WO2022215977A1

WO2022215977A1 - Wearable motion sensor device using wire tension

Info

Publication number: WO2022215977A1
Application number: PCT/KR2022/004791
Authority: WO
Inventors: 옥재윤
Original assignee: 옥재윤
Priority date: 2021-04-05
Filing date: 2022-04-04
Publication date: 2022-10-13

Abstract

The present invention relates to a wearable motion sensor device using wire tension. The issue to be addressed concerns using a linear sensor technology to block any data errors and to perfectly track all movements of the human body, as desired, by only measuring a distance, by which a user's joints have actually moved, finely in microns. In one embodiment, a wearable motion sensor device using wire tension is disclosed, comprising: wearing units that are respectively worn on a user's whole body; and motion sensor units that are respectively installed in the wearing units, and sense a movement direction and a movement amount of a wire when the wire arranged linearly along each body joint is moved by at least one of bending, unfolding, and rotating motion of each body joint.

Description

Wearable motion sensor device using wire tension

An embodiment of the present invention relates to a wearable motion sensor device using a wire tension.

Motion capture refers to an operation of recording body movements in digital form by attaching a sensor to the body or using a camera.

The body movement recorded in digital form may be used as a control value for controlling the movement of the virtual avatar or the movement of the humanoid slave robot in the sensory exchange system.

In motion capture technology, the best way to track the movement of a joint is to measure the X, Y, and Z values in the direction of movement, that is, the pitch, roll, and yaw values. It tracks the distance value of the movement.

Conventional techniques are difficult to accurately measure using sensors or engineering technology, or various errors, such as electromagnetic waves or data, cause errors in the measurement of resistance values.

In addition, the conventional techniques have various technical limitations. Among them, the IMU inertial sensor technology, which is the most generalized motion tracking technology, has a good degree of freedom, but errors in real-time joint recognition data processing due to electromagnetic fields and geomagnetic errors are severe.

In addition, variable resistance sensor measurement technology such as a potentiometer literally tracks the change in resistance voltage from 0V to 5V by contacting an electrode plate printed on a linear material such as a rotary encoder technology or a membrane method for changes in electrical resistance. Because the resolution unit is very simple compared to the position measurement technology of micron units of linear encoders, precise motion tracking is impossible.

In addition, the pressure sensor technology cannot track minute movements and attaches an optical marker attached to the subject's joint, which has been used a lot, and records the subject's movement through a number of infrared or general imaging equipment installed in the surrounding space. It is a technology that extracts and tracks the position through a triangulation function by extracting it with real-time image processing technology. In this optical tracking technology, precise position tracking of joints is impossible, and blind spots occur due to camera position problems, so movement of joints is recorded in real time. it is impossible to do

As described above, there are various techniques for measuring joint motion in the prior art, but due to numerous technical limitations, there is a problem in that various errors for real-time measurement are inevitable.

As prior art documents related to the present invention, Patent Publication No. 10-2017-0138768 (published date: December 18, 2017) and Patent Publication No. 10-2016-0098878 (published date: August 19, 2016) work) is there.

An embodiment of the present invention uses a linear sensor technology to block any data errors and only microscopically measures the distance actually moved by the user's joints in microns to completely track all movements of the human body as desired. Provided is a wearable motion sensor device using tension.

A wearable motion sensor device using a wire tension according to an embodiment of the present invention includes: a wearable unit to be worn on a user's whole body; and each of the wires installed in the wearable part, when movement of the wires linearly arranged along each body joint is made by at least one of bending, unfolding, and rotating motion of each body joint, the movement direction and amount of movement of the wire It includes a motion sensor unit for sensing each.

In addition, the wearing part, a glove wearing part worn on the hand in the form of a glove; and an arm joint wearing unit worn on the arm in the form of a band, wherein the motion sensor unit includes: a glove motion sensor unit installed in the glove wearing unit to detect a motion of a hand; and an arm motion sensor unit installed in the arm joint wearing unit to detect a motion of the arm.

In addition, the glove wearing unit may include: a glove base each worn on the user's hand; a glove sensor housing installed on the back of the hand among the glove bases; and a finger block unit including a first joint finger block respectively installed at a position of a first joint of the glove base, and a middle joint finger block installed at a position of a middle joint of a finger, respectively.

In addition, the glove motion sensor unit may include: a guide rod installed inside the glove sensor housing and installed at positions corresponding to the metacarpals among the five fingers and the first and second metacarpal bones; a bar film installed side by side with the guide bar, each having a scale; a glove wire having one side connected to the first finger block and the middle finger block, respectively; It is installed to be movable in a straight line along the guide rod, and the other side of the glove wire is connected to each other so that when the glove wire is moved by at least one of bending, unfolding, and rotating motion of each finger joint, a straight line along the bar film a sensor module for sensing a relative change amount of the scale read while moving; and an elastic member installed between the sensor module and the inner wall of the glove sensor housing to provide tension to return to the origin when the sensor module moves in a straight line.

In addition, the guide rod may include: a guide rod for bending detection installed at a position corresponding to the metacarpal bone among the five fingers; and a guide rod for rotation detection installed at a position corresponding to between the first and second metacarpal bones among the five fingers, wherein the elastic member includes a first spring rod and a second for bending restoration installed in parallel with the guide rod for bending detection, respectively. spring rod for bending restoration; and a first rotational restoration spring rod and a second rotational restoration spring rod installed in parallel with the rotation detection guide rod, respectively.

In addition, the sensor module, a bending sensor module for sensing the scale of the bar film according to the bending and unfolding motions of the five finger joints; and a rotation sensor module for sensing the scale of the bar film according to the left and right rotational motions of the thumb and index finger, wherein the bending sensor module is installed together on the guide rod for detecting bending, the guide for detecting bending It includes a first front sensor unit and a first rear sensor unit arranged in a line to be movable in a straight line along the rod, wherein the rotation sensor module is installed together on the guide rod for detecting the rotation, the guide for detecting the rotation It may include a second front sensor unit and a second rear sensor unit arranged in a line so as to be linearly movable along the rod, respectively.

