WO2018115926A1 - Dispositif et procédé pour le suivi de mouvements d'un membre supérieur - Google Patents

Dispositif et procédé pour le suivi de mouvements d'un membre supérieur Download PDF

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Publication number
WO2018115926A1
WO2018115926A1 PCT/IB2016/057797 IB2016057797W WO2018115926A1 WO 2018115926 A1 WO2018115926 A1 WO 2018115926A1 IB 2016057797 W IB2016057797 W IB 2016057797W WO 2018115926 A1 WO2018115926 A1 WO 2018115926A1
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WIPO (PCT)
Prior art keywords
sensors
sensor
finger
threshold value
signal delivered
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PCT/IB2016/057797
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English (en)
Spanish (es)
Inventor
Helmuth TREFFTZ GOMEZ
Christian Andrés DÍAZ LEÓN
Juan Camilo SUAREZ ESCUDERO
José Iván JIMENEZ RAMIREZ
Juan Sebastian AMAYA GUIROZ
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Universidad Eafit
Instituto Neurologico De Colombia-Indec
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Priority to PCT/IB2016/057797 priority Critical patent/WO2018115926A1/fr
Publication of WO2018115926A1 publication Critical patent/WO2018115926A1/fr

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    • 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

Definitions

  • the present development is related to methods and devices to track and record movements of the upper extremities of primates.
  • Document US8140339B2 discloses a device comprising a glove and a frame that support several sensors.
  • the glove is located in a user's hand and the structure is located on the arm, elbow and forearm of a user, these sensors are connected to a computer for the recognition of sign language. Additionally, the document discloses a method to translate said gestures into text or audio.
  • This device has the disadvantage of restricting the movement and sensitivity of the user, in addition to said gloves being limited to a size or measure, which does not fit the different users.
  • Devices that allow tracking movements of the upper limbs through images obtained by cameras are also identified in the state of the art. These images are used to generate a 3D model of the user member that interacts with other devices.
  • patent document US20140098018A1 discloses a device that conforms to the user's wrist, and tracks joint movement.
  • This device comprises an image capture camera connected to a tracking module that uses said images to track an articulated 3D model of a user's member.
  • Said 3D model is sent to a computing device through a communication interface, for the control of said computing device.
  • the document also discloses a method to track an articulated 3D model in order to allow gesture-based control of an independent computing device.
  • the device does not allow to know if there is contact between the fingers or the palm of the hand, or the force in said contact.
  • the present invention corresponds to a method and a device for tracking upper limb movements.
  • the device comprises a processing unit that determines the tracking of fine and thick movements of the upper member; a set of inertial sensors of thick segments located in the thick segments of the upper member; and a set of thin segment sensors located in the thin and distal segments of the upper limb. Where each of the assemblies have between one and twenty sensors and said sensors are connected to the processing unit.
  • the invention comprises a support for phalange sensors, a support for interface sensors, a support for metacarpal sensors and a support for eminence tenar and hypothenar eminence. Said supports support and locate the sensors of the set of sensors of thin segments of the device of the present development.
  • the method of the invention comprises the following steps: a) installing an upper limb movement tracking device on an upper member with thin and thick segments, the upper limb movement tracking device comprises a processing unit, a set of inertial sensors of thick segments located in the thick segments and a set of thin segment sensors located in the thin segments; b) enter a threshold value (a) into the processing unit; c) perform movements with thin and thick segments of the upper limb; d) recording in the processing unit the signals delivered by the set of inertial sensors of thick segments and the set of sensors of thin segments; e) compare threshold values (a) with the signals recorded in step (d) and identify by means of the processing unit the sensors that exceeded the threshold value (a); f) determine from sensors that exceeded the threshold value (a) if the movement of the upper limb is shoulder elevation, shoulder descent, shoulder protraction, shoulder retraction, arm flexion, arm extension, internal rotation of arm, external arm rotation, arm abduction, arm adduction, elbow flexion, elbow extension, forearm supination, fore
  • FIG. 1 shows a side view of an embodiment of the device.
