WO1998007086A1 - Systeme de capteurs corporels - Google Patents

Systeme de capteurs corporels Download PDF

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Publication number
WO1998007086A1
WO1998007086A1 PCT/DE1997/001674 DE9701674W WO9807086A1 WO 1998007086 A1 WO1998007086 A1 WO 1998007086A1 DE 9701674 W DE9701674 W DE 9701674W WO 9807086 A1 WO9807086 A1 WO 9807086A1
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WO
WIPO (PCT)
Prior art keywords
geometry
coordinate
sensor
geometric
attached
Prior art date
Application number
PCT/DE1997/001674
Other languages
German (de)
English (en)
Inventor
Helge Zwosta
Original Assignee
Helge Zwosta
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Filing date
Publication date
Application filed by Helge Zwosta filed Critical Helge Zwosta
Publication of WO1998007086A1 publication Critical patent/WO1998007086A1/fr

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
    • A61B5/1127—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique using markers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/147—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the movement of a third element, the position of Hall device and the source of magnetic field being fixed in respect to each other
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0223—Magnetic field sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/04—Arrangements of multiple sensors of the same type
    • A61B2562/043—Arrangements of multiple sensors of the same type in a linear array
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1124—Determining motor skills
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1124—Determining motor skills
    • A61B5/1125—Grasping motions of hands
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A61B5/6804—Garments; Clothes
    • A61B5/6806—Gloves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0247—Determining attitude

Definitions

  • robots or other artificial machines which implement the body actions of a person in inaccessible environments (contaminated areas, underwater, space, vacuum chambers) in order to solve certain tasks.
  • the "teaching" of robots by means of the act tone specification of a suitably equipped human teacher is one Another application
  • a robot also represents a body whose geometry size can be of interest
  • the second area of application concerns the motion control of head extremes, both in the
  • Methods with a high level of detail are limited to the acquisition of parts of the body (e.g. data gloves).
  • the present invention has the advantage of being able to use the most suitable detection technology for the most varied of applications.
  • the disadvantages described are eliminated in the present patent specification by the invention of INTELLIGENT GEOMETRY SENSOR SYSTEMS (in the future abbreviated because of the word length IGSS). Definitions:
  • Geometry sizes are a. distances. Lengths, vectors (coordinates), angles, strains and the
  • Parts are in a known geometric relationship (for example, the angle between two articulated arms movable in one plane can be specified by the distance from a known location on each arm, or by the displacement of a flexible band guided over the articulated bearing which fixes on an articulated arm and is linearly displaceable on the second.)
  • geometry size was chosen because it was another
  • the geometry size of a body part is, for example, the distance of the thumb from a defined point of the ball of the hand, or the elongation of a flexible band that is guided over the forearm joint when the elbow is bent.
  • a geometry sensor system (does not have to) consist of several sensor components and their suitable arrangement. Individual components of a geometry sensor system can also be subject to different measurement methods. Examples of geometry sensors are: Ultrasonic distance measuring devices consisting of transmitter and receiver, a direction determination with magnetic field coils, or a combination of ultrasound measurement and angle to the gravitational vector.
  • computer unit was chosen because of the now generally used language and refers to a data processing unit based on the EVA (input processing output) principle.
  • IGSS INTELLIGENT GEOMETR1ESENSORIKSYSTEME
  • the core of the present invention is the concept of intelligent Geometries ⁇ soriksyteme for determining geometry sizes.
  • the attribute "intelligent” here refers to the use of data processing means (generally microcomputers) and their programs.
  • An IGSS is an abstract structure that only experiences its specific design through the respective technical application. The description of what such an IGSS is is given in claims 1, 2 and 21 and is explained here again in somewhat different words.
  • An IGSS consists of a geometry sensor system, data processing and a bus connection.
  • Data processing has the tasks of transforming the measurement data into application-related data, transporting it and communicating with other data processing sites. Since the present invention relates to geometrical quantities, a frequent task of data processing will be the conversion of electrical measured values into geometrical quantities. (However, there may also be the task of transforming the measured values directly into application sizes).
  • the concept of the IGSS is definitely suitable for a variety of applications which ultimately only depend on their respective sensor technology and software. A particular advantage of the IGSS concept is the ability to create coordinate systems. (This is just a special form of data acquisition and transformation).