In addition, the first front sensor unit is respectively installed on the guide rod for bending detection, is connected to the first spring rod for bending restoration, respectively, and receives elastic force by the first spring rod for bending restoration, respectively, and the glove a first guide block connected to the first finger block of the five fingers through a wire, respectively; and a first encoder installed on the first guide block, each of which the bar film penetrates in the horizontal direction to detect the relative change amount of the scale read along the bar film when the first guide block moves in a straight line. Including, wherein the first rear sensor unit is respectively installed on the guide rod for bending detection, is connected to the second spring rod for bending restoration, respectively, receiving the elastic force by the second spring rod for bending restoration, respectively, the a second guide block connected to the middle finger block of the five fingers through a glove wire, respectively; and a second encoder respectively installed on the second guide block, each of which the bar film penetrates in the horizontal direction to detect the relative change amount of the scale read along the bar film when the second guide block moves in a straight line. may include

In addition, the second front sensor unit is respectively installed on the guide rod for rotation detection, is respectively connected to the first rotation restoration spring rod to receive elastic force by the first rotation restoration spring rod, respectively, and the glove a third guide block connected to each of the finger blocks corresponding to the thumb through a wire; and a third encoder respectively installed on the third guide block, and each of the bar films penetrate in the horizontal direction to detect the relative change amount of the scale read along the bar film when the third guide block moves in a straight line. Including, wherein the second rear sensor unit is respectively installed on the guide rod for rotation detection, is respectively connected to the second rotation restoration spring rod to receive elastic force by the second rotation restoration spring rod, respectively, the a fourth guide block connected to a finger block corresponding to the index finger through a glove wire; and a fourth encoder respectively installed on the fourth guide block and each of the bar films penetrate in the horizontal direction to detect the relative change amount of the scale read along the bar film when the fourth guide block moves in a straight line. may include

In addition, the arm joint wearing part, forearm band wearing part surrounding the forearm portion of the arm; an upper arm band wearing part that wraps around the upper arm of the arm; and a link joint connecting part connecting the forearm band wearing part and the upper arm band wearing part through a link joint, wherein the arm motion sensor part includes: a forearm motion sensor part installed in the forearm band wearing part; an upper arm motion sensor unit installed in the upper arm band wearing unit; and an arm joint motion sensor installed in the link joint connection part.

In addition, the forearm motion sensor unit, a first rotating shaft; a first raw film which is rotatably installed along the central axis of the first rotational axis and has a scale formed on an outer periphery; a first arm wire connecting the glove wearing part and the first rotation shaft; and a portion of the outer periphery of the first raw film is inserted in the horizontal direction, and the relative change amount of the scale read along the first raw film when the first raw film is rotated by the linear movement of the first arm wire Each includes a fifth encoder for detecting, the upper arm motion sensor unit, a second rotation shaft; a second raw film which is rotatably installed along the central axis of the second rotational axis and has a scale formed on the outer periphery; a second arm wire connecting the shoulder and the second axis of rotation; and a portion of the outer periphery of the second raw film is inserted in the horizontal direction, and the relative change amount of the scale read along the second raw film when the second raw film is rotated by the linear movement of the second arm wire a third rotation shaft rotatably connected to a portion in which one side of the forearm band wearing unit and one side of the upper arm band wearing unit overlap each other, including a sixth encoder to detect each, and the arm joint motion sensor unit; a third raw film which is rotatably installed along the central axis of the third rotational axis and has a scale formed on the outer periphery; And a portion of the outer periphery of the third raw film is inserted in the horizontal direction, and the third raw film is rotated by the third axis of rotation to detect the relative change amount of the scale read along the third raw film, respectively Can include 7 encoders.

According to the present invention, it is possible to block any data errors using linear sensor technology and to precisely measure the distance actually moved by the user's joints in microns to completely track all movements of the human body as desired. A wearable motion sensor device may be provided.

1 is a perspective view illustrating the overall configuration of a wearable part and a motion sensor part of a wearable motion sensor device according to an embodiment of the present invention.

2 and 3 are perspective views illustrating the configuration of a glove wearing unit and a glove motion sensor unit according to an embodiment of the present invention.

4 is a perspective view showing the configuration of a bending sensor module according to an embodiment of the present invention in more detail.

5 is a perspective view showing the configuration of a rotation sensor module according to an embodiment of the present invention in more detail.

6 and 7 are perspective views illustrating the configuration of the arm joint wearable part and the arm motion sensor part of the wearable motion sensor device according to an embodiment of the present invention.

8 is a perspective view showing in more detail the configuration of the forearm motion sensor unit according to an embodiment of the present invention.

9 is a perspective view showing in more detail the configuration of the upper arm motion sensor unit according to an embodiment of the present invention.

1 is a perspective view illustrating the overall configuration of a wearable part and a motion sensor part of a wearable motion sensor device according to an embodiment of the present invention, and FIGS. 2 and 3 are a glove wearing part and a glove motion sensor part according to an embodiment of the present invention. It is a perspective view showing the configuration, FIG. 4 is a perspective view showing the configuration of a bending sensor module according to an embodiment of the present invention in more detail, and FIG. 5 is a perspective view showing the configuration of a rotation sensor module according to an embodiment of the present invention in more detail 6 and 7 are perspective views showing the configuration of the arm joint wearable part and the arm motion sensor part of the wearable motion sensor device according to an embodiment of the present invention, and FIG. 8 is a forearm motion according to an embodiment of the present invention. It is a perspective view showing the configuration of the sensor unit in more detail, and FIG. 9 is a perspective view showing the configuration of the upper arm motion sensor unit according to an embodiment of the present invention in more detail.

Referring to FIG. 1 , a wearable motion sensor device 10 using wire tension according to an embodiment of the present invention may include at least one of a wearable unit 1000 and a motion sensor unit 2000 .

