and each finger cuff. The inertial sensors are based on the back of the user's hand, the connection position between the back of the hand and each finger, and the position of each finger joint To configure, and each inertial sensor is provided with a data collection chip at the lower end and generates a motion message according to the user's hand motion; A control unit that connects each of the data collection chips with a flexible connection wire to receive the action information, and performs arithmetic processing to generate it that can be used by an external virtual reality host to determine the position of the glove assembly in the virtual reality environment And a movement data of the position change; A wireless transceiver unit, connected to the virtual reality host via a wireless network, so that the virtual reality host receives the exercise data and performs data transmission; and A power supply unit is respectively connected to the inertial sensors, the data collection chips, the control unit and the wireless transceiver unit to supply power to them. The hand motion sensing device for virtual reality described in the first item of the scope of patent application further includes a vibration feedback unit for identifying the user's interaction between a virtual object in the virtual reality environment, According to the related interaction type between the user and the virtual object, the preset force data is triggered to be sent to the control unit. The vibration feedback unit includes a plurality of actuators, which are respectively arranged on the finger cots of the glove assembly. Part of the thumb, index finger, and middle finger, so that the virtual reality host sends the force data due to the interaction type between the user and the virtual object, and transmits the force data through the control unit Feedback to this user. The hand motion perception device for virtual reality described in the first item of the scope of patent application further includes a visual feedback unit for recognizing the user’s interaction between a virtual object in the virtual reality environment, According to the related interaction type between the user and the virtual object, the preset brightness data is triggered to be sent to the control unit. The visual feedback unit includes a plurality of LED light-emitting elements and is respectively arranged on the finger sleeve parts of the glove assembly The position of the fingertip of the user and the virtual object is triggered by the virtual reality host to send the brightness data, and the brightness data is transmitted through the control unit so that the user can visually understand that the user is interacting The phased situation triggered by the state. According to the first item of the scope of patent application, the hand motion sensing device used in virtual reality, wherein the hand motion sensing device in the virtual reality uses a near-end local area network architecture to form data transmission. According to the first item of the scope of patent application, the hand motion sensing device for virtual reality, wherein the finger sensing unit further includes a plurality of reed switch elements and is connected to the control unit, and each of the reed switch elements is configured At the fingertip position of each finger sleeve part, so that the user triggers a contact signal when different fingers are in contact, the control unit performs calculations based on the contact signal to generate a preset gesture data and the virtual reality host receives the Preset gesture data. A glove assembly for virtual reality based on any one of the scope of patent application 1-5, which is a detachable multi-layer kit and includes: A set of fittings, including a back of the hand and five half-finger parts extending outward from the back of the hand to form a five-claw finger cuff structure. One side of the back of the hand has a groove and each half-finger part has and A groove connected to the groove, the groove extending to the end of the half finger cuff portion; An object placed in the groove on the back of the hand and used for placing the control unit and the wireless transceiver unit in the action response module, the object is provided with a fixing member connected and fixed with the control unit; and A protective part includes a back of the hand and five half-finger cuffs extending outward from the back of the hand to form the five-claw finger cuff structure. The back of the hand has a groove on the side corresponding to the cover and each The half-finger cuff portion has a bump corresponding to the concave grooves of the sleeve; Wherein the object is placed between the groove of the sleeve and the groove of the guard, and the finger sensing unit is placed in the groove of the sleeve and the bump of the guard In order to stabilize the positions of the inertial sensors, the protective member is wrapped outside the sleeve to form a detachable multi-layer kit to form the main body and five finger sleeves to provide the user with hand. As described in item 6 of the scope of patent application, the glove assembly for virtual reality further includes a non-slip covering to provide that the user wears the hand and the user cooperates with the suit, the object and the The protective element is sequentially covered on the hand. The non-slip covering element is made of elastic fiber cloth material. The anti-slip covering element is made of bristled fiber cloth on the outer layer corresponding to the covering element, so that the sleeve, the The multi-layer kit composed of the object and the protective part forms a non-slip fixing with the non-slip covering part and the user's hand. As described in item 7 of the scope of patent application, the glove assembly for virtual reality, wherein the sleeve and the protective member are respectively made of soft rubber material to protect each element in the action response module, A devil felt is provided on the side of the sleeve corresponding to the anti-slip covering member, so that the sleeve is fixed by the devil felt and the bristle fiber cloth of the anti-slip covering member. As described in item 6 of the scope of patent application, the glove assembly for virtual reality, wherein the object is a hollow shell made of light-curable resin material, and the inside of the hollow shell is used to house the control unit And the control unit is fixed by the fixing part, and the fixing part is provided with a thread on the hollow shell and locked and fixed with the control unit by a screw. As described in item 6 of the scope of patent application, the glove assembly for virtual reality, wherein each of the half-finger cuff parts of the fitting part and the protective part respectively cover the fingertips of the fingers of the user to the first The part of the knuckle, and each of the grooves of each half finger cuff portion of the fitting piece extends to the position of the finger pad for placing a vibration feedback unit, and each half finger cuff of the fitting piece Each of the grooves of the part is located at the fingertip position for arranging a visual feedback unit, and the guard can be provided with a hole at the fingertip position to expose the visual feedback unit.

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