  • each IGSS can itself be designed as a sensor part of a higher-level IGSS and thus opens up a wide range of geometric determination options.
  • a coordinate size can be related to a wide variety of systems by coordinate transformation. This is also the special value when determining the geometry size of complex joint systems, such as those provided by the human body.
  • the formation of hierarchically structured partial coordinate systems eg 1st coordinate system "human hand”, 2nd coordinate system “shoulder”, 3rd coordinate system "hip”, main body coordinate system “back” and ultimately an external coordinate system
  • IGSS and partial coordinate systems need not be identical.
  • an IGSS can form a coordinate system, but it does not have to. It could just as well acquire a single measured value and forward it with a zero transformation.
  • FIG. 1 shows a person on whose body several intelligent geometry sensor systems (hereinafter referred to as IGSS) are attached in accordance with claim 1.
  • IGSS intelligent geometry sensor systems
  • the sub-coordinate system u2, v2, w2 on the left hand also belongs to IGSS 2 and the sub-coordinate system u3, v3, w3 on the right hand belongs to IGSS 3.
  • the reference coordinate system x1, y1, z1 of IGSS 1 is responsible for both hands when they are in the location shadow of their primary reference coordinate systems.
  • Each of the three reference coordinate systems x1, y1, z1 / x2, y2, z2 / x3, y3, z3 is itself a sub-coordinate system with respect to the external coordinate system xe, ye, ze, according to FIG. 3.
  • FIG. 1 a The technical principle of a reference coordinate system, which is based on the method of body-attached field generators and field detectors described in claim 7, is shown in FIG. 1 a as an enlarged detail of the belt part 1.3 of IGSS 3.
  • the three orthogonal coils 1.5, 1.6, 1.7 are flowed through by suitable excitation currents
  • Computer unit 1.8 are formed and generate a nutating magnetic field, which it operates according to the principle of US Pat. No. 4,017,858 (Apparatus for generating a nutating electromagnetic field / Inv.Kuipers) allows the direction of a pointer RZ3 to be specified which points exactly to the origin of the sub-coordinate system u3, v3, w3.
  • This method also enables the orientation angles of the subordinate coordinate system u3, v3, w3 to be determined from the induced voltages of the sensor coils 2.1, 2.2, 2.3 located there (see FIG. 2).
  • the principle of a nutating magnetic field results in a direction indicator RZ but no distance value.
  • the distance of the sensor coordinate system u3, v3, w3 is determined from the transit time of an ultrasonic signal, the transmitter 1.9 of which is located in the origin of the reference coordinate system x3, y3, z3 (FIG. 1a) and the receiver 2.10 of which is located in the origin of the sensor coordinate system u2 , v2, w2 sits (see Figure 2)
  • a ⁇ m . The terms "field or radiation generator or detector in claim 7 were deliberately chosen in this general form because both magnetic, electrical, electromagnetic DC and AC fields and the intensity distributions of light radiation or sound radiation sources are used can.
  • the intelligence lies in the hardware and software of the computer unit 1.8. In addition to the field control, this must also carry out the transit time measurement of the ultrasound signal and, as will be shown, other tasks will also be carried out.
  • the receiver 2.10 (FIG. 2) now reports back to the computer unit 1.8 when the ultrasound signal has arrived there (the starting time of the ultrasound signal is communicated by the computer unit 1.8 to the computer unit 2.8 via the bus system 2.9). Now what can be explained under an IGSS is to be understood.
  • IGSS 3 hip-hand on the right.
  • the IGSS 3 is in data communication with the IGSS3 / 1 (hand-finger-right) via the bus system 2.9; this is the further task of the computer unit 1.8 indicated above.
  • FIG. 2 shows an enlarged detail of the right hand and serves to explain the IGSS-3/1 (hand-finger-right), which is subordinate to the 1GSS-3 (hip-hand-right) in the exemplary embodiment.
  • the IGSS-3/1 (hand -Finger-right) is deliberately based on a different sensor principle than the IGSS-3 (hip-hand-right) in order to further illustrate the diverse design options of an IGSS.
  • the IGSS-3/1 (hand-finger-right) therefore uses in contrast to the IGSS-3 (Hufte-Hand-rechts) ultrasound for determining the position of the fingers and is thus at the same time an illustration for claim 8.
