WO2020088015A1 - Dispositif de capture d'action manuelle - Google Patents

Dispositif de capture d'action manuelle Download PDF

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Publication number
WO2020088015A1
WO2020088015A1 PCT/CN2019/098800 CN2019098800W WO2020088015A1 WO 2020088015 A1 WO2020088015 A1 WO 2020088015A1 CN 2019098800 W CN2019098800 W CN 2019098800W WO 2020088015 A1 WO2020088015 A1 WO 2020088015A1
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WO
WIPO (PCT)
Prior art keywords
force feedback
hand motion
drive mechanism
detection signal
link
Prior art date
Application number
PCT/CN2019/098800
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English (en)
Chinese (zh)
Inventor
谷逍驰
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深圳岱仕科技有限公司
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Application filed by 深圳岱仕科技有限公司 filed Critical 深圳岱仕科技有限公司
Publication of WO2020088015A1 publication Critical patent/WO2020088015A1/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
    • 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
    • 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
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
    • G06F2203/01—Indexing scheme relating to G06F3/01
    • G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment

Definitions

  • the present application relates to a hand motion capture device.
  • a hand motion capture device In a virtual reality scene, in order to enhance the user's perception of the virtual world, a hand motion capture device is often used to capture the motion information of the human hand.
  • the hand motion capture device has a five-finger mechanism adapted to the five fingers of the hand. After wearing, when the user's finger moves, the hand motion capture device will capture the operation of the human finger to realize the capture of human hand movement information.
  • hand motion capture devices With the development of virtual reality technology, hand motion capture devices have begun to have a force feedback function at the same time.
  • the force feedback function of the current hand motion capture device is nothing but the difference.
  • the dimension and experience of force feedback are limited, and the size of the force feedback at different positions cannot be accurately controlled, so that the user cannot produce a real Grip.
  • a hand motion capture device is provided.
  • a hand motion capturing device includes a base and a plurality of link structures.
  • the hand motion capturing device further includes:
  • a control device provided on the base, the control device being configured to send the received detection signal to the upper computer and receive one or more control signals fed back by the upper computer;
  • a first force feedback drive device connected between the base and the link structure, the first force feedback drive device configured to detect a rotation angle of the link structure relative to the base and generate a detection signal, Output a detection signal to the control device, and when receiving a control signal corresponding to the feedback of the control device, output force feedback according to the corresponding feedback control signal;
  • a second force feedback driving device provided on the joint of the link structure, the second force feedback driving device is configured to detect the rotation angle of the corresponding link and generate a detection signal, and output the detection signal to the control device, And when the received control device corresponds to the feedback control signal, it outputs force feedback according to the corresponding feedback control signal.
  • the first force feedback driving device includes:
  • a first drive mechanism and a first torque output rod the first drive mechanism is connected between the base and the link structure, the first end of the first torque output rod and the first drive mechanism Connection, the second end of the first torque output rod is movably connected to the connecting rod structure;
  • a first angle sensor configured to detect the rotation angle of the link structure relative to the base and generate a detection signal
  • a first processor which is electrically connected to the first angle sensor, the first drive mechanism, and the control device, respectively, is configured to send the detection signal of the first angle sensor to the
  • the control device controls the first drive mechanism to output a torque of a corresponding magnitude to the first torque output lever according to the received control signal corresponding to the control device feedback.
  • the first drive mechanism includes an electric drive mechanism or an electromagnetic drive mechanism.
  • the electric drive mechanism includes a motor
  • the first driving mechanism includes a first motor, a rotor and a stator of the first motor are respectively fixed on the connecting rod structure and the base, and the first motor is connected to the first end of the first torque output rod .