  • FIG. 2 shows a side view of an embodiment of the device, where an RGB-D camera is illustrated.
  • FIG. 3 corresponds to an embodiment of the device where the set of inertial sensors located in thick segments are presented.
  • FIG. 4 corresponds to an embodiment of the device where sensors are located in the palmar of the hand.
  • FIG. 5 illustrates an embodiment of the device where a processing unit and a communication module in separate housings are located on the dorsal side of the hand and wrist.
  • FIG. 6 illustrates an embodiment of the invention where the communication module and the processing unit are located in the same housing on the dorsal face of the wrist.
  • FIG. 7 corresponds to an embodiment of the housing for communication module.
  • FIG. 8 corresponds to an embodiment of the housing for the processing unit.
  • FIG. 9 corresponds to a perspective view of the first flexible enclosure that is part of the support for phalange sensors.
  • FIG. 10 corresponds to an exploded view of the first flexible enclosure that is part of the support for phalange sensors.
  • FIG. 11 corresponds to a top view of the first flexible enclosure that is part of the support for phalange sensors.
  • FIG. 12 corresponds to a bottom view of the first flexible enclosure that is part of the support for phalange sensors.
  • FIG. 13 corresponds to a perspective view of the second flexible enclosure that is part of the support for phalange sensors.
  • FIG. 14 corresponds to an exploded view of the second flexible enclosure that is part of the phalange sensor holder.
  • FIG. 15 corresponds to the phalange support.
  • FIG. 16 corresponds to a perspective view of the interface sensor support, without the elastic interface band.
  • FIG. 17 corresponds to an exploded view of the interface sensor support, without the elastic interface band.
  • FIG. 18 corresponds to a perspective view of the interface sensor support.
  • FIG. 19 shows the support for tenar and hypothenar eminence sensors.
  • FIG. 20 shows a flexible sheet corresponding to the support for metacarpal sensors.
  • FIG. 21 shows a detailed view of the support for metacarpal sensors on the palmar side of the hand.
  • FIG. 22 shows a detailed view of the support for metacarpal sensors on the dorsal side of the hand.
  • FIG. 23 corresponds to an embodiment of the method followed by the present invention to determine the fine movements performed by the upper limb. Detailed description of the invention
  • the present invention relates to a method and device for tracking movements in thick and thin segments of an upper member.
  • the assemblies have between one and twenty sensors, and said sensors are connected to the processing unit (47).
  • "upper limb" will be defined as one of the extremities that are fixed to the upper part of a primate's torso, said limb is composed of at least four parts: shoulder girdle, arm, forearm and hand and characterized by its mobility and ability to manipulate and hold.
  • the present invention comprises a processing unit (47) that determines the tracking of the movements of the upper member by processing the signals from the set of inertial sensors of thick segments and the set of sensors of thin segments.
  • the processing unit (47) is selected from the group consisting of computers, cell phones, tablets, industrial computers, microchips, microcontrollers, microprocessors, processors, programmable gate arrangement devices (FPGA), CPLD, arithmetic units- programmable logic and combinations thereof.
  • the processing unit (47) receives, interprets, stores and compares the signals of the inertial sensor set of thick segments and of the sensor set of thin segments.
  • said unit of Processing (47) includes a storage device that is selected from the group consisting of: central processing units, random access memories, cache memory, secondary storage devices, offline storage devices, network storage and combinations thereof .
  • the processing unit (47) exchanges information with the sensor assemblies of the device, for which a communication medium is selected that is selected from the group consisting of communication modules, communication protocols implemented by means of of hardware, software, and combinations thereof.
  • the device incorporates a communication module (48) connected to the processing unit (47) for the exchange of information between the sensor assemblies and the processing unit (47).
  • the processing unit (47) and the communication module (48) connected to the processing unit (47) are located within the same outer shell, hereinafter "housing", which protects and supports the processing unit (47) and the communication module (48).
  • the processing unit (47) is located in the housing for the processing unit (17) and the communication module (48) connected to the processing unit (47 ) is located in the housing for communication module (18).