The wearing unit 1000 is respectively worn on the user's whole body, and the motion sensor unit 2000 is respectively installed in the wearing unit, and by at least one of bending, unfolding, and rotating motion of each body joint, each body When the movement of the linearly arranged wires along the joint is made, respectively, the movement direction and the movement amount of the corresponding wire can be sensed.

As shown in FIG. 1 , the wearing unit 1000 may include a glove wearing unit 1100 worn on the hand in the form of a glove and an arm joint wearing unit 1200 worn on the arm in the form of a band, and a motion sensor. The unit 2000 includes a glove motion sensor unit 2100 installed in the glove wearing unit 1100 to detect hand motion, and an arm motion sensor unit 2200 installed in the arm joint wearing unit 1200 to detect arm motion. ) may be included.

Hereinafter, the configuration of the glove wearing unit 1100 and the glove motion sensor unit 2100 will be described in detail as one set, and then the configuration of the arm joint wearing unit 1200 and the arm motion sensor unit 2200 will be described in detail as another set. let me explain

First, the configuration of the glove wearing unit 1100 and the glove motion sensor unit 2100 will be described in more detail with reference to FIGS. 1 to 5 .

As shown in FIGS. 2 and 3 , the glove wearing unit 1100 may include a glove base 1110 , a glove sensor housing 1120 , and a plurality of finger blocks 1130 .

The glove base 1110 is worn on both hands of the user, and for this purpose, all five fingers having elastic force may be individually inserted into the glove base 1110 . In this embodiment, the material of the glove base 1110 is not limited, but it has elasticity to enable free hand movement when worn by the user, and the shape is well preserved as the glove motion sensor unit 2100 is mounted on the material. As long as it is made of a material with adequate durability, it is ok.

The glove sensor housing 1120 may be installed on the back of the hand of the glove base 1110 . The glove sensor housing 1120 may include upper and lower covers, and most parts of the glove motion sensor unit 2100 may be mounted thereon. The glove sensor housing 1120 may include a separate cable tube for guiding the wired cable connected to the glove motion sensor unit 2100 to the outside, and accordingly, the glove motion sensor unit 2100 is a cable tube. It is connected to and may additionally include a communication module unit wearable on the wrist. The communication module unit may transmit all sensing data detected by the glove motion sensor unit 2100 to the outside through wireless communication.

The finger block 1130 may include a first joint finger block 1131 installed at the position of the first joint of the glove base 1110, respectively, and a middle joint finger block 1132 installed at the position of the middle joint of the finger, respectively. Accordingly, based on one hand, the first finger block 1131 and the middle finger block 1132 may be composed of five each. Based on this reference, the first joint finger block 1131 and the middle joint finger block 1132 are respectively formed to cover the first joint part and the middle joint part of the glove base 1110, and the wires drawn out from the glove sensor housing 1120 are respectively Since it is a connecting part, it is desirable to make it possible to precisely how much the wire is pulled and pushed according to the bending, unfolding, and rotation of the fingers because it is made of a hard material rather than a soft material.

The glove motion sensor unit 2100, as shown in FIG. 3, includes a plurality of guide rods 2110, a plurality of rod films 2120, a plurality of glove wires 2130, a plurality of sensor modules 2140, and a plurality of may include at least one of the elastic members 2150 of the

The guide rod 2110 is installed inside the glove sensor housing 1120, and may be installed at a position corresponding to the metacarpal of the five fingers and between the first and second metacarpal bones, respectively. To this end, the guide rod 2110 may include at least one of a guide rod 2111 for bending detection and a guide rod 2112 for rotation detection.

The guide rod 2111 for detecting bending may be installed at a position corresponding to the metacarpal of the five fingers, respectively. That is, it may be installed at positions corresponding to the five metacarpal bones (thumb, index finger, middle finger, ring finger, baby) on the palm or back of the hand based on one hand. A more specific installation position may be fixed across the front inner wall and the rear inner wall of the glove sensor housing 1120 , respectively. The guide rod 2111 for detecting bending is equipped with a bending sensor module 2141 to be described later, and means for guiding the bending sensor module 2141 to linearly move in the forward and backward directions according to the bending and unfolding motion of the finger. can be used as

The guide rod 2112 for detecting rotation may be installed at a position corresponding to between the first and second metacarpal bones among the five fingers. More specifically, the guide rod 2112 for detecting rotation includes a guide rod 2111 for detecting bending corresponding to the metacarpal of the thumb among the inside of the glove sensor housing 1120 and for detecting bending corresponding to the metacarpal of the index finger. It may be installed between the guide rods 2111 . The guide rod 2112 for detecting rotation is equipped with a rotation sensor module 2142, which will be described later, so that the rotation sensor module 2142 can linearly move forward and backward according to each rotation operation of the thumb and index finger. It can be used as a means of guiding.

The rod film 2120 may be installed side by side with the guide rod 2110, respectively, and a scale may be formed. The bar film 2120 may be installed side by side with five guide rods 2111 for bending detection and one guide rod 2112 for detecting rotation, respectively, based on one hand, and in a horizontally erected form. can be fixed. The scale formed on the bar film 2120 is a target to be sensed by an encoder, which will be described later, and the scale interval indicates whether the fingers are bent, unfolded, and rotated, and how many movements (bend, unfold, rotate) each finger has performed. Each may correspond to the minimum basic numerical unit (eg, micron unit) for sensing. Each of these bar films 2120 is fixed in a horizontally erected state, and the scale is formed in the vertical direction so that the scale is read while the encoder, which will be described later, moves in the forward and backward directions.