  • the second force feedback driving device includes:
  • a second drive mechanism and a second torque output rod the second drive mechanism is connected between different links, the first end of the second torque output rod is connected to the second drive mechanism, the second The second end of the torque output rod is movably connected to the connecting rod structure;
  • a second angle sensor configured to detect the rotation angle of the corresponding link and generate a detection signal
  • a second processor which is electrically connected to the second angle sensor, the second drive mechanism, and the control device, respectively, is configured to send the detection signal of the second angle sensor to the
  • the control device controls the second drive mechanism to output a torque of a corresponding magnitude to the second torque output lever according to the received control signal corresponding to the control device feedback.
  • the second drive mechanism includes an electric drive mechanism or an electromagnetic drive mechanism.
  • the electric drive mechanism includes a motor
  • the second driving mechanism includes a second motor, a rotor and a stator of the second motor are respectively fixed on different links of the connecting rod structure, and the second motor is connected to the first end of the second torque output rod .
  • the hand motion further includes a fixing device for fixing the link structure and the base to the hand
  • the hand motion capturing device further includes:
  • a third force feedback driving device connected between the link structure and the fixing device, the third force feedback driving device is configured to detect the rotation angle of the link structure relative to the fixing device and generate a detection signal to detect The signal is output to the control device, and when the received control signal corresponding to the control device corresponds to the feedback control signal, the force feedback is output according to the corresponding feedback control signal.
  • the third force feedback driving device includes:
  • a third drive mechanism and a third torque output lever is connected between the fixing device and the connecting rod structure, the first end of the third torque output lever and the third drive Mechanical connection, the second end of the third torque output rod is movably connected to the connecting rod structure;
  • a third angle sensor configured to detect a rotation angle of the link structure relative to the fixing device and generate a detection signal
  • a third processor which is electrically connected to the third angle sensor, the third drive mechanism, and the control device, respectively, is configured to send the detection signal of the third angle sensor to the The control device controls the third drive mechanism to output a torque of a corresponding magnitude to the third torque output lever according to the received control signal corresponding to the control device feedback.
  • control device includes a wireless communication module.
  • the link structure includes a straight link and a special-shaped link, one end of the straight link is connected to the base through the first force feedback driving device, and the The other end is connected to one end of the special-shaped connecting rod through the second force feedback driving device, and the other end of the special-shaped connecting rod is connected to the fixing device.
  • the fixing device includes a palm fixing component and a finger fixing component.
  • the palm fixing component is a strap structure, a glove structure or a bracelet structure.
  • the finger fixing component is a cable tie structure or a finger sleeve structure.
  • the base is provided with a power supply device.
  • the power supply device includes a battery.
  • the hand motion capture device further includes an external accessory connected to the base, the external accessory including one or more of a joystick, a button, and a dial.
  • FIG. 1 is a schematic diagram of the overall structure of a hand motion capture device in an embodiment
  • FIG. 2 is a schematic diagram of an exploded structure of a hand motion capture device in another embodiment
  • FIG. 3 is a schematic diagram of an exploded structure of a hand motion capture device in an embodiment
  • FIG. 4 is a schematic diagram of an exploded structure of a hand motion capture device in an embodiment
  • FIG. 5 is a schematic diagram of the overall structure of a hand motion capture device in an embodiment
  • FIG. 6 is a schematic diagram of the overall structure of a hand motion capture device in an embodiment.
  • the hand motion capture device of the present application can provide adjustable continuous force feedback at the tip of a user's finger to simulate the shape and rigidity of a virtual object, which can be used for robot control, mechanical control, games, and so on.
  • the present hand movement capture device may be used.
  • the user can use the hand motion capture device to control the robot to remove bombs one kilometer away from the user.
  • the user can remotely control the robot's hand to grab explosive items by moving his hand.
  • the hand motion capture device can apply a feedback force to the user, so that the user feels gripped.
  • users can see their hands in the virtual world through the head-mounted display, increasing the sense of presence.
  • the host computer can send a command to the hand motion capture device, so that the hand motion capture device with force feedback exerts a feedback force on the user's hand, making the user seem to hold a real object in the real world. .
  • FIG. 1 is a schematic structural diagram of a hand motion capture device in an embodiment.