  • the sub-coordinate system of the IGSS-3 (Hufte-Hand-rechts) is now the reference coordinate system of the IGSS- 3/1 (hand-finger-right) and this creates a hierarchical order of the IGSS and the coordinate systems, which enables a coordinate transformation of the geometrical sizes on the rigidly connected to the sensor coils 2 1, 2 2, 2 3 Plate 2 4 are in a defined spatial relationship, the two ultrasound transmitters 2 5 and 2 6, and the combined ultrasound transmitter / receiver 2 10. From the three distances that are proportional to the signal propagation time, the coordinates in u3, v3 w3 can be found for each fingertip.
  • each finger carries an ultrasound receiver 27, which "forwards" the time of the signal arrival to the computer unit 2 8 for distance calculation (here by means of a cable).
  • the individual transmitters either clock at such a high frequency that the finger mechanics are against it, or they use different frequencies to distinguish This distinction must of course be done by the software of the computer unit 2 8.
  • FIG. 2 for clarity, only three rays are drawn to a finger to indicate the three distances.
  • the signal query of the receivers on the fingertips can be parallel or multiplexed there i It should also be pointed out that in the case of spatial detection of the fingertips it does not make much sense to define an orientation there insofar as the location coordinates of each fingertip are sufficient.
  • Claim 2 includes, among other things, the abstract feature for converting geometrical sizes into coordinate values.
  • a detailed description of how geometrical sizes can be converted into coordinate values can be found in claim 20 and the explanation for FIG. 16.
  • the signals of the geometrical probes can be found in the exemplary embodiment above "Fingertip ultrasound” (2 5, 2 6, 2 7, 2 10), "hand magnetic field” (2 1, 22, 2 3 and 1 5 1 6, 1 7) and “hand ultrasound” (2 10 and 1 9,) via the bus system (2 9) to the computer unit (1 8) on the belt.
  • the program loaded in this computer unit (1 9) can now transform and linking algorithms contain soft which are matched to the geometry sensors - "fingertips", "hand magnetic field”, "hand ultrasound”.
  • location vectors of the fingertips or location and orientation vectors of the hand can be calculated. These location and orientation vectors can be specified - again due to the program - with respect to the partial coordinate systems "hand" (u3, v3, w3) and "hip-hand-right” (x3, y3, z3).
  • the location vectors of the fingertips in turn can be transformed from the sub-coordinate system "hand” (u3, v3, w3) to the hierarchically higher-level reference coordinate system "hip-hand-right” (x3, y3, z3).
  • the computer unit (1.8) on the belt can exchange data with any other computer unit on the body or externally. Again, it goes without saying that this data exchange can also involve loading a new program.
  • each geometry sensor system forms an IGGS together with a computer unit. This also corresponds to FIGS. 1, 1a and 2.
  • each IGGS has its own computer unit (1.8 or 2.8).
  • the program of each of these computer units is matched to the associated geometry sensors and can form its own coordinate system.
  • Each IGGS eg IGGS- ⁇ and " can be interpreted as a geometry sensor system by a higher-ranking IGGS (eg IGGS-'üarrangede-hand-rechts").
  • FIG. 3 serves to explain the interaction of the body's own and external IGSS according to claim 6, which has already started above.
  • the sensor principle is the same as in FIG. 1.
  • the belt unit 1.1 belonging to the IGSS-1 (back) is constructed as in FIG. 1 only acts for the external coordinate system xe, ye, ze, part 1.9 of FIG. 1a now as an ultrasound receiver for determining the distance to the external ultrasound transmitter 3.7. (With the emitted ultrasound signal, a radio pulse 3.6 is emitted at the same time, which starts the runtime measurement of the belt unit 1.1.).
  • the nutating magnetic field generated by the reference coils 3.1, 3.2, 3.3 of the external coordinate system supplies the direction indicator RZe and the orientation of the axes x1, y1, z1 and corresponds to that Claim 22 of an external Geomet ⁇ egoße ⁇ determination is thus the body's own coordinate system x1, y1, z1 with respect to the external coordinate system xe, ye, ze determined, and any coordinate transformation of body positions with respect to x1, y1, z1, on the external coordinate system is possible
  • the data relating to the coordinate system x1, y1, z1 is only preferably wireless 3 5 to the external computer unit
  • FIG. 4 shows an articulated head 40 which is mounted with its spherical bearing journal 41 in a bearing not shown here.