The glove wire 2130 has one side connected to the first node finger block 1131 and the middle node finger block 1132, respectively, and the other side passes through the glove sensor housing 1120 and a bending sensor module installed therein ( 2141 ) and the rotation sensor module 2142 , respectively. More specifically, the glove wire 2130 connects between the middle finger block 1132 and the first guide block 2141_a1 of the thumb, index finger, middle finger, ring finger, and little finger, respectively, and the thumb, index finger, middle finger, ring finger , by connecting the first finger block 1131 and the second guide block 2141_b1 of the little finger, the first finger block 1131 and the middle finger block 1132 correspond to each other when the user holds the hand. While pulling the glove wire 2130, each bending sensor module 2141 connected to them linearly moves forward along the guide rod 2111 for bending detection, respectively, and when the user opens his/her hand It is possible to naturally return the bending sensor module 2141 to its original position by the first bending restoration spring rod 2151 and the second bending restoration spring rod 2152 . In addition, when the user rotates the index finger and thumb left and right, the first joint finger block 1131 and the middle joint finger block 1132 pull the corresponding glove wire 2130, respectively, and each rotation sensor connected to them. When the module 2142 is linearly moved forward along the guide rod 2112 for rotation detection, the user stops the rotation operation of the thumb or index finger and places the corresponding finger in place, the first rotation restoration spring rod 2153 ) and the second rotational restoration spring rod 2154 can naturally return the rotation sensor module 2142 to its original position. As described above, as the bending sensor module 2141 and the rotation sensor module 2142 linearly move forward and backward, the amount of change (increase/decrease, increase/decrease) of the scale of each bar film 2120 read as it is read is sensed, and the sensed data By transmitting it to the outside, it is possible to provide accurate motion data according to the bending, straightening, and rotation (thumb, index finger) motions of each finger.

The sensor module 2140 is installed to be movable in a straight line along the guide rod 2110, and the other side of the glove wire 2130 is connected to each other so that at least one of bending, unfolding, and rotating motion of each finger joint is performed. When the glove wire 2130 moves, the relative change amount of the scale read while linearly moving along the bar film 2120 may be sensed. To this end, the sensor module 2140 may include at least one of a bending sensor module 2141 and a rotation sensor module 2142 .

The bending sensor module 2141 is a means for sensing the scale of the bar film 2120 according to the bending and unfolding motions of the five finger joints, and may be installed on the guide rod 2111 for bending detection. The first front sensor unit 2141A and the first rear sensor unit 2141B are arranged in a line so as to be movable in a straight line forward, respectively, along the guide rod 2111 for bending detection by tension on the glove wire 2130, , When the tension of the glove wire 2130 is lost, that is, when the hand unfolds, the first bending restoration spring rod 2151 and the second bending restoration spring rod 2152 for bending detection by the elastic force of the It can be returned by moving linearly to the rear along the guide rod 2111, respectively.

The first front sensor unit 2141A may include a first guide block 2141_a1 and a first encoder 2141_a2.

The first guide block 2141_a1 is respectively installed on the guide rod 2111 for bending detection, is connected to the first spring rod 2151 for bending restoration, respectively, and elastic force by the first spring rod 2151 for bending restoration may be provided, respectively, and may be respectively connected to the first finger block 1131 of the five fingers through the glove wire 2130 . The first guide block 2141_a1 is installed on the guide rod 2111 for bending detection in a form in which the guide rod 2111 for bending detection penetrates, and can be located in front of the second guide block 2141_b1 to be described later. In addition, the guide rod 2111 for detecting bending can be used as a rail to linearly move forward and backward.

The first encoder (2141_a2) is installed on the first guide block (2141_a1), respectively, the bar film (2120) is penetrated in the horizontal direction, respectively, when the first guide block (2141_a1) is moved in a straight line, the bar film (2120) It is possible to detect the relative change amount of the scale read along the . The first encoder 2141_a2 includes a light-receiving sensor as a linear encoder, and the amount of relative change with respect to the scale of the fixed bar film 2120 when the first guide block 2141_a1 moves linearly using this light-receiving sensor. can be detected. In addition, the first encoder 2141_a2 senses whether the bar film 2120 relatively increases or decreases the numerical value indicated by the scale, and generates sensing data that can distinguish whether the finger is folded or unfolded. It is possible to generate sensing data including numerical information on how much the relative increase or decrease.

The first rear sensor unit 2141B may include a second guide block 2141_b1 and a second encoder 2141_b2.

The second guide block 2141_b1 is respectively installed on the guide rod 2111 for bending detection, is connected to the second spring rod 2152 for bending restoration, respectively, and elastic force by the second spring rod 2152 for bending restoration are provided, respectively, and may be respectively connected to the middle finger block 1132 of the five fingers through the glove wire 2130 . This second guide block 2141_b1 is installed on the guide rod 2111 for bending detection in a form through which the guide rod 2111 for bending detection penetrates, and can be located at the rear of the above-described first guide block 2141_a1. In addition, the guide rod 2111 for detecting bending can be used as a rail to linearly move forward and backward.

The second encoder (2141_b2) is installed on the second guide block (2141_b1), respectively, the bar film (2120) is penetrated in the horizontal direction, respectively, when the second guide block (2141_b1) is moved in a straight line, the bar film (2120) It is possible to detect the relative change amount of the scale read along the . The second encoder 2141_b2 includes a light-receiving sensor as a linear encoder, and the amount of relative change with respect to the scale of the fixed bar film 2120 when the second guide block 2141_b1 moves linearly using this light-receiving sensor. can be detected. In addition, the second encoder 2141_b2 senses whether the bar film 2120 relatively increases or decreases the numerical value indicated by the scale, and generates sensing data that can distinguish whether the finger is folded or unfolded. It is possible to generate sensing data including numerical information on how much the relative increase or decrease.

The rotation sensor module 2142 is a means for sensing the scale of the bar film 2120 according to the left and right rotational motions of the thumb and index finger, and is installed on the guide 2112 for rotation detection on the second front rod together. It may include a sensor unit 2142A and a second rear sensor unit 2142B. The second front sensor unit 2142A and the second rear sensor unit 2142B are the second front sensor unit 2142A and the second rear that are arranged in a line to be linearly movable along the guide rod 2112 for detecting rotation, respectively. A sensor unit 2142B may be included.