  • the hand motion capture device includes a base 1, a plurality of link structures 2, a fixing device 3 for fixing the link structure 2 and the base 1 to the hand, and the hand motion capture device further includes a control device (Shown in the figure), the first force feedback drive 4 and the second force feedback drive 5.
  • the details are as follows:
  • the control device is provided on the base 1 and is configured to send the received detection signal to the host computer and receive one or more control signals fed back by the host computer.
  • the first force feedback driving device 4 is connected between the base 1 and the link structure 2.
  • the first force feedback driving device 4 is configured to detect the rotation angle of the link structure 2 relative to the base 1 and generate a detection signal, and output the detection signal to
  • the control device outputs force feedback according to the received control signal corresponding to the received control device.
  • the second force feedback drive device 5 is provided on the joint of the link structure 2.
  • the second force feedback drive device 5 is configured to detect the rotation angle of the corresponding link and generate a detection signal, output the detection signal to the control device, and according to the received The received control device outputs force feedback corresponding to the feedback control signal.
  • the control device is provided on the base 1 and receives the detection signals of the first force feedback driving device 4 and the second force feedback driving device 5 and sends them to the upper computer. Force feedback is required, and when it is determined that force feedback is needed, the corresponding control signal is fed back to the control device, and then the control device feeds back the corresponding control signal to the first force feedback drive device 4 and the second force feedback drive. Device 5 so that the first force feedback driving device 4 and the second force feedback driving device 5 respectively output force feedback according to the received corresponding control signals.
  • the corresponding first force feedback drive device 4 and / or second force feedback drive device 5 will not receive the control signal, and thus maintain the current action State, no force feedback output.
  • the host computer can be a computer, mobile phone, game console, server, computer equipment, etc.
  • the host computer reconstructs the hand model according to the received detection signal, and establishes the relative coordinate relationship between each fingertip and the back of the hand, and through this relative coordinate relationship, maps the reconstructed hand model to the hand of the virtual character, and then begins Perform collision detection and physical state judgment of object interaction.
  • the hand of the avatar collides with the target object for example, when the hand of the avatar grasps a certain virtual object
  • the physical state corresponding to the virtual object is determined, and the feedback that should actually be generated is calculated according to the physical state
  • the vector direction and magnitude of the force are sent to the control device as a control signal.
  • the vector direction and magnitude of the feedback force can be calculated using the inverse kinematics / inverse dynamics algorithm, or it can be realized by looking up the table.
  • a fingertip force size angle and multiple force feedback devices ’opening force feedback are preset The table of one-to-one correspondence between angle and size, when the fingertip force needs a certain size and angle, you can find out the corresponding force feedback device parameters from the table.
  • the control device includes a wireless communication module, which can realize wireless control and is more convenient to use.
  • the wireless communication module may be any module that performs wireless data transmission, including but not limited to a Bluetooth module, a radio frequency (NRF) module, a wireless (Wireless-Fidelity, Wi-Fi) module, 2.4G module, etc.
  • the first force feedback driving device 4 includes a force feedback device provided on the thumb corresponding link mechanism 2 and a force feedback device provided on the other four-finger corresponding link mechanism 2, specifically
  • the first force feedback driving device 4 can be connected between the base 1 and the link structure 2 by means of links, hinges, bearings, etc., and detect the rotation angle of the link structure 2 relative to the base 1 to generate a detection signal.
  • the detection signal is an action signal that the finger and the palm are close to or away from each other.
  • the control device When the control device receives and sends the detection signal, and receives the control signal fed back by the host computer, the control device feeds back the control signal to the first force feedback drive device 4 so that the first force feedback drive device 4 outputs according to the control signal
  • the force feedback corresponding to the direction and magnitude of the vector enables the user to experience the stiffness value of the corresponding area in the virtual object that is in virtual contact with the finger and the palm through the force feedback.