  • the processing unit (47) is connected to an RGB-D camera (45) that records depth images of the upper member.
  • RGB-D camera will be understood for the present invention as devices, cameras, sensors, CMOS, artificial retinas, among others, which simultaneously record the color of the image and the depth of objects and scenes
  • Said RGB-D camera (45) does not require movement markers, which allows the user greater freedom of movement, and provides information on the positions and orientations of the shoulder, arm, elbow, forearm and hand.
  • the processing unit (47) processes the images to track the movements of the upper limb.
  • a movement marker will be understood as a real reference to the positions that virtualized objects will take, such as, for example, passive indicators, active indicators, active indicators modulated in time, ping pong balls, LEDs, colored marks, reflective marks and in general the markers used in image processing in augmented reality or virtual reality, among other areas.
  • the present invention comprises a set of inertial sensors of thick segments located in the thick segments of the upper limb, which provides information on the location, orientation and the isolated and joint movements of the shoulder, elbow, arm, forearm and hand .
  • Said sensors of the set of inertial sensors of thick segments are selected from the group consisting of accelerometers, gyroscopes, magnetometers, inertial measurement units and combinations thereof.
  • the set of inertial sensors of thick segments makes linear acceleration and angular velocity measurements, said sensors are commonly used in motion capture and analysis applications.
  • bands are used around the thick segments of the upper member to support each sensor in the set of inertial sensors.
  • the set of inertial sensors of thick segments is composed of five triaxial inertial sensors.
  • a first sensor (19) is located over the third central of the scapula, aligned with the edge of the scapular spine, a second sensor (20) is located on the anterior flat portion of the sternum, a third sensor (21) is located on the central third of the arm, on the posterior lateral face , a fourth sensor (22) is located on the distal third of the forearm, on the posterior face, between the ulna and the radius and a fifth sensor (23) is located on the dorsal face of the hand, between the second and third metacarpal .
  • a transformation matrix is created, which allows the definition of the local coordinate axis that represents the orientation of the body segment.
  • the type of movement performed by each body segment and the angle between the body segments for each type of movement is determined.
  • the degrees of freedom of such movements are given by the body segments and / or joints.
  • the thick movements of the upper limb are defined below:
  • the present invention comprises a set of thin segment sensors located in the thin segments of the upper member that provides information about the contact, locations and isolated movements and together of the fingers and the palm of hand.
  • Said sensors from the set of thin-segment sensors are selected from the group consisting of push-buttons, pressure sensors, proximity sensors, resistive sensors, optical encoders, Hall effect sensors, potentiometers, inductive sensors, capacitive sensors, inertial sensors, flex sensors and combinations thereof.
  • the set of fine sensors is composed of sixteen sensors, located in the fingers and in the palm of the hand.
  • the fine segment sensor assembly comprises a first group of five sensors (1) (2) (3) (4) (5) that is they are housed in a support for phalange sensors (49), and located under the pulp of each of the distal phalanges of the first, second, third, fourth and fifth fingers;
  • the five sensors are connected to the processing unit (47).
  • the present invention comprises a support for phalange sensors of thin segments of upper member comprising a first flexible enclosure (24), a second flexible enclosure (29); and an elastic band of phalanges (33 ) that holds the first flexible enclosure (24) to the second flexible enclosure (29). Where sensors and signal coupling circuits of said sensors are housed in the first flexible enclosure (24) and the second flexible enclosure (29) and the device is located in the phalanges.
  • the first flexible enclosure (24) comprises a first piece (25) of rectangular shape with a curvature in the face in contact with the pulp of a finger. Said curvature adjusts to the tip of the finger preventing the support from sliding towards the proximal region of said finger and changing location.
  • Said first piece has two lateral through holes for connect to the elastic band of phalanges (33) and a low relief on a second face where a sensor (26) adheres.
  • It also comprises a second piece (27) in the form of a rectangular box where the sensor (26) is housed, with a through hole in its bottom and a button (28) protruding from the bottom center of the second piece.
  • said button (28) transmits to the sensor (26) the pressure exerted by the user with the finger pulp where the phalange sensor support (49) is located.