The second front sensor unit 2142A may include a third guide block 2142_a1 and a third encoder 2142_a2.

The third guide block 2142_a1 is respectively installed on the guide rod 2112 for rotation detection, is connected to the first rotation restoration spring rod 2153, respectively, and is elastic by the first rotation restoration spring rod 2153. may be provided, respectively, and may be respectively connected to the finger blocks 1130 corresponding to the thumb through the glove wire 2130 . At this time, the finger block 1130 corresponding to the thumb is irrespective of whether it is the first finger block 1131 or the middle finger block 1132 , as long as the glove wire 2130 is connected to any one of them. This third guide block 2142_a1 is installed on the guide rod 2112 for rotation detection in a form through which the guide rod 2112 for rotation detection penetrates, and can be located in front of a fourth guide block 2142_b1 to be described later. In addition, the guide rod 2112 for detecting rotation can be used as a rail to linearly move forward and backward.

The third encoder 2142_a2 is installed on the third guide block 2142_a1, respectively, the bar film 2120 penetrates in the horizontal direction, respectively, and the bar film 2120 when the third guide block 2142_a1 moves in a straight line. It is possible to detect the relative change amount of the scale read along the . The third encoder 2142_a2 includes a light-receiving sensor as a linear encoder, and the amount of change relative to the scale of the fixed bar film 2120 when the third guide block 2142_a1 moves linearly using this light-receiving sensor. can be detected. In addition, the third encoder 2142_a2 generates sensing data that can distinguish whether the thumb rotates by sensing whether the numerical value indicated by the scale is relatively increased or decreased by the bar film 2120, and the scale is relatively high. Sensing data including numerical information on whether it is increasing or decreasing can be generated.

The second rear sensor unit 2142B may include a fourth guide block 2142_b1 and a fourth encoder 2142_b2.

The fourth guide block 2142_b1 is installed on the guide rod 2112 for rotation detection, respectively, and is connected to the second rotation restoration spring rod 21534, respectively, and the elastic force is generated by the second rotation restoration spring rod 2154. may be provided, respectively, and may be respectively connected to the finger blocks 1130 corresponding to the index finger through the glove wire 2130 . At this time, regardless of whether the finger block 1130 corresponding to the index finger is the first finger block 1131 or the middle finger block 1132, any one of them and the glove wire 2130 may be connected. This fourth guide block 2142_b1 is installed on the guide rod 2112 for rotation detection in a form through which the guide rod 2112 for rotation detection penetrates, and can be located at the rear of the above-described third guide block 2142_a1. In addition, the guide rod 2112 for detecting rotation can be used as a rail to linearly move forward and backward.

The fourth encoder (2142_b2) is respectively installed on the fourth guide block, the bar film is penetrated in the horizontal direction, respectively, and the relative change amount of the scale read along the bar film when the fourth guide block is linearly moved. detect each

Installed on the fourth guide block 2142_b1, respectively, the bar film 2120 penetrates in the horizontal direction, respectively, the relative change amount of the scale read along the bar film 2120 when the fourth guide block 2142_b1 moves in a straight line. each can be detected. The fourth encoder 2142_b2 includes a light-receiving sensor as a linear encoder, and the amount of relative change with respect to the scale of the fixed bar film 2120 when the fourth guide block 2142_b1 moves linearly using this light-receiving sensor. can be detected. In addition, the fourth encoder (2142_b2) generates sensing data that can distinguish whether the index finger rotates by sensing whether the numerical value indicated by the scale is relatively increased or decreased by the bar film 2120, and how much the scale is relatively Sensing data including numerical information on whether it is increasing or decreasing can be generated.

The elastic member 2150 may be installed to be positioned between the sensor module 2140 and the inner wall of the glove sensor housing 1120 to provide tension to return to the origin when the sensor module 2140 moves in a straight line. To this end, the elastic member 2150 is a first spring bar for restoring the bending 2151, the second spring bar for restoring the bend 2152, the first spring bar for restoring the rotation 2153, and the second spring bar for restoring the rotation ( 2154) may include at least one of.

The first spring rod 2151 for bending restoration and the second spring rod 2152 for bending restoration may be installed in parallel with the guide rod 2111 for bending detection, respectively. Each of the first spring bar 2151 for bending restoration and the second spring bar 2152 for bending restoration may be composed of a bar and a long spring inserted into the corresponding bar. The first rod of the spring rod 2151 for bending restoration commonly passes through the left portion of the first guide block 2141_a1 and the second guide block 2141_b1, and the rod of the second bending restoration spring rod 2152 is the first A right portion of the guide block 2141_a1 and the second guide block 2141_b1 may pass through in common. In addition, one side of the spring of the first bending restoration spring rod 2151 is fixed to the inner front side wall of the glove sensor housing 1120, and the other side may be fixed to the inside of the first guide block 2141_a1, 2 The spring of the spring rod 2152 for bending restoration may have one side fixed to the inner front side wall of the glove sensor housing 1120 and the other side fixed to the inner side of the second guide block 2141_b1.

The first rotation restoration spring rod 2153 and the second rotation restoration spring rod 2154 may be installed in parallel with the rotation detection guide rod 2112, respectively. Each of the first rotational restoration spring rod 2153 and the second rotational restoration spring rod 2154 may be composed of a rod and a long spring inserted into the corresponding rod. The first rod of the spring rod 2153 for rotation restoration commonly passes through the left portion of the third guide block 2142_a1 and the fourth guide block 2142_b1, and the rod of the second rotation restoration spring rod 2154 is the third A right portion of the guide block 2142_a1 and the fourth guide block 2142_b1 may pass through in common. In addition, one side of the spring of the first rotation restoration spring rod 2153 may be fixed to the inner front side wall of the glove sensor housing 1120 , and the other end may be fixed to the inside of the third guide block 2142_a1 , 2 The spring of the spring rod 2154 for restoring rotation may have one side fixed to the inner front side wall of the glove sensor housing 1120 and the other side fixed to the inside of the fourth guide block 2142_b1.