  • the second force feedback driving device 5 includes a force feedback device disposed on the joint of the corresponding link mechanism 2 of the thumb, and a force feedback device disposed on the joint of the corresponding link mechanism 2 of the other four fingers, Specifically, the second force feedback driving device 5 may be connected between different links of the link structure 2 through links, hinges, bearings, etc., and detect the rotation angle between the different links of the link structure 2 to generate a detection signal .
  • the detection signal is an action signal that the different joints of the finger approach or deviate from each other (for example, the finger bends).
  • the control device When the control device receives and sends the finger joint motion signal, and receives the control signal fed back by the host computer, the control device then feeds back the control signal to the second force feedback drive device 5, so that the second force feedback drive device 5 according to the control
  • the signal outputs force feedback corresponding to the direction and magnitude of the vector, so that the user can experience the stiffness value of the corresponding area in the virtual object that is in virtual contact with the finger through the force feedback.
  • the second force feedback driving device 5 may be smaller in volume design than the first force feedback driving device 4.
  • the hand motion capture device detects the rotation angle of the link structure 2 corresponding to each finger relative to the base 1 through the first force feedback drive device 4 and outputs the detection signal, and the second force feedback drive device 5
  • the detection of the rotation angle between the different links of each link structure 2 and the output of the detection signal, as well as the reception, transmission and control signal reception and feedback of the detection signal by the control device finally makes the first force feedback drive device 4 and
  • the second force feedback driving device 5 correspondingly outputs force feedback of different sizes and directions, thereby enabling meticulous capture of hand movements and finger movements, and at the same time achieving richer dimensions and more refined force feedback to simulate the shape of virtual objects And stiffness, to provide users with a more realistic touch experience.
  • FIG. 2 is a schematic exploded view of a hand motion capture device provided by another embodiment.
  • the motion capture device in the hand includes a base 1, a plurality of link structures 2, a fixing device 3 for fixing the link structure 2 and the base 1 to the hand, a control device, and a first force feedback drive Based on the device 4 and the second force feedback drive device 5, the hand motion capture device further includes a third force feedback drive device 6.
  • the second force feedback drive device 5 and the third force feedback drive device 6 may be smaller in volume design than the first force feedback drive device 4.
  • the description of the base 1, the connecting rod structure 2, the fixing device 3, the control device, the first force feedback driving device 4 and the second force feedback driving device 5 refer to the previous embodiment, which will not be repeated here. .
  • the third force feedback driving device 6 is connected between the link structure 2 and the fixing device 3, and the third force feedback driving device 6 is configured to detect the rotation angle of the link structure 2 relative to the fixing device 3 and Generate a detection signal, output the detection signal to the control device, and output force feedback according to the received control signal corresponding to the control device.
  • the third force feedback driving device 6 includes a force feedback device provided on the thumb corresponding link mechanism 2 and a force feedback device provided on the other four-finger corresponding link mechanism 2, specifically, the third force feedback
  • the driving device 6 may be connected between the fixing device 3 and the link structure 2 by means of links, hinges, bearings, etc., and detect the rotation angle of the link structure 2 relative to the fixing device 3 to generate a detection signal.
  • the detection signal is an action signal that the fingertip and the palm are close to or away from each other.
  • the control device When the control device receives and sends the detection signal, and receives the control signal fed back by the host computer, the control device then feeds back the control signal to the third force feedback drive device 6, so that the third force feedback drive device 6 outputs according to the control signal
  • the force feedback of the corresponding vector direction and magnitude enables the user to experience the stiffness value of the virtual contact area of the corresponding fingertip in the virtual object through the force feedback.
  • the host computer only when the detection signal is judged by the host computer as the need for force feedback, the host computer will feedback the corresponding control signal, so that the third force feedback drive device 6 outputs the force feedback of the corresponding vector direction and magnitude, otherwise it is maintained There is no force feedback output in the current action state.
