CN109407836A - A kind of hand motion capture system and interactive system - Google Patents
A kind of hand motion capture system and interactive system Download PDFInfo
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- CN109407836A CN109407836A CN201811173804.6A CN201811173804A CN109407836A CN 109407836 A CN109407836 A CN 109407836A CN 201811173804 A CN201811173804 A CN 201811173804A CN 109407836 A CN109407836 A CN 109407836A
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Classifications
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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
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- General Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
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- General Physics & Mathematics (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
The invention discloses a kind of hand motion capture system and interactive system, system sensitivity with higher, stability, flexibility and stickiness, and can accurately measure the flexural number of finger, realize gesture identification, finger movement monitoring.The system includes glove bulk, one or more flexible strain transducer and integrated circuit；Wherein, the glove bulk is set as covering at least one joint of at least one finger；The flexibility strain transducer, is fixed at the position for covering the finger-joint back side on glove bulk, so that flexible strain transducer changes length with the activity of finger-joint and leads to the change of its equivalent resistance；The integrated circuit is arranged in glove bulk rear end, and is connect by conducting wire with the conducting wire tie point on flexible strain transducer, to obtain measurement data corresponding with flexible strain transducer deformation quantity.
Description
Technical field
The present invention relates to intelligent wearing, human-computer interaction technique field more particularly to a kind of hand motion capture system and friendships
Mutual system.
Background technique
With the development of computer software and hardware and Internet technology, wearable device gradually starts to become people's daily life
A part.Wearable device is realized corresponding business function by portable wearing, can be widely applied usually taking human as carrier
In fields such as current consumption, industry, medical treatment, military affairs, education, amusements.Common intelligent wearable device has currently on the market, eye
Mirror, wrist-watch, bracelet, gloves, clothes, earphone etc..
Intelligent glove can realize various function according to different demands as human body limbs portable equipment the most flexible
Can, in being most widely used for the fields such as medical treatment, mobile interaction, game.Application No. is 201710332489.6 Chinese patents
Application discloses a kind of medical monitoring gloves based on fibre optical sensor, and the program at finger-joint by being arranged Fibre Optical Sensor
Device acquires the strain data of finger by the difference of analyte sensors wavelength.Although the program can accurately acquire finger
Strain data, but since its data analysis process is complicated, operand is big, need dedicated optical fiber and signal sampler to data into
Row processing, it is difficult to carry out practical application in Mobile portable field.
It can realize that the limbs of target person are tracked using Intelligent glove, be widely used in virtual reality, intelligence at present
The fields such as interactive system, implementation pass through the reality of optical system composed by camera or infrared transmitter and receiver mostly
It is existing, but to monitor this kind of subtle limb activity of finger movement, then it requires at higher imaging resolution and data analysis
Reason ability, scheme not only higher cost, and be not easy to dress, cause use scope to be subject to certain restrictions.
Summary of the invention
An object of the present invention at least that, for how to overcome the above-mentioned problems of the prior art, provide one kind
Hand motion capture system and interactive system, system sensitivity with higher, stability, flexibility and stickiness, and energy
The flexural number of enough accurate measurement fingers, realizes the capture of the hand motions such as gesture identification, finger movement monitoring.
To achieve the goals above, the technical solution adopted by the present invention includes following aspects.
A kind of hand motion capture system comprising: glove bulk, one or more flexible strain transducer and
Integrated circuit；
Wherein, the glove bulk is set as covering at least one joint of at least one finger；The flexible strain passes
Sensor is fixed at the position for covering the finger-joint back side on glove bulk, so that flexible strain transducer is with finger-joint
Activity and change length and lead to the change of its equivalent resistance；
The integrated circuit is arranged on glove bulk, and passes through the conducting wire tie point on conducting wire and flexible strain transducer
Connection, to obtain measurement data corresponding with flexible strain transducer deformation quantity.
According to a kind of specific embodiment, in hand motion capture system of the invention, the flexibility strain transducer
Including conductive fabric, and it is respectively overlay in the upper fixing layer of the upper and lower surfaces of conductive fabric, lower fixing layer；The conduction is knitted
Object is made of elastic material, and upper fixing layer, lower fixing layer are made of non-elastic material；Upper fixing layer, lower fixing layer will be conductive
Fabric is fixed in the non-resilient fixed accommodation space formed therebetween, and the amount of tension of conductive fabric and resistance variations is special
The relationship of property is limited in and can linearly survey in range.
Further, at room temperature, the ratio between the stretchable amount of maximum and initial length of the elastic material
It is 0.1~2；Ratio < 0.1 between the stretchable amount of maximum and initial length of the non-elastic material.
Still further, the conductive fabric is made up of, nickel plating silver-plated to fabric or copper facing；Or by silver fiber,
One of nickel fiber, copper fiber, carbon fiber, electrically conductive organic fibre or a variety of and one of spandex, cotton, polyamide fibre are a variety of mixed
It is spun into.