Next, the configuration of the arm joint wearing unit 1200 and the arm motion sensor unit 2200 will be described in more detail with reference to FIGS. 6 to 9 .

As shown in FIGS. 2 and 3 , the arm joint wearing unit 1200 includes a forearm band wearing unit 1210 covering the forearm region of the arm, an upper arm band wearing unit 1220 covering the upper arm region of the arm, and the forearm. It may include at least one of the link joint connection part 1230 for connecting the band wearing unit 1210 and the upper arm band wearing unit 1220 through a link joint.

The forearm band wearing unit 1210 may be composed of a first installation plate in the form of a substantially flat plate on the upper portion of the bracelet means and the first bracelet means for wrapping the upper arm of the arm, and the forearm is on the upper portion of the first installation plate. A first seating part in the form of a circular groove to which the motion sensor part 2210 is installed and fixed may be formed.

The upper arm band wearing unit 1220 may be composed of a second installation plate in the form of a substantially flat plate on the upper portion of the bracelet means and the second bracelet means for wrapping the forearm part of the arm, and a second installation plate (forearm band wear). A second seating part in the form of a circular groove to which the upper arm motion sensor part 2220 is installed and fixed may be formed on an upper portion of the part 1210 having a relatively longer length than the installation plate.

The link joint connection part 1230 includes a forearm band wearing part 1210 and an upper arm band wearing part ( As a part connecting the 1220 , a third seating part in the form of a circular groove to which the arm joint motion sensor part 2230 is installed and fixed may be formed on the upper part.

The arm motion sensor unit 2200 includes a forearm motion sensor unit 2210 installed in the forearm band wearing unit 1210, an upper arm motion sensor unit 2220 installed in the upper arm band wearing unit 1220, and a link joint connection unit. It may include an arm joint motion sensor unit 2230 installed in the 1230 .

The forearm motion sensor unit 2210 includes at least one of a first rotation shaft 2211, a first disk film 2212, a first arm wire 2213, and a fifth encoder 2214, as shown in FIG. can do.

The first rotation shaft 2211 is installed vertically in the center of the forearm motion sensor unit 2210 to rotate according to the horizontal movement of the first arm wire 2213 . A mainspring is provided inside the first rotation shaft 2211 to provide tension to the first arm wire 2213 .

The first raw film 2212 is rotatably installed along the central axis of the first rotational shaft 2211, and a scale may be formed along the outer periphery thereof. The scale interval formed along the outer periphery of the first raw film 2212 is a minimum basic numerical unit (ex. microns) for sensing whether the forearm part rotates according to the torsion and how much the forearm part rotates. unit) may be applicable.

The first arm wire 2213 may connect the glove wearing unit 1100 and the first rotation shaft 2211 . More specifically, one side of the first arm wire 2213 is connected to the glove wearing unit 1100 , and the other side is connected to the spring spring of the first rotation shaft 2211 , torsion of the user's forearm and accordingly When the forearm is rotated, the first arm wire 2213 may horizontally move to rotate the first rotational shaft 2211 , and the first raw film 2212 may rotate according to the rotational operation of the first rotational shaft 2211 . have. In addition, as the user's forearm portion is returned to the original position, the first arm wire 2213 may also be easily returned to the original position by the spring spring of the first rotation shaft 2211 .

The fifth encoder 2214 is a part of the outer periphery of the first raw film 2212 is inserted in the horizontal direction, that is, a portion of the outer periphery of the first raw film 2212 is vertically spaced apart from each other. It is installed in the shape, and when the first raw film 2212 is rotated by the linear movement of the first arm wire 2213 , the relative change amount of the scale read along the first raw film 2212 can be detected, respectively. The fifth encoder 2214 may detect a relative change amount of a scale read along the first raw film 2212 when the first rotation shaft 2211 is rotated. This fifth encoder 2214 includes a light-receiving sensor, and the fifth encoder 2214, which is fixed when the first rotation shaft 2211 rotates, rotates relative to the scale of the first raw film 2212 change can be detected. In addition, the fifth encoder 2214 senses whether the first raw film 2212 relatively increases or decreases the numerical value indicated by the scale to distinguish whether the forearm is rotated inwardly or outwardly. It is possible to generate sensing data including numerical information about how much the scale is increasing or decreasing relative to each other.

The upper arm motion sensor unit 2220 includes at least one of a second rotation shaft 2221 , a second disk film 2222 , a second arm wire 2223 , and a sixth encoder 2224 as shown in FIG. 9 . can do.

The second rotation shaft 2221 is installed vertically at the center of the upper arm motion sensor unit 2210 to rotate according to the horizontal movement of the second arm wire 2223 . A mainspring is provided inside the first rotation shaft 2211 to provide tension to the second arm wire 2223 .

The second raw film 2222 is rotatably installed along the central axis of the second rotation shaft 2221 , and graduations may be formed on the outer periphery. The scale interval formed along the outer periphery of the second raw film 2222 is a minimum basic numerical unit (ex. microns) for sensing whether the upper arm is rotated according to the torsion and how much the forearm has rotated. unit) may be applicable.

The second arm wire 2223 may connect the shoulder and the second rotation shaft 2221 . More specifically, one side of the second arm wire 2223 is connected to the shoulder portion (suit portion), and the other side is connected to the spring spring of the second rotation shaft 2221 , torsion of the user's upper arm and accordingly When the upper arm is rotated, the second arm wire 2223 moves horizontally to rotate the second rotation shaft 2221 , and the second raw film 2222 can rotate according to the rotation operation of the second rotation shaft 2221 . have. In addition, as the user's upper arm is returned to the original position, the second arm wire 2223 may also be easily returned to the original position by the spring spring of the second rotation shaft 2221 .