  • the hand motion capture device detects the rotation angle of the link structure 2 corresponding to each finger relative to the base 1 through the first force feedback drive device 4 and outputs the detection signal, and the second force feedback drive device 5
  • the third force feedback drive device 6 detects the rotation angle of the link structure 2 relative to the fixing device 3 and the output of the detection signal, and controls
  • the device receives, sends, and receives control signals for each detection signal, and finally causes the first force feedback drive device 4, the second force feedback drive device 5, and the third force feedback drive device 6 to output force feedback of different magnitudes accordingly.
  • the first force feedback drive device, the second force feedback drive device, and the third force feedback drive device in the above embodiments can be arbitrarily combined.
  • the hand motion capture device can include the first force feedback drive Any two or more of the device, the second force feedback drive device, and the third force feedback drive device, in order to simplify the description, all possible combinations of the technical features in the above embodiments are not described, however, as long as There is no contradiction in the combination of these technical features, and all should be considered as within the scope of this description.
  • Figs. 3 and 4 are schematic diagrams of an exploded structure of a hand motion capture device in an embodiment
  • Figs. 5 and 6 are hand motions in an embodiment. Schematic diagram of the overall structure of the capture device.
  • the first force feedback driving device 4 includes a first driving mechanism, a first torque output lever, a first angle sensor, and a first processor.
  • the first drive mechanism and the first torque output rod are connected between the base 1 and the link structure 2.
  • the first end of the first torque output rod is connected to the first drive mechanism.
  • the second end is movably connected with the link structure 2.
  • the first torque output rod coincides with the rotation axis of the connecting rod structure 2, and may also be in other orientations, and then transmitted to the rotation axis of the connecting rod through gears, worm gears, or other transmission forms.
  • the first angle sensor is configured to detect the rotation angle of the link structure 2 relative to the base 1 and generate a detection signal.
  • the first processor is electrically connected to the first angle sensor, the first driving mechanism and the control device, respectively, and is configured to send the detection signal of the first angle sensor to the control device and correspond to the received control device
  • the feedback control signal controls the first driving mechanism to output torque of a corresponding magnitude to the first torque output lever.
  • the second force feedback driving device 5 includes a second driving mechanism, a second torque output lever, a second angle sensor, and a second processor.
  • a second drive mechanism and a second torque output lever the second drive mechanism is connected between different links, the first end of the second torque output lever is connected to the second drive mechanism, and the second end of the second torque output lever Actively connected with the connecting rod structure 2.
  • the second torque output rod coincides with the rotation axis of the connecting rod, and may be oriented in other directions, and then is transmitted to the rotation axis of the connecting rod through gears, worm gears, or other transmission forms.
  • the second angle sensor is configured to detect the rotation angle of the corresponding link and generate a detection signal.
  • the second processor which is electrically connected to the second angle sensor, the second driving mechanism, and the control device, respectively, is configured to send the detection signal of the second angle sensor to the control device, and correspond to the received control device
  • the feedback control signal controls the second driving mechanism to output torque of a corresponding magnitude to the second torque output lever.
  • the third force feedback drive device 6 includes a third drive mechanism, a third torque output lever, a third angle sensor, and a third processor.
  • a third drive mechanism and a third torque output lever the third drive mechanism is connected between the fixing device 3 and the connecting rod structure 2, the first end of the third torque output lever is connected to the third drive mechanism, the third torque output lever The second end of the is movably connected with the link structure 2.
  • the third torque output rod coincides with the rotation axis of the connecting rod structure 2, and may be in other orientations, and then transmitted to the rotation axis of the connecting rod through gears, worm gears, or other transmission forms.
  • the third angle sensor is configured to detect the rotation angle of the link structure 2 relative to the fixing device 3 and generate a detection signal.
  • the third processor which is electrically connected to the third angle sensor, the third drive mechanism, and the control device, is configured to send the detection signal of the third angle sensor to the control device, and correspond to the received control device
  • the feedback control signal controls the third driving mechanism to output the corresponding torque to the third torque output lever.
  • each driving mechanism and angle sensor are connected to corresponding processors through wires (including power supply and signal lines), and then each processor is connected to the control device; it can also be directly from each driving mechanism and angle sensor Connect to the control device.