According to a kind of specific embodiment, in hand motion capture system of the invention, the conductive fabric is using silver
Fiber 44%, cotton 35%, polyamide fibre 18.4%, the blended manufactured flexible conductive fabric of spandex 2.6%.
According to a kind of specific embodiment, in hand motion capture system of the invention, fixed layer, lower fixation
Layer is realized using adhesive plaster, glue film or adhesive tape.
According to a kind of specific embodiment, in hand motion capture system of the invention, the conductive fabric is set as
Two ends are located at the same side, and have conducting wire tie point to connect with conducting wire；And it is wrapped up using having reeded sheet metal
The end of conductive fabric, the groove are set as the tie point of covering conductive fabric and conducting wire.
According to a kind of specific embodiment, in hand motion capture system of the invention, include in the integrated circuit
Measuring circuit, amplifying circuit, analog to digital conversion circuit, control circuit and communication interface；
Wherein, the measuring circuit has the first resistor in parallel with flexible strain transducer, and passes with flexibility strain
The concatenated second resistance of sensor, measuring circuit are defeated according to the resistance value of flexible strain transducer under the voltage effect that power supply applies
Corresponding voltage signal out；
The amplifying circuit, for voltage signal to be amplified to the input voltage range of analog to digital conversion circuit；Analog-to-digital conversion
Circuit, for voltage signal to be converted to digital signal；
The control circuit, digital signal for being exported according to analog to digital conversion circuit calculate flexible strain transducer etc.
The resistance value for imitating resistance generates measurement data corresponding with flexible strain transducer deformation quantity according to the change in resistance of equivalent resistance；
Communication interface, for sending measured data to receiving device；
The integrated circuit is set as successively triggering measuring circuit respectively using a control circuit to multiple flexible strains
Sensor successively measures the acquisition of data.
According to a kind of specific embodiment, in hand motion capture system of the invention, the system is also wrapped and is provided with
Control, Data Analysis Services, storage, display function unit exterior terminal；
Wherein, storage unit stores the corresponding flexibility of each number and answers for each joint of each finger to be numbered
Become multiple resistance values and the resistance value of the corresponding multiple curvature-curvature data pair of sensor；Control unit is obtaining measurement
After resistance value in data, by resistance value-curvature data pair in inquiry storage unit, to obtain the curvature in each joint
Data；
The storage unit is used to store the multiple curvature and gesture pair of the corresponding flexible strain transducer of each number
Curvature-the gesture data pair that should be related to；Control unit is after obtaining the resistance value in measurement data, by inquiring storage unit
In curvature-gesture data pair, to obtain gesture data.
Further, data scaling unit is further comprised in the exterior terminal, wears institute for obtaining different users
State flexible strain transducer resistance value-bending situation data and curves of gloves generation.
Based on the same inventive concept, the present invention also provides a kind of interactive systems comprising the hand motion in the present invention is caught
Catch system, data processing equipment, limb motion tracing equipment and output display unit；Pass through wireless network between these equipment
Or cable network connection is to transmit data；
The data processing equipment is used to obtain limb motion data by control limb motion tracing equipment, and is based on
Curvature data from the received each joint of gloves, come the limb motion data obtained.
According to a kind of specific embodiment, in interactive system of the invention, the limb motion tracing equipment includes setting
Set one or more hand follow-up mechanisms in the limbs tracking point in glove bulk at wrist location；It is integrated on gloves
Circuit is connect by conducting wire with hand follow-up mechanism, to control hand follow-up mechanism.
According to a kind of specific embodiment, in interactive system of the invention, the limb motion tracing equipment uses LED
One or more of lamp, infrared transmitter, ultrasound feedback device, radar wave feedback device；
When using LED light, the data processing equipment is set as with imaging device, image processor and memory；
The data processing equipment is set as, and is controlled shining for limb motion tracing equipment by the control circuit on gloves, is passed through tune
The image data including gloves is acquired with imaging device, and the position of gloves upper limb body tracking point is identified by image processor
And its variation track is to obtain limb motion data；
When using infrared transmitter, ultrasound feedback device, radar wave feedback device, the data processing equipment setting
To judge the position of hand according to received echo and the distance between with data processing equipment, to obtain limb motion data.
Further, the limb motion tracing equipment includes the ground cushion that can judge human motion trend；The ground cushion
For obtaining Human Sole pressure distributed intelligence, by establishing different models, judge the human body on ground cushion be in lean forward, after
It faces upward, left-leaning, Right deviation state.
Still further, the ground cushion is also provided with fender rod along edge, which may be configured as detachable with ground cushion
Connection.
In conclusion by adopting the above-described technical solution, the present invention at least has the advantages that
Capture system acquires bending data and the cooperation of finger-joint by the way that flexible strain transducer is arranged on gloves
Data processing equipment is to obtain more abundant posture data, gloves sensitivity with higher, stability, flexibility and patch
Conjunction property, and the flexural number of finger can be accurately measured, realize gesture identification, finger movement monitoring.The interactive system can be
It obtains including acquiring entire wrist and other limb motions while the minutias such as finger subtle bending, and does not significantly increase
The complexity of conventional images identifying processing maintains portability and lower cost while improving posture data accuracy.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of hand motion capture system according to an embodiment of the invention.