  • the GRAMAG sensor is located anywhere on the articulated member
  • the GRAMAG sensor 4 2 is constructed in such a way that it forms an orthogonal coordinate system with the axes u, v, w.
  • the relationship of the GRAMAG coordinate axes to the relative vector r BR- which shows the GR AMAG sensor to the movement center BZ1 is shown by the three Angle ⁇ .
  • the relative vector r BR points through its fixed angular relationship (angle ⁇ , ⁇ , ⁇ ) to the axes of the GRAMAG sensor 4 2 in every position of the joint member 4 0 from the GRAMAG sensor 4 2 to the movement center BZ1 of the position which has not yet been determined Articulated member 40
  • this movement center BZ1 is the center of the bearing 5 1 of a base body shown in FIG. 5
  • the opening of the articulated member 40 can take place both through two axes (z B u and v) of the GRAMAG sensor 42 which have been transformed to the basic coordinate system [x B , y B , z B ], and more clearly by specifying the one in FIG. 4 ei ⁇ ge drawn vectors r E (identifies the joint axis) and - r RE . (points from axis end point E to GRAMAG sensor 2
  • Axes are congruent with the basic body axes x, y, z B.
  • Each of the GRAMAG sensors 4 takes 2 axes u, v, w and each of the basic body axes x, y B , z
  • FIG. 6 shows a simple, practical arm system with 2 joints of different degrees of freedom.
  • Each of the joint members 6 1 and 62 carries a GRAMAG sensor 6 3 and 6 4 position and on its surface The orientation of the GRAMAG sensor 6 3 are measured with respect to the bearing center BZ1, the longitudinal axis L1-L1 of the joint member 6 1 and the axis of rotation DD of the pivot bearing 6 5.
  • the longitudinal axis L2-L2 and axis of rotation DD), the longitudinal axis L2-L2 of the articulated member 6 2 and the axis of rotation DD of the pivot bearing 6 5 are measured.
  • a vector TQ ** can be calculated for each position of the joint member 6 1 that points from the bearing center BZ1 to the bearing center BZ2 and defines the position of BZ2.
  • this vector r G ** of course also defines the axial position L1-L1 of the joint member 6 1 in space
  • the axis DD defines the rotational orientation of both articulated links and, due to the rigidity of the parts, can be determined as a rotary axis vector r D due to the structural design of the rotary bearing.
  • the position and orientation of articulated link 6 1 is completely covered by the described sizes
  • the exemplary embodiment of FIG. 6 shows the orientation of its axis L2-L2 and the position of its end point E2 in space. Both sizes are obtained from the measured axis angle values of the GRAMAG sensor 6 4 by mathematical reshaping in the same manner as for joint member 6 1. The difference is only in the position of the bearing center BZ2, which is now dependent on the joint member 6 1, for the passages
  • Claim 10 describes the combination of methods of claims 7, 8, 9 with sensor systems which detect the kinking of joints.
  • the detection of the articulation of the joint is only a partial aspect in the acquisition of geometry sizes.
  • the deliberately introduced concept of articulation also clarifies the range of execution of the senorik, which is extended via the angle detection.
  • the buckling of a joint can also be detected, for example, by means of the relative path of a flexible elastic band attached above the joint bearing (see in claims 11, 12, 13, 14).
  • Other methods for detecting the articulation of the joints come from the field of data gloves. An exemplary embodiment is given below for each combination in claim 10.
  • Figure 7 shows the combination of a nutating magnetic field according to claim 7 with the articulation.
  • the two orthogonal field generator coils 7.2 and 7.3 are attached to a base body 7.0 at a defined distance A from the articulated bearing 7.1.
  • these, together with the field detector coils 7.4 and 7.5 attached to the joint member 7.6 and suitable evaluation means, allow the determination of the angle ⁇ of a directional pointer RZ pointing towards the field detector coils.
  • the geometry size to be recorded is the position of the field detector coils. The position can be clearly determined if, at a constant distance A, in addition to the angle ⁇ , the angle ⁇ of the articulation is recorded in a known manner.