  • the second flexible enclosure (29) comprises a first piece (30) of square shape with a curvature on a first face that allows it to fit on the back of the distal phalanx of a user's finger.
  • Said first piece has lateral through holes for connecting to the elastic band of phalanges (33) and a channel on one of its sides for the output of coupling circuits.
  • It also comprises a second piece (31) in the form of a square box, with a channel on one of its sides for the output of sensor coupling circuits (26).
  • the first flexible enclosure (24) and the second flexible enclosure (29) are connected by means of the elastic band for phalanges (33) which has at least one part, and the sensors and circuits within said enclosures are linked by means of a flexible circuit (32).
  • the support for phalange sensors (49) additionally houses proximity sensors to determine the proximity to the surface of the palm of the hand.
  • the set of thin segment sensors comprises a second group of four sensors (6) (7) (8) (9) that are housed in a support for interface sensors (34), and located on the lateral face of the proximal phalanges of the first, second, third and fourth fingers.
  • the four sensors are connected to the processing unit (47) tracking the abduction and adduction movements of the fingers.
  • the present invention comprises a support for thin segment upper interface interfaces (34).
  • Said support comprises a flexible plate (38), a push button (36) located on one side of the flexible plate (38); a push button cover (35) located on said push button (36); a flexible frame (37), which is located on the edges of the push button cover (35) and fits the flexible plate; and an elastic band of interfalanges (39) located at the ends of the flexible plate (38).
  • sensors and signal coupling circuits of said sensors are housed and the device is located between the proximal phalanges.
  • the flexible plate (38) has a square shape with a curvature on a first face that allows it to fit on the back of the distal phalanx of a user's finger.
  • Said flexible plate (38) has lateral through holes for connecting to the elastic interface band (39) and a channel on one of its sides for the output of coupling circuits.
  • On a second face of the flexible plate (38) there is a button (36) that incorporates a sensor, on said button (36) there is a button cover (35) that transmits to the button (36) the pressure exerted by the user between the phalanges where the support for interface sensors is located (34).
  • a flexible frame (37) is arranged on the edges of the push button cover (35), which fits the flexible plate
  • the flexible plate (38), the button (35), the button cover (35) and the flexible frame (37) fit the proximal phalanx of a user's finger by means of the band elastic for interfalanges (39).
  • the elastic band for interfalanges is not illustrated.
  • the interface holder additionally houses proximity sensors, such as capacitive sensors, to determine the proximity between the phalanges.
  • the set of thin segment sensors comprises a third group of four sensors (10) (11) (12) (13) that are housed in a support for metacarpal sensors (50). These sensors are located in the phalangeal metacarpal region aligned with the phalanges of the second, third, fourth and fifth fingers; The four sensors are connected to the processing unit (47) by tracking movements of the thin upper limb segments.
  • Such movements are: tenar clamp, term-lateral clamp, hypothenar clamp, cylinder grip, sphere grip, tripulpar clamp, thumb opposition, interphalangeal adduction, interphalangeal abduction, phalange superficial flexo-extension, phalange deep flexo-extension and thumb circumcision
  • the present invention comprises a support for metacarpal sensors (50) of thin upper limb segments.
  • Said support comprises a flexible sheet (42) with a through hole (46); an elastic band of metacarpals (43) connected to the flexible sheet (42); and a cord (44) that passes through the hole (46) of the flexible sheet (42).
  • sensors and signal coupling circuits of said sensors are housed on the flexible sheet (42) and the device is located in the metacarpophalangeal region.
  • the flexible sheet (42) is rectangular in shape and has a low relief on the face opposite the face in contact with the palm of a user's hand to accommodate a sensor.
  • the flexible sheet (42) also comprises lateral through holes for connecting to the elastic band of metacarpals (43) and a through hole (46) located along the end of the flexible sheet (42) that is in contact with the digital groove proximal of a user.
  • Said through hole (46) is crossed by a cord (44) that surrounds the proximal region of the finger aligned with the metacarpus on which the flexible sheet is located.
