CN103433937A - Mechanical type wrist movement capture device - Google Patents

Abstract

The invention discloses a mechanical wrist motion capture device, which comprises an outer ring and an inner ring placed in the outer ring, the inner ring and the outer ring are connected in a rotating manner; a bracket and a hand-held frame connected with the bracket are arranged in the inner ring , the first angle sensor is installed at the connection between the handheld frame and the bracket; the second angle sensor is installed on the outer ring, and the second angle sensor is provided with a friction wheel; a part of the inner ring extends out of the outer ring and is in rotational contact with the friction wheel; There is also a forearm bracket in the ring; when the inner ring rotates relative to the outer ring, the inner ring drives the friction wheel to rotate through friction, and then drives the second angle sensor on the outer ring to rotate, at this time, the angle along the direction of the forearm can be measured The angle of rotation changes; the first angle sensor at the hinge of the handheld frame and the inner ring can measure the change of the pitch angle of the palm; the technical means of this device is simple and easy to implement, and the mechanical capture has low cost and high precision compared with optical capture and electromagnetic capture. High, simple calibration and other advantages.

Description

A mechanical wrist motion capture device

technical field

The invention relates to a motion capture device, in particular to a mechanical wrist motion capture device.

Background technique

Motion capture technology can obtain the motion state of objects in the real environment, and has corresponding applications in virtual reality, motion analysis, games, and military training. Mechanical motion capture devices usually consist of multiple joints and rigid links, and angle sensors are installed in the rotatable joints, which can measure the change of the joint rotation angle. Compared with optical capture and electromagnetic capture, the mechanical capture device has the characteristics of low cost, high precision and simple calibration. The human wrist has three degrees of freedom of motion, one degree of freedom of rotation along the direction of the arm and two degrees of freedom of flipping of the palm. Wrist motion capture devices can measure changes in motion in one or more of these degrees of freedom. However, some existing mechanical wrist motion capture devices can only capture one degree of freedom of motion of the wrist alone, such as only capturing one of the rotation of the wrist or the turning motion of the palm.

Contents of the invention

The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and provide a mechanical wrist motion capture device with low cost, high precision and simple calibration.

The present invention realizes through following technical scheme:

A mechanical wrist motion capture device, comprising an outer ring and an inner ring placed inside the outer ring, the inner ring and the outer ring are connected by rotation;

A bracket and a hand-held frame connected to the bracket are arranged in the inner ring, and a first angle sensor is installed at the joint between the hand-held frame and the bracket;

A second angle sensor is installed on the outer ring, and a friction wheel is arranged on the second angle sensor;

A part of the inner ring protrudes out of the outer ring and is in rotational contact with the friction wheel;

A forearm bracket is also arranged in the inner ring;

The first angle sensor and the second angle sensor are each provided with a signal interface connected to an external device.

The forearm bracket includes a lower bracket and an upper bracket movably connected with the lower bracket.

The friction wheel adopts a rubber wheel.

Compared with the prior art, the present invention has the following advantages:

The inner ring and the outer ring are connected by rotation (mechanical rotation); cooperate with the hand-held frame of the inner ring, and the coordinated movement of the first angle sensor and the second angle sensor; it can simultaneously measure the angle change and pitch of the wrist along the direction of the forearm rotation Angle changes.

When working, the outer ring is fixed. When the inner ring rotates relative to the outer ring, the inner ring drives the friction wheel to rotate through friction, and then drives the second angle sensor on the outer ring to rotate. At this time, the angle of rotation along the forearm direction can be measured Variety. The first angle sensor at the hinge joint between the handheld frame and the inner ring can measure changes in the pitch angle of the palm.

The technical means of the device is simple and easy to implement. Compared with optical capture and electromagnetic capture, the mechanical capture has the advantages of low cost, high precision, simple calibration and the like.

Description of drawings

FIG. 1 is a schematic structural diagram of a mechanical wrist motion capture device of the present invention.

FIG. 2 is a side view of FIG. 1 .

Figure 3 is a schematic diagram of the initial operation of the arm placed into the mechanical wrist motion capture device.

Fig. 4 is a working diagram after the wrist is rotated 90° around the arm direction.

Fig. 5 is a working diagram after the palm is turned downward by 30°.

Detailed ways

The present invention will be described in further detail below in conjunction with specific embodiments.

Example

As shown in Figure 1 and Figure 2. The mechanical wrist motion capture device of the present invention includes an outer ring 3 and an inner ring 2 placed inside the outer ring 3, and the inner ring 2 and the outer ring 3 are connected in a rotating manner;

The inner ring 2 is provided with a bracket 1-1 and a handheld frame 1 connected to the bracket 1-1, and a first angle sensor 5 is installed at the connection between the handheld frame 1 and the bracket 1-1;

A second angle sensor 5-1 is installed on the outer ring 3, and a friction wheel 6 is arranged on the second angle sensor 5-1;

A part of the inner ring 2 extends out of the outer ring 3 and is in rotational contact with the friction wheel 6;

A forearm bracket 4 is also arranged in the inner ring 2, and the forearm bracket 4 includes a lower bracket and an upper bracket movably connected with the lower bracket.

The first angle sensor 5 and the second angle sensor 5-1 are each provided with a signal interface connected to an external device.

The friction wheel 6 adopts a rubber wheel, which is beneficial to enhance the frictional force.

As shown in FIG. 3 , the palm passes through the inner ring 2 and is placed in the handheld frame 1 , the forearm is placed in the forearm bracket 4 , and the wrist joint is aligned with the hinged position of the inner ring 2 and the handheld frame 1 .

The specific motion capture process is as follows: the outer ring 3 is fixed, as shown in Figure 4, the rotational movement of the wrist around the arm causes a relative rotation between the inner ring 2 and the outer ring 3 through the handheld frame 1, and the inner ring 2 through friction The force drives the friction wheel 6 to rotate, and transmits the change of the rotation angle to the second angle sensor 5-1; Changes in the flip angle can be measured.

In actual operation, the above two working conditions occur at the same time, which can facilitate the capture of wrist movements.

The inner ring and the outer ring are connected by rotation; cooperate with the hand-held frame of the inner ring, and the coordinated movement of the first angle sensor and the second angle sensor; it can simultaneously measure the angle change and pitch angle change of the wrist along the forearm direction.

The technical means of the device is simple and easy to implement. Compared with optical capture and electromagnetic capture, the mechanical capture has the advantages of low cost, high precision, simple calibration and the like.

The present invention can be preferably carried out as described above.

The implementation of the present invention is not limited by the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods, and are all included in within the protection scope of the present invention.

Claims (3)

1. a mechanical type Wrist-sport trap setting, is characterized in that, comprises outer ring and be placed in the inner ring in outer ring, and inner ring adopts the mode of rotating to be connected with outer ring;

Be provided with support in described inner ring and reach hand-held that is connected with support, at hand-held, with the support junction, the first angular transducer is installed;

The second angular transducer is installed on described outer ring, and the second angular transducer is provided with friction pulley;

The part of described inner ring is stretched out outside outer ring and with friction pulley and is rotated and contact;

Also be provided with a forearm carriage in described inner ring;

On described the first angular transducer and the second angular transducer, be provided with separately the signaling interface be connected with external equipment.

2. mechanical type Wrist-sport trap setting according to claim 1, is characterized in that, described forearm carriage comprises a bottom bracket and the bracket be flexibly connected with bottom bracket.

3. mechanical type Wrist-sport trap setting according to claim 1, is characterized in that, described friction pulley adopts rubber wheel.

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