  • the embodiment shown in Figure 8 combines the distance measurement by means of ultrasound (according to claim 8) with the articulation.
  • the position of a joint link point is determined as the geometry variable.
  • the detecting position of the ultrasound receiver 8.2 fastened on the hinge member 8.1 is determined from the distance R from the ultrasound transmitter 8.3, the hinge angle ⁇ and the constant distance A from the ultrasound transmitter 8.3 and hinge bearing 8.4.
  • the distance from R is determined as usual via the signal transit time.
  • the position determination in the two exemplary embodiments in FIGS. 7 and 8 can of course also take place in coordinates.
  • Figure 9 shows an embodiment according to claim III.
  • the floating bearing 9.4 is indirectly attached to a glove 9.5, in that the flexurally elastic part 9.2 can move.
  • the part 9.2 in the exemplary embodiment is a partially transparent, thin ribbon which is fastened to the fixed bearing 9.3.
  • Fixed bearing here means the function and not the execution. That means that part 9.2 can also be attached directly to the glove.
  • the geometric change between fixed 9.3 and floating bearing 9.4 results from the double arrow in the figure 9.a (Draufscht) symbolized relative displacement of part 9.2 in the floating bearing 9.4.
  • the measuring method for determining the relative displacement consists of a light source 9.6 in the loose bearing 9.4 above and a photosensitive receiver 9.7 in the loose bearing 9.4 under the partially transparent part 9.2.
  • the end of part 9.2 movable in movable bearing 9.2 is now provided with a light-permeable triangular surface, as can be seen in the plan view (FIG. 9.a).
  • the penetration depth - that is, the relative displacement - of the part 9.2 determines the amount of light reaching the photosensitive receiver 9.7.
  • FIG. 10 shows an exemplary embodiment according to claim 12.
  • an expandable sensor means 10.2 is attached at two points 10.3 and 10.4 of a finger joint 10.1.
  • This stretchable sensor means consists of a thin, translucent rubber film, which is specifically coated with non-stretchable opaque parts in the area of the optical sensor.
  • 10a shows a stripe pattern 10.8 in the unstretched state, ie when the finger is stretched as shown in FIG.
  • the stretchable sensor means 10.2 is passed between a light emitter 10.6 and a photo-sensitive receiver 10.7.
  • the expandable sensor means 10.2 undergoes an elongation which causes a greater distance between the light-permeable strips (FIG.
  • FIG. 11 shows an exemplary embodiment according to claim 13.
  • a magnet 11 2 and a magnetic field sensor 11 3 are attached to the surface of a glove 11 6 in the area of the finger joint 11 1.
  • Such a magnetic field sensor can be of a magnetoresistive type or also a Hall sensor.
  • the kinking of the finger joint changes the field strength of the field detected by the magnetic field sensor 11 3 (FIG. 11 a).
  • a particular advantage of this embodiment is that it can also be used in the "interior" of kinks, as the positions 11 4 and 11 5 on the underside of the finger illustrate
  • FIG. 12 shows an exemplary embodiment according to claim 14.
  • a tubular connecting means 12 2 is fastened at the two joint locations 12 3 and 12 4.
  • a Manget field sensor 12 6 is located inside the tube and the distance a s is closed when the fingers are extended externally attached magnet 12 7 occupies.
  • the tubular connecting means 12 2 deforms such that the distance between sensor 12 6 and magnet changes to a ⁇ and causes a corresponding signal change
  • Figure 13 shows an exemplary embodiment according to claim 15 above the joint 13 1, the two bearings 13 3 and 134 are mounted on a glove 13 5 bearing 13 4 is designed as a floating bearing for the flexible connection part 13 2
  • the distance between the connection part 13 2 and the surface the joint is determined here by means of an ultrasound reflex sensor 13 6 and is dependent on the buckling, as the comparison of FIGS. 13 and 13 a shows
  • FIG. 14 shows an exemplary embodiment of claim 16. It is a combination of field sizes (claim 7) and distance (claim 8).
  • a field generator 14 1 formed from three orthogonal coils is attached to the bass body 14 0. This field generator is together with the one on the articulated arm 14 3 attached field detector 14 2 and data processing capable of determining a direction indicator (3 angles) RZ with respect to a coordinate system defined by the field generator.