  • Said cord (44) and the elastic band of metacarpals (43) adjust the flexible sheet on the metacarpophalangeal joint and prevent the flexible sheet (42) from changing position.
  • the set of thin segment sensors comprises a fourth group of two sensors (14) (15) that are housed in a support for eminence tenar and hypothenar eminence (51). Said sensors are located in the region of the face flying from the hand (14) and in the hypothenar region of the face flying from the hand (15). The two sensors are connected to the processing unit (47) by tracking the contact movements between the fingers and the tenar and hypothenar regions.
  • the present invention comprises a support for tenar and hypothenar eminence sensors (51) of thin upper limb segments.
  • Said support comprises a flexible tape (40); and an elastic band of eminence tenar and hypotenar eminence (41) located at the ends of the flexible tape (40). Sensors and signal coupling circuits of said sensors are housed on the flexible belt (40) and the support is located on the eminence tenar and the eminence hypotenar.
  • Said support for eminence tenar and hypotenar eminence sensors (51) comprises a flexible tape (40); which has two regions in low relief in the middle of the face opposite the face in contact with the palm of a user.
  • the support also comprises an elastic band of eminence tenar and hypothenar eminence (41) that is located at the ends of the flexible tape (40) and adjusts said flexible tape (40) on the eminence tenar and hypothenar eminence preventing the sensors from changing position.
  • the device comprises an inertial thumb sensor (16) located on the dorsal face of the proximal phalanx of the first finger, connected to the processing unit (47).
  • the inertial thumb sensor (16) can be selected from the group consisting of accelerometers, gyroscopes, magnetometers, inertial measurement units and combinations thereof.
  • the sensors of the fine segment sensor set are sensors that determine the contact between two surfaces, on-off type or pressure sensors.
  • the set of inertial sensors of thick segments and the set of sensors of thin segments are communicated by means of analog signals or digital signals.
  • Both the set of thick segment inertial sensors and the set of thin segment sensors are connected to the processing unit (47) which, by means of the method described below, determines the movements that are performed.
  • the present invention comprises a method for tracking upper limb movements comprising the following steps: a) installing an upper limb movement tracking device on an upper member with thin and thick segments, the member movement tracking device upper comprises a processing unit, a set of thick segment inertial sensors located in the thick segments and a set of thin segment sensors located in the thin segments; b) enter a threshold value (a) into the processing unit; c) perform movements with thin and thick segments of the upper limb; d) recording in the processing unit the signals delivered by the set of inertial sensors of thick segments and the set of sensors of thin segments; e) compare threshold values (a) with the signals recorded in step (d) and identify by means of the processing unit the sensors that exceeded the threshold value (a); f) determine from sensors that exceeded the threshold value (a) if the movement of the upper limb is shoulder elevation, shoulder descent, shoulder protraction, shoulder retraction, arm flexion, arm extension, internal rotation of arm, external arm rotation, arm abduction, arm adduction, elbow flexion, elbow extension, fore
  • the upper limb movement tracking device in step (a) of the method for tracking upper limb movements, is the device of the present invention, which is installed in the upper member of interest. .
  • the signals generated by the sensors that make up the device are processed by the processing unit (47) at each instant of time and are translated into values. These values are compared with a reference value and in this way the device determines the type of movement that is being performed.
  • threshold value (a) two points of the hand are in positive contact when the value of the signal generated by a sensor exceeds a reference value, hereinafter, " threshold value (a) "determined.
  • TMIR TMIR restriction-induced movement therapy
  • TMIR involves the intense performance of tasks with the upper limb of interest, favored by restricting the movement of the healthy limb for at least 90% of the hours of the day in which the person is awake.
  • the TMIR has four phases, of which the first three are carried out under the supervision of a trained professional, for ten daily sessions of 3 hours or more.
  • the first phase consists in restricting the movement of the healthy limb and performing neuromuscular warming of the upper limb of interest.
  • the neuromuscular warming consists of a series of movements of the upper limb directed and supervised by trained personnel, to prepare the upper limb of interest.