The sixth encoder 2224, a part of the outer periphery of the second raw film 2222 is inserted in the horizontal direction, that is, a portion of the outer periphery of the second raw film 2222 is vertically spaced apart from each other. It is installed in a form that is installed, and when the second raw film 2222 is rotated by the linear movement of the second arm wire 2223, the relative change amount of the scale read along the second raw film 2222 can be detected, respectively. The fifth encoder 2214 may detect a relative change amount of a scale read along the first raw film 2212 when the first rotation shaft 2211 is rotated. This sixth encoder 2224 includes a light-receiving sensor, and the sixth encoder 2224, which is fixed when the second rotation shaft 2221 rotates, rotates relative to the scale of the second raw film 2222. change can be detected. In addition, the sixth encoder 2224 senses whether the second raw film 2222 relatively increases or decreases the numerical value indicated by the scale to distinguish whether the upper arm rotates inward or outward. It is possible to generate sensing data including numerical information about how much the scale is increasing or decreasing relative to each other.

As shown in FIG. 7 , the arm joint motion sensor unit 2230 may include at least one of a third rotation shaft 2230 , a third disk film 2232 , and a seventh encoder 2233 .

The third rotation shaft 2230 may be rotatably connected to a portion where one side of the forearm band wearing unit 1210 and one side of the upper arm band wearing unit 1220 overlap. That is, the end of the first installation plate of the forearm band wearing unit 1210 and the end of the second installation plate of the upper arm band wearing unit 1220 overlap up and down, and the third rotation shaft 2230 is inserted into the overlapping portion. Thus, while connecting the forearm band wearing unit 1210 and the upper arm band wearing unit 1220 to each other, the forearm band wearing unit 1210 and the upper arm band wearing unit 1220 rotate with each other.

The third raw film 2232 is rotatably installed along the central axis of the third rotational shaft 2230, and a scale may be formed on the outer periphery. The scale interval formed along the outer periphery of the third raw film 2232 is a minimum basic numerical unit ( ex. units of microns).

In the seventh encoder 2233, a portion of the outer periphery of the third raw film 2232 is inserted in the horizontal direction, that is, a portion of the outer periphery of the third raw film 2232 is vertically spaced apart from each other. It is installed in a biting form, and when the third raw film 2232 is rotated by rotation between the forearm band wearing part 1210 and the upper arm band wearing part 1220, the scale is read along the third raw film 2232. Each of the relative changes can be detected.

The seventh encoder 2233 may detect a relative change amount of a scale read along the third raw film 2232 when the third rotation shaft 2230 rotates. This seventh encoder 2233 includes a light-receiving sensor, and when the third rotation shaft 2230 rotates, the fixed seventh encoder 2233 is relatively rotated on the scale of the third disk film 2232 . The relative amount of change can be detected. In addition, the seventh encoder 2233 senses whether the third raw film 2232 relatively increases or decreases the numerical value indicated by the scale, and the sensing data that can distinguish whether the arm joint is rotated inwardly or outwardly , and it is possible to generate sensing data including numerical information about how much the scale is increasing or decreasing.

*Description of symbols*

10: Wearable motion sensor device using wire tension

1000: wear part

1100: glove wearing part

1110: glove base

1120: glove sensor housing

1130: finger block

1131: first word finger block

1132: middle segment finger block

1200: arm joint wear part

1210: forearm band wearing part

1220: upper arm band wearing part

1230: link joint joint

2000: motion sensor unit

2100: glove motion sensor unit

2110: guide rod

2111: guide rod for bending detection

2112: guide rod for rotation detection

2120: rod film

2130: glove wire

2140: sensor module

2141: bending sensor module

2141A: first front sensor unit

2141_a1: first guide block

2141_a2: first encoder

2141B: first rear sensor unit

2141_b1: second guide block

2141_b2: second encoder

2142: rotation sensor module

2142A: second front sensor unit

2142_a1: third guide block

2142_a2: third encoder

2142B: second rear sensor unit

2142_b1: fourth guide block

2142_b2: fourth encoder

2150: elastic member

2151: spring rod for restoring the first bending

2152: spring rod for restoring the second bending

2153: spring rod for restoring the first rotation

2154: spring rod for restoring the second rotation

2200: arm motion sensor unit

2210: forearm motion sensor unit

2211: first axis of rotation

2212: first raw film

2213: first arm wire

2214: fifth encoder

2220: upper arm motion sensor unit

2221: second axis of rotation

2222: second raw film

2223: second arm wire

2224: sixth encoder

2230: arm joint motion sensor unit

2231: third axis of rotation

2232: third raw film

2233: 7th encoder

Claims

Wearing units that are respectively worn on the user's whole body; and

When each of the wires installed in the wearable part and linearly arranged along each body joint is moved by at least one of bending, unfolding, and rotating motion of each body joint, the movement direction and amount of the wire are determined. Wearable motion sensor device using wire tension, characterized in that it comprises a motion sensor for sensing each.
The method of claim 1,

The wearing part,

a glove wearing unit worn on the hand in the form of a glove; and

Including an arm joint wearing part that is worn on the arm in the form of a band,

The motion sensor unit,

a glove motion sensor unit installed in the glove wearing unit to detect hand motion; and

A wearable motion sensor device using wire tension, characterized in that it includes an arm motion sensor unit installed in the arm joint wear unit to detect a motion of the arm.
The method of claim 1,

The glove wearing part,

a glove base worn on each user's hand;

a glove sensor housing installed on the back of the hand among the glove bases; and

Wearable motion sensor device using wire tension, characterized in that it comprises a finger block unit including a first joint finger block respectively installed at the position of the first joint of the glove base, and a middle joint finger block respectively installed at the position of the middle joint of the finger .
4. The method of claim 3,