  • the direction indicator RZ points to the attachment location of the field detector 14 2 on the articulated arm 14.
  • the position of the likewise three orthogonal ones Coil-built field detector 14 2 in this case is the desired geometry-sized field generator 14 1 and field detector 14 3 function according to the principle of the nutating field in accordance with US Pat. No. 4,054,881.
  • FIG. 15 shows a combination example for claim 17, where the method of field generator and field detector is combined with a GRAMAG sensor in accordance with the position determination of a location on the articulated arm 15 1.
  • the field generator 15 2 on the base body 15 0 delivers, together with that, due to its nutating field at the destination on the articulated arm 15 1, a field line 15 3 attached to the articulated arm 15 1 provides a second straight line RG2, which passes through the center MG of the articulated bearing 15 5, is supplied by the GRAMAG sensor 15 4, which is also attached to the articulated arm 15 1 (see description of claim 9 ) From the knowledge of the constant vector ⁇ Q that shows from the field generator 15 2 to the articulated bearing 15 5, the desired position can then be determined.
  • the orientation of the articulated arm 15 1 can also be determined using the determined geometry size ⁇ is in the exemplary embodiment just described el a body-related field size (direction RG1) with a size assigned to the gravitational field and the external geomagnetic field (direction RG2 by GRAMAG sensor) and the joint size (bearing position r Q ) for determining the geometnal sizes "position of the field detector 15 3" and "direction of the articulated arm axis "combined
  • FIG. 16 shows a further embodiment of claim 13. Due to the possibility of movement of the articulated arm 16 4 determined by the type of the articulated bearing 16 5 (here ball joint) and the known distance Rs of the location S to be determined on the articulated arm 16 4 from the articulated bearing location GM, it is also sufficient the field detector 16 3 already has a plumb sensor 166 to determine the position. With knowledge of the possibility of movement and the position of the spherical plain bearing, it is therefore not necessary to give a direction to the earth's magnetic field
  • RZ body-related field size
  • R s distance from the center of the joint GM / field detector 16 3
  • position of the gel bearing ⁇ Q and "ball joint” as well as the measurement size assigned to the gravitational field "Angle .alpha.
  • FIG. 17 shows a simple exemplary embodiment of claim 18.
  • the position of the ultrasound receiver 17.4 is the intersection of three spheres (r s1 , r s2 , r E ), whose center points are given in the XQ, yg, z B system, which is based on the base body 17.0.
  • the geometry sizes described in claim 20 can be of various types, depending on the method with which they were determined.
  • the prerequisite for this is the definition of the coordinate axes, with regard to their surroundings and with each other.
  • a coordinate system is defined on the back of the hand, which has its origin in the extension of the axis 18.5 of the first middle finger member 18.1 at the distance a from the first middle finger link 18.6.
  • the y axis is parallel to the axis 18.5 of the middle finger member, 18.1
  • the x axis is perpendicular to the y axis
  • the z axis is perpendicular to the x y plane which is defined by a surface 18.7 on the back of the hand. It is sensible to place a small real surface on the back of the hand in order to be able to observe the position of the coordinate system from "outside".
  • this coordinate surface is formed by part of the housing 18.9 of a measuring device and data processing.
  • its orientation can also be of interest.
  • An example of this in FIG. 18 is the directional arrow R, which points in the axial direction of the last phalange 18.3.
  • the direction arrow R can be indicated, for example, by its three direction cosines ( ⁇ , ⁇ , ⁇ ) with respect to the coordinate axes.
  • ⁇ , ⁇ , ⁇ the orientation options that a body generally has are required, since the finger joints do not Allow rotation around the limb axis
  • the last statements were the explanation for the concept of the orientation concept introduced in claim 22, which is necessary if the orientation of a body position is also to be described
  • the kink sensors 18 10 supply signals which can be converted into coordinate values by means of the data processing 18 11 and the conversion algorithm stored there with respect to the coordinate system of the housing attached to the handprint 18 8.
  • the conversion algorithm is different for each method. For the example in FIG he will be outlined below
  • the fixed spatial position between the coordinate origin and the first joint GZ1 of the index finger is determined by the constant vector r zo.
  • the vector r z1 can be rotated about the joint GZ1 in a plane perpendicular to the joint axis A1-A1.