  • An example of this is a person who is restricted from the movement of the healthy upper limb, by restriction with a vest, and performs simple movements with the shoulder, elbow, forearm and carpus of the upper limb of interest.
  • the second phase continues with the restriction of healthy upper limb movement, and in this, motor activity movements are performed with the upper limb of interest.
  • motor activity movements are performed with the upper limb of interest.
  • An example of this is a person who is restricted from the movement of the healthy upper limb, by restriction with a vest, and performs simple and complex movements several times with the upper limb of interest.
  • the simple and complex movements are grip, extension, separation, close-up of the fingers of the hand of interest, flexion and extension of the carpus, elbow and shoulder of the upper limb of interest.
  • the third phase continues with the restriction of the movement of the healthy upper limb, and movements of daily practical activities are performed with the upper limb of interest.
  • An example of this is a person who is restricted from the movement of the healthy upper limb, through restraint with a vest, and performs thick, fine and complex movements with a specific objective or through the movements necessary for a motor act of daily life .
  • This act can be to open a door, write, feeding movements, movements for personal hygiene or movements to interact with objects.
  • the fourth phase is that the person continues to use the restriction of the healthy upper limb as long as possible per day (90% of the waking time).
  • step (c) isolated and joint movements of the thin and thick segments of the upper member of a user are performed. Said movements allow the processing unit (47) to record during step (d) the signals delivered by the set of inertial sensors of thick segments and the set of thin segment sensors of the upper member.
  • step (e) the threshold values (a) are compared with the recorded signals of the sensor assemblies of stage (d) and the information of the sensors that exceeded the value is stored in the processing unit (47).
  • threshold (a) the threshold values (a) are compared with the recorded signals of the sensor assemblies of stage (d) and the information of the sensors that exceeded the value is stored in the processing unit (47).
  • step (f) of the method of the present invention the following groups, terms, functions and variables are defined in order to describe the method by which fine movements are determined of the hands
  • the following terms are a representation of the set of thin segment sensors that make up the device: First group of G sl sensors - (Phalange sensors)
  • Thin segment sensor (1) Located in the pulp of the distal phalanx of the first finger.
  • 3 ⁇ 42 Thin segment sensor (2) Located in the pulp of the distal phalanx of the second finger.
  • Thin segment sensor (3) Located in the pulp of the distal phalanx of the third finger.
  • Thin segment sensor (4) Located in the pulp of the distal phalanx of the fourth finger.
  • Thin segment sensor (5) Located in the pulp of the distal phalanx of the fifth finger.
  • Second group of sensors G S2 - (Interface sensors)
  • sn Fine segment sensor (6) Located on the lateral face of the proximal phalanx of the first finger.
  • Thin segment sensor (8) Located on the lateral side of the proximal phalanx of the third finger.
  • Second group of sensors G S3 - (Metarcarpal sensors)
  • Fine segment sensor (10) Located on the metacarpophalangeal region, aligned with the proximal phalanx of the second finger.
  • Fine segment sensor (11) Located on the metacarpophalangeal region, aligned with the proximal phalanx of the third finger.
  • 3 ⁇ 43 Fine segment sensor (12) Located on the metacarpophalangeal region, aligned with the proximal phalanx of the fourth finger.
  • J m4 Fine segment sensor (13) Located on the metacarpophalangeal region, aligned with the proximal phalanx of the fifth finger.
  • Thin segment sensor (15) Located on the fly side of the hand, on the hypothenar eminence
  • G s is defined as the set of thin segment sensors composed of the sensor groups G S1 , G S2 , G S3 , G S4 .
  • the sensor Sf m is added to the set G s .
  • the function U (x, a) is defined as a function that results in a value of 1 if the numerical value of the signal delivered by the sensor x is greater than or equal to a defined threshold (a), and 0 in The opposite case.
  • the device determines the fine movements of the hand.
  • the values delivered by the sensors of the set of thin segment sensors located in the fingers and in the palm of the hand are read, that is, F (x) V x £ G s is determined .
  • the threshold (a) configured in the processing unit (47) is read.