The glove motion sensor unit,

guide rods installed inside the glove sensor housing and respectively installed at positions corresponding to the metacarpal bones and the first and second metacarpal bones among the five fingers;

a bar film installed side by side with the guide bar, each having a scale;

a glove wire having one side connected to the first finger block and the middle finger block, respectively;

It is installed to be movable in a straight line along the guide rod, and the other side of the glove wire is connected to each other so that when the glove wire is moved by at least one of bending, unfolding, and rotating motion of each finger joint, a straight line along the bar film a sensor module for sensing a relative change amount of the scale read while moving; and

Wearable motion sensor using wire tension, characterized in that it includes an elastic member installed between the sensor module and the inner wall of the glove sensor housing and providing tension to return to the origin when the sensor module moves in a straight line. Device.
5. The method of claim 4,

The guide rod is

a guide rod for bending detection installed at a position corresponding to the metacarpal bone among the five fingers; and

Includes a guide rod for detecting rotation installed at a position corresponding to and between the first and second metacarpals among the five fingers,

The elastic member,

a first bending restoration spring rod and a second bending restoration spring rod installed in parallel with the guide rod for bending detection; and

A wearable motion sensor device using wire tension, characterized in that it comprises a first rotational restoration spring rod and a second rotational restoration spring rod installed in parallel with the rotation detection guide rod, respectively.
6. The method of claim 5,

The sensor module is

a bending sensor module for sensing the scale of the bar film according to bending and unfolding motions of the five finger joints; and

A rotation sensor module for sensing the scale of the bar film according to the left and right rotation of each thumb and index finger,

The bending sensor module,

A first front sensor unit and a first rear sensor unit installed together on the guide rod for detecting bending and arranged in a line so as to be linearly movable along the guide rod for detecting bending, respectively,

The rotation sensor module,

Doedoe installed together on the guide rod for detecting rotation, wire tension comprising a second front sensor unit and a second rear sensor unit arranged in a line to be movable in a straight line along the guide rod for detecting rotation, respectively. Wearable motion sensor device.
7. The method of claim 6,

The first front sensor unit,

Installed on the guide rod for bending detection, respectively, connected to the first spring rod for bending restoration, respectively, receiving elastic force by the first spring rod for bending restoration, and the first finger of the five fingers through the glove wire a first guide block connected to each block; and

Each of the first encoders installed on the first guide block and each of the bar films penetrate in the horizontal direction to detect the relative change amount of the scale read along the bar film when the first guide block moves in a straight line. do,

The first rear sensor unit,

Installed on the guide rod for bending detection, respectively, connected to the second spring rod for bending restoration, respectively, receiving elastic force by the second spring rod for bending restoration, and the middle joint of the five fingers through the glove wire a second guide block connected to each of the finger blocks; and

Each of the second encoders installed on the second guide block, the bar film penetrates in the horizontal direction, respectively, and a second encoder for detecting the relative change amount of the scale read along the bar film when the second guide block moves in a straight line. Wearable motion sensor device using wire tension, characterized in that.
7. The method of claim 6,

The second front sensor unit,

Finger blocks respectively installed on the guide rods for rotation detection, connected to the first rotation restoration spring rods, respectively, receiving elastic force by the first rotation restoration spring rods, respectively, and corresponding to the thumb through the glove wire; a third guide block connected to each other; and

Each of the third encoders installed on the third guide block, the bar films penetrate in the horizontal direction, respectively, and a third encoder for detecting the relative change amount of the scale read along the bar film when the third guide block moves in a straight line. do,

The second rear sensor unit,

Finger blocks respectively installed on the guide rods for rotation detection, connected to the second rotation restoration spring rods, respectively, receiving elastic force by the second rotation restoration spring rods, respectively, and corresponding to the index finger through the glove wire; a fourth guide block connected; and

A fourth encoder installed on the fourth guide block, each of which the bar film penetrates in the horizontal direction to detect a relative change amount of a scale read along the bar film when the fourth guide block moves in a straight line Wearable motion sensor device using wire tension, characterized in that.
3. The method of claim 2,

The arm joint wearing part,

a forearm band wearing part that wraps around the forearm of the arm;

an upper arm band wearing part that wraps around the upper arm of the arm; and

and a link joint connecting part connecting the forearm band wearing part and the upper arm band wearing part through a link joint,

The arm motion sensor unit,

a forearm motion sensor unit installed in the forearm band wearing unit;

an upper arm motion sensor unit installed in the upper arm band wearing unit; and

Wearable motion sensor device using wire tension, characterized in that it comprises an arm joint motion sensor that is installed in the link joint connection part.
10. The method of claim 9,

The forearm motion sensor unit,

a first rotating shaft;

a first raw film which is rotatably installed along the central axis of the first rotational axis and has a scale formed on an outer periphery;

a first arm wire connecting the glove wearing part and the first rotation shaft; and

A portion of the outer periphery of the first raw film is inserted in the horizontal direction, and the relative change amount of the scale read along the first raw film when the first raw film is rotated by the linear movement of the first arm wire, respectively a fifth encoder to detect,

The upper arm motion sensor unit,

a second rotating shaft;

a second raw film which is rotatably installed along the central axis of the second rotational axis and has a scale formed on the outer periphery;

a second arm wire connecting the shoulder and the second axis of rotation; and

A portion of the outer periphery of the second raw film is inserted in the horizontal direction, and the relative change amount of the scale read along the second raw film when the second raw film is rotated by the linear movement of the second arm wire, respectively A sixth encoder to detect,

The arm joint motion sensor unit,

a third rotation shaft rotatably connected to a portion where one side of the forearm band wearing part and one side of the upper arm band wearing part overlap;

a third raw film which is rotatably installed along the central axis of the third rotational axis and has a scale formed on the outer periphery; and

A part of the outer periphery of the third raw film is inserted in the horizontal direction, and when the third raw film is rotated by the third rotation axis, a seventh degree to detect a relative change amount of a scale read along the third raw film, respectively Wearable motion sensor device using wire tension, characterized in that it includes an encoder.