  • the wire routing always fits the connecting rod structure 2 and will not affect normal use.
  • all angle sensors can use potentiometers, Hall angle sensors, non-contact magnetic angle sensors, encoders and other arbitrary angle sensors, and the measurement axis of each angle sensor coincides with the rotation axis of the corresponding link structure 2 to measure Rotating angle of connecting rod.
  • each processor may also be set at another position of the hand motion capture device, and only needs to be controlled by electrical connection.
  • all processors can be installed on the base 1.
  • the first drive mechanism, the second drive mechanism, and the third drive mechanism may be electric drive mechanisms or electromagnetic drive mechanisms, respectively.
  • electric drive mechanisms include but are not limited to motors
  • motors include but are not limited to disc drive motors, brushless drive motors, hollow cup drive motors, iron core drive motors, linear drive motors
  • electromagnetic drive mechanisms include but are not limited to electromagnetic
  • the first driving mechanism, the second driving mechanism, and the third driving mechanism may also be solenoids or other brakes that can output torque, and may also be actuators that output in other forms.
  • the first drive mechanism includes a first motor, and the rotor and stator of the first motor are respectively fixed on the link structure 2 and the base 1;
  • the second drive mechanism includes a second motor and a second motor The rotor and the stator are respectively fixed on different connecting rods of the connecting rod structure 2 to achieve the driving effect.
  • the third driving mechanism includes a third motor, and the rotor and stator of the third motor are respectively fixed on the connecting rod structure 2 and the fixing device 3 to achieve the driving effect.
  • each force feedback driving device may further include a gear shifting stage from one stage to several stages.
  • the transmission group may be, but not limited to, a gear reduction group, a worm reduction group, and a connecting rod transmission reduction group.
  • the gear reduction group may include bevel gears, flat gears, helical gears, bevel gears, and so on.
  • the shift group may be provided in each drive mechanism.
  • each gear shift group can realize the transmission of torque to the corresponding torque output lever according to the position and direction of the corresponding drive mechanism and its own transmission through a worm gear that can be driven back.
  • the first force feedback driving device 4 includes a first driving mechanism 41, a first torque output lever 42, a first angle sensor 43 and a first processor 44.
  • the first driving mechanism 41 includes a first motor 411 and a first gear reduction group 412, the first motor 411 and the first gear reduction group 412 are connected by gears, and the first gear reduction group 412 is also connected to the first torque output lever 42 The first end is connected by a gear.
  • the first processor 44 controls the motor rotation and torque output by controlling the current of the first motor 411, thereby controlling the rigidity of the virtual object.
  • the first processor 44 inputs a high current to the first motor 411, so that the first motor 411 outputs high torque to the first torque output lever 42 through the first gear reduction group 412, and the user's hand Stay in a specific location.
  • the first processor 44 inputs a low current to the first motor 411, so that the first motor 411 outputs a low torque to the first torque output lever 42 through the first gear reduction group 412, and the user can use his fingertips to force Overcome the torque output by the motor and feel the rigidity of the virtual object.
  • the link structure 2 includes a straight link 21 and a shaped link 22, and one end of the straight link 21 is connected to the base 1 through the first force feedback driving device 4 and directly connected The other end of the rod 21 is connected to one end of the shaped link 22 through the second force feedback driving device 5, and the other end of the shaped link 22 is connected to the fixing device 3.
  • the hand motion capture device includes the third force feedback driving device 6, the other end of the shaped link 22 is connected to the fixing device 3 through the third force feedback driving device 6.
  • a slide groove is provided at one end of the straight link 21, and the first force feedback driving device 4 is connected to the straight link 21 by inserting the first torque output rod 42 into the slide groove of the straight link 21.
  • the special-shaped connecting rod 22 may be any shaped connecting rod, as long as it can connect the second torque output rod of the second force feedback drive device 5 and the fixing device 3, or connect the second torque output rod of the second force feedback drive device 5
  • the third torque output lever of the third force feedback drive device 6 may be used.