  • Said threshold ( ⁇ ) can be predetermined by a user assigning a value greater than zero or using the default value that is 0.
  • This list of positive contacts is stored in the memory of the processing unit (47).
  • the type of movement that the hand and fingers are making as a whole is determined from the contacts that exceeded the threshold and evaluating whether this set of contacts complies with one of the cases described below.
  • the movement is tenar clamp, if the signal delivered by the sensor located in the pulp of the distal phalanx of the second finger is greater than the threshold value (a) and the signal delivered by the sensor located in the eminence tenar is greater than the threshold value (a).
  • the movement is also having a clamp if the signal delivered by the sensor located in the pulp of the distal phalanx of the third finger is greater than the threshold value (a) and the signal delivered by the sensor located in the eminence tenar is greater than the threshold value (a).
  • the movement is terminolateral clamp, if the signal delivered by the sensor located between the proximal phalanges of fingers one and two is greater than the threshold value (a).
  • the movement is hypothenar clamp, if the signal delivered by the sensor located in the pulp of the distal phalanx of the fourth finger is greater than the threshold value (a) and the signal delivered by the sensor located in the hypothenar eminence is greater than the threshold value (a).
  • the movement is also a hpotenar clamp if the signal delivered by the sensor located in the pulp of the distal phalanx of the fifth finger is greater than the threshold value (a) and the signal delivered by the sensor located in the hypothenar eminence is greater than the threshold value (a).
  • the movement is tripulpier clamp, if the signal delivered by the sensor located in the pulp of the distal phalanx of the second finger is greater than the threshold value (a) and the signal delivered by the sensor located in the pulp of the distal phalanx of the third finger is greater than the threshold value (a).
  • the movement is abduction and interphalangeal adduction, if the signal delivered by the sensor located between the proximal phalanges of fingers one and two is greater than the threshold value (a) and the signal delivered by the sensor located between the proximal phalanges of the fingers two and three is greater than the threshold value (a) and if the signal delivered by the sensor located between the proximal phalanges of fingers three and four is greater than the threshold value (a) and if the signal delivered by the sensor located between the proximal phalanges of fingers four and five is greater than the threshold value (a).
  • the movement is opposed to the thumb, if the signal delivered by the sensor located in the pulp of the distal phalanx of the second finger is greater than the threshold value (a).
  • the movement is also opposed to the thumb if the signal delivered by the sensor located in the pulp of the distal phalanx of the third finger is greater than the threshold value (a).
  • the movement is also opposed to the thumb if the signal delivered by the sensor located in the pulp of the distal phalanx of the fourth finger is greater than the threshold value (a).
  • the movement is also opposed to the thumb if the signal delivered by the sensor located in the pulp of the distal phalanx of the fifth finger is greater than the threshold value (a).
  • the movement is also opposed to the thumb if the signal delivered by the sensor located in the pulp of the distal phalanx of the second finger is greater than the threshold value (a).
  • the movement is also opposed to the thumb if the signal delivered by the sensor located on the metacarpophalangeal region, aligned with the proximal phalanx of the second finger is greater than the threshold value (a).
  • the movement is also opposed to the thumb if the signal delivered by the sensor located on the metacarpophalangeal region, aligned with the proximal phalanx of the third finger is greater than the threshold value (a).
  • the movement is also opposed to the thumb if the signal delivered by the sensor located on the metacarpophalangeal region, aligned with the proximal phalanx of the fourth finger is greater than the threshold value (a).
  • the movement is also opposed to the thumb if the signal delivered by the sensor located on the metacarpophalangeal region, aligned with the proximal phalanx of the fifth finger is greater than the threshold value (a).