  • the articulation angle ⁇ QI is the only variable on which r z1 depends (its length and plane of movement are known)
  • the orientation is formed from the cosine of the directional arrow R * z of the fingertip axis
  • FIG. 3 shows a first exemplary embodiment of claim 22.
  • the method of the nutating field used there in combination with an ultrasound distance measurement allows the position and orientation of a sensor coordinate system to be determined.
  • an exemplary embodiment that is almost identical in description is described, which is based on the principle of US Pat. No. 4,054,881 (Remote object position locater / Inv Raab). Only the position-determining aspect is considered which is achieved by 3 mutually orthogonal learning loops in FIG. 19.
  • the three conductor loops 19 1, 19 2, and 19 3 are excited with alternating current in short succession (multiplexed).
  • the emitted ultrasound signal simultaneously sends out a radio pulse 19.13, which starts the runtime measurement of the communication computing unit 19.12 on the belt).
  • the conversion of the field measurement values in the geometry variables can already be carried out on the body 19.7 using a microcontroller or the measurement data are used for external communication computing unit 19.11 for further processing headed.
  • digital radio 19.10 is used and it is assumed that both the body-mounted communication computing unit 19.12 and the external communication computing unit 19.11 each have a corresponding transmitter / receiver.
  • FIGS. 20 and 20a serve to illustrate claims 23 to 25.
  • the position detection of a body site described in claim 25 is carried out by determining the three distances of the receiving unit 20.6 attached to the body 20.5 from the three ultrasound emitters 20.1, 20.2 and 20.3, which are in a defined spatial relationship to stand by each other. These distances are obtained from the signal transit time of the ultrasound pulses provided with different identifiers (frequency or code f1, f2, f3) and converted by means of analytical geometry into position data of the receiving unit 20.6 in relation to the coordinate system x, y, which is defined by the ultrasound emitter . The transit time of the individual ultrasound pulses is measured in the data acquisition of the receiving unit 20.6.
  • the three ultrasound pulses are started together, but can also be multiplexed one after the other.
  • an electromagnetic trigger signal (radio pulse, IR pulse, etc.) is emitted by the emitter 20.4.
  • This electromagnetic trigger signal is received by the detector 20.10 in one millionth of the sound propagation time and starts the sound propagation time measurement in the receiving unit 20.6. ( Figure 20.a).
  • the detector 20.10 can be a photodiode, an antenna, etc., depending on the type of electromagnetic radiation used.
  • the ultrasound signals then arrive at the ultrasound receivers 20.7 (f3), 20.8 (f2) and 20.9 (f1).
  • Each ultrasound receiver is followed by a filter, a frequency count or a decoding and i.a.
  • a specific ultrasound receiver only determines the distance between a specific ultrasound emitter.
  • the position can then also be calculated in the microcontroller and transmitted as a digital code 20.13 to an external computing unit 20.12.
  • the radio path with the antenna 20.11 was selected as data transmission.
  • the data can also be transmitted by infrared or ultrasound.
  • Several types 20.6 receivers can also be attached to the body if it is appropriate; the external effort is not affected.

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Abstract

L'invention concerne une pluralité de procédés permettant de déterminer les grandeurs géométriques d'un homme, d'un animal, ou d'un corps artificiel en déplacement. Une pluralité de nouvelles applications dépend de la détermination de telles grandeurs géométriques d'un corps, ces applications concernent, entre autres, les domaines suivants: la médecine, le sport, la robotique, l'espace cybernétique, les arts, l'école, la formation. Le concept des 'systèmes de détection géométrique intelligents' constitue l'axe central de l'invention. Ce concept comprend la détection, le traitement en rapport avec l'utilisation, la conversion en un système de coordonnées, la transformation en un nombre quelconque d'autres systèmes de coordonnées, et le transfert de données des types les plus différents de grandeurs géométriques caractéristiques d'un corps au moyen de méthodes de mesure les plus différentes. Ce concept permet ainsi d'établir une reproduction géométrique d'un corps en déplacement ou de parties sélectionnées d'un corps en déplacement avec une résolution de détail élevée, à partir d'un nombre sélectionné de points de mesure.
PCT/DE1997/001674 1996-08-09 1997-08-08 Systeme de capteurs corporels WO1998007086A1 (fr)

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