  • the length of the special-shaped connecting rod 22 can be adjusted by providing a chute, and its length can adapt the device to palms of different sizes.
  • the fixing device 3 includes a palm fixing component and a finger fixing component.
  • the palm fixing component is a strap structure, a glove structure or a bracelet structure;
  • the finger fixing component is a cable tie structure or a finger sleeve structure.
  • the palm fixing component can be, but not limited to, nylon straps, or any shape, any material composite ergonomic wear design;
  • the finger fixing component can be, but not limited to, nylon cable ties and finger sleeves, or silicone / Plastic finger cots, or any mechanical mechanism that can be used to fix fingers.
  • the finger fixing assembly may be a nylon strap-type wearing method including a velcro, which is fixed on the fingertip by the velcro; the finger sleeve is of different sizes and different materials, so that the user can select the desired one according to the size of the personal finger Fingers set.
  • each force feedback driving device of the hand motion capture device can be fixed at a specific angle before wearing, so that the connecting rod becomes a rigid body, and the glove is supported (as shown in FIG. 5), This makes wearing more convenient.
  • the force feedback drive can also shake slightly back and forth to make it smoother when fingers reach into the glove.
  • the base 1 is further provided with a power supply device.
  • the power supply device is used to provide power for the control device in the hand motion capture device and each force feedback drive device to ensure that the hand motion capture device is normal Run.
  • the power supply device may be a wireless power supply, a wireless charging device, a lithium battery and the like.
  • the hand motion capture device further includes an external accessory 8 fixedly connected to the base 1.
  • the external accessory 8 includes at least one of a joystick 81, a button 82 and a dial One.
  • the device can also add one or more buttons, dials, joysticks or other user controls.
  • These external accessories may be attached to the base 1, or the location of these external accessories may be arbitrary.
  • the external accessory is located between the thumb and the index finger, and when fixed to the base 1, one or more buttons and a joystick can be connected.
  • these buttons and joysticks can also be added anywhere on the exoskeleton.
  • external accessories such as buttons and joysticks can provide input such as position, angle rotation or keys.

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  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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  • User Interface Of Digital Computer (AREA)

Abstract

La présente invention concerne un dispositif de capture de mouvement de main. Le dispositif de capture de mouvement de main détecte un angle de rotation d'une structure de tige de raccordement correspondant à chaque doigt par rapport à une base au moyen d'un premier dispositif de commande de rétroaction de force et émet un signal de détection ; un second dispositif de commande de rétroaction de force détecte un angle de rotation entre différentes tiges de raccordement de chaque structure de tige de raccordement et délivre un signal de détection ; et un dispositif de commande reçoit et envoie chaque signal de détection et reçoit et renvoie un signal de commande ; enfin, le premier dispositif de commande de rétroaction de force et le second dispositif de commande de rétroaction de force délivrent en conséquence une rétroaction de force de différentes amplitudes, de telle sorte qu'un mouvement de main et un mouvement de doigt peuvent être capturés soigneusement, une rétroaction de force ayant des dimensions plus riches et une expérience plus fine est mise en œuvre, la forme et la rigidité d'un objet virtuel sont simulées, et une expérience tactile plus réelle est fournie pour un utilisateur.
PCT/CN2019/098800 2018-11-01 2019-08-01 Dispositif de capture d'action manuelle WO2020088015A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201811295886.1A CN109445594A (zh) 2018-11-01 2018-11-01 手部动作捕获装置
CN201811295886.1 2018-11-01

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WO2020088015A1 true WO2020088015A1 (fr) 2020-05-07

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CN109445594A (zh) * 2018-11-01 2019-03-08 深圳岱仕科技有限公司 手部动作捕获装置
CN110850962B (zh) * 2019-09-30 2024-05-14 深圳岱仕科技有限公司 控制方法及装置、手部外骨骼设备、计算机可读存储介质

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