  • the movement is superficial flexoextension of the fingers, if the signal delivered by the sensor located in the pulp of the distal phalanx of the second finger is greater than the threshold value (a) and if the signal delivered by the sensor located in the pulp of the distal phalanx of the third finger is greater than the threshold value (a) and if the signal delivered by the sensor located in the pulp of the distal phalanx of the fourth finger is greater than the threshold value (a) and if the signal delivered by the sensor located in the pulp of the distal phalanx of the fifth finger is greater than the threshold value (a) and if the signal delivered by the sensor located on the metacarpophalangeal region, aligned with the proximal phalanx of the second finger is greater than the value of threshold (a) and if the signal delivered by the sensor located on the metacarpophalangeal region, aligned with the proximal phalanx of the third finger is greater than the value of threshold (a) and if the signal delivered by the located sensor on the
  • the movement is flexoextension deep fingers, if the signal delivered by the sensor located in the pulp of the distal phalanx of the second finger is greater than the threshold value (a) and if the signal delivered by the sensor located in the pulp of the distal phalanx of the third finger is greater than the threshold value (a) and if the signal delivered by the sensor located in the pulp of the distal phalanx of the fourth finger is greater than the threshold value (a) and if the signal delivered by the sensor located in the pulp of the distal phalanx of the fifth finger is greater than the threshold value (a) and the signal delivered by the sensor located in the hypothenar eminence is greater than the threshold value (a) and the signal delivered by The sensor located in the eminence tenar is greater than the threshold value (a).

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)

Abstract

La présente invention correspond à un dispositif et procédé pour le suivi de mouvements d'un membre supérieur. Le dispositif comprend une unité de traitement qui détermine le suivi des mouvements fins et grossiers du membre supérieur; un ensemble de capteurs inertiels de segments grossiers situés sur les segments grossiers du membre supérieur et un ensemble de capteurs de segments fins situés sur les segments fins et distaux du membre supérieur. Les ensembles de capteurs sont connectés à l'unité de traitement et comprennent entre un et vingt capteurs. Le procédé permet de déterminer quel type de mouvement du membre supérieur est en train de se produire et comment il est produit. L'invention porte également sur quatre supports servant à soutenir et placer les capteurs de phalanges, les capteurs de régions interphalangiennes, les capteurs de métacarpes et les capteurs d'éminence thénar et d'éminence hypothénar de l'ensemble de capteurs de segments fins du dispositif selon l'invention.
PCT/IB2016/057797 2016-12-19 2016-12-19 Dispositif et procédé pour le suivi de mouvements d'un membre supérieur WO2018115926A1 (fr)

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PCT/IB2016/057797 WO2018115926A1 (fr) 2016-12-19 2016-12-19 Dispositif et procédé pour le suivi de mouvements d'un membre supérieur

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9218058B2 (en) * 2011-06-16 2015-12-22 Daniel Bress Wearable digital input device for multipoint free space data collection and analysis
WO2016042039A1 (fr) * 2014-09-16 2016-03-24 Foundation For Research And Technology - Hellas (Forth) Appareils, procédés et systèmes de reconnaissance de gestes pour interaction homme-machine
CN105518575A (zh) * 2013-08-05 2016-04-20 微软技术许可有限责任公司 与自然用户界面的双手交互
US20160313798A1 (en) * 2015-04-22 2016-10-27 Medibotics Llc Nerd of the Rings -- Devices for Measuring Finger Motion and Recognizing Hand Gestures
US20160338644A1 (en) * 2013-09-17 2016-11-24 Medibotics Llc Smart Clothing for Ambulatory Human Motion Capture

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9218058B2 (en) * 2011-06-16 2015-12-22 Daniel Bress Wearable digital input device for multipoint free space data collection and analysis
CN105518575A (zh) * 2013-08-05 2016-04-20 微软技术许可有限责任公司 与自然用户界面的双手交互
US20160338644A1 (en) * 2013-09-17 2016-11-24 Medibotics Llc Smart Clothing for Ambulatory Human Motion Capture
WO2016042039A1 (fr) * 2014-09-16 2016-03-24 Foundation For Research And Technology - Hellas (Forth) Appareils, procédés et systèmes de reconnaissance de gestes pour interaction homme-machine
US20160313798A1 (en) * 2015-04-22 2016-10-27 Medibotics Llc Nerd of the Rings -- Devices for Measuring Finger Motion and Recognizing Hand Gestures

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