Fig. 2 is flexible strain transducer structural schematic diagram according to an embodiment of the invention.
Fig. 3 is flexible strain transducer structural schematic diagram according to another embodiment of the present invention.
Fig. 4 is the structural schematic diagram of circuit according to an embodiment of the present invention.
Fig. 5 is a kind of rear view of the gloves of hand motion capture system according to another embodiment of the present invention.
Fig. 6 is the curvature and gesture schematic diagram of a kind of hand motion capture system according to an embodiment of the present invention.
Fig. 7 is the structural schematic diagram of the interactive system according to an embodiment of the present invention including hand motion capture system.
Specific embodiment
With reference to the accompanying drawings and embodiments, the present invention will be described in further detail, so that the purpose of the present invention, technology
Scheme and advantage are more clearly understood.It should be appreciated that described herein, specific examples are only used to explain the present invention, and does not have to
It is of the invention in limiting.
Fig. 1 shows a kind of structural schematic diagram of hand motion capture system according to an embodiment of the present invention, according to the reality
Applying the example system includes: glove bulk, one or more flexible strain transducer and integrated circuit.
Wherein, glove bulk is set as covering at least one joint (glove bulk shown in FIG. 1 of at least one finger
Whole joints of all fingers of a hand are covered, in other embodiments, can according to need and select covered hand
Finger and amount of articulation), glove bulk changes glove bulk overleaf side and palm of the hand side with the flexion of finger-joint
Length, accommodate the position at finger-joint back side when digital flexion (i.e. outside) especially on glove bulk, bending degree and
Length variation is the most significant；The realization of existing gloves can be used in the glove bulk, for example, by using cotton yarn, fiber, leather, rubber
The gloves Deng made of.
The flexibility strain transducer, is fixed on glove bulk by modes such as gluing, sewing, braidings and covers finger pass
At the position for saving the back side, so that flexible strain transducer changes length with the flexion of finger-joint, cause its equivalent
The change of resistance value, so as to detect the bending state for the finger-joint that flexible strain transducer covers.According to different application
Environment and measurement accuracy, the bending state can refer to whether finger is bent, and also can refer to the degree of bending or actual flexion degree.Figure
In 1 embodiment, entire finger is covered by a flexible strain transducer, to measure the integrally bending state of entire finger；
The embodiment of Fig. 5 measures the bending in each joint of finger by multiple flexible strain transducers corresponding with the joint of finger
Degree, to obtain more acurrate measurement data, will be described in more detail below descriptions.
Integrated circuit is arranged at glove bulk rear end (for example, at the palm back side or palm of the hand) to avoid bending, and passes through
Conducting wire is connect with the conducting wire tie point on flexible strain transducer, to obtain resistance value corresponding with flexible strain transducer deformation quantity
And/or the measurement data such as voltage.
Fig. 2 shows flexible strain transducer structural schematic diagrams according to an embodiment of the present invention.It is soft according to this embodiment
Property strain transducer includes conductive fabric, and is respectively overlay in the upper fixing layer of the upper and lower surfaces of conductive fabric, lower fixing layer
(herein be in contrast, to be referred to as first, second fixing layer above and below)；The conductive fabric is by elastic material system
At, and upper fixing layer, lower fixing layer are made of non-elastic material；Upper fixing layer, lower fixing layer pass through bonding (for example, gluing etc.)
Conductive fabric is fixed in the non-resilient fixed accommodation space formed therebetween by mode, by the amount of tension of conductive fabric with
The relationship of resistance variation characteristic, which is limited in, can linearly survey in range.Linear range is surveyed simultaneously it should be noted that described
Nisi linear, error can all occur in any measurement, therefore any embodiment needs to handle measurement data, existing skill
Art has mature algorithm and handles measurement data, such as nonlinear regression backoff algorithm.
Traditional flexible strain transducer based on conductive fabric is usually caused using the deformation that conductive fabric stress generates
The resistance or capacitance characteristic of conductive fabric change, and then the case where detection conductive fabric pressure or pulling force；But in reality
During trampling, the amount of tension of conductive fabric and the relationship of resistance/capacitance variation characteristic are usually nonlinear change and usually such
Variation is unstable variation, and easily generates drift phenomenon in maximum tension amount position, causes accurately detect conductive fabric
Deformation quantity.Flexibility strain transducer of the present invention uses special construction of the elastic conduction fabric in conjunction with non-resilient fixing layer,
The relationship of the amount of tension of conductive fabric and resistance variation characteristic can be limited in can linearly survey in range, can accurately detect Curved
Variable, true to reflect finger-joint activity condition, error is small and stability is high.
In the present invention, the elasticity or non-resilient refer to that the ratio between the maximum stretchable amount of material and initial length exists
A certain range is elasticity or non-resilient (maximum stretchable amount refers to the difference between maximum tension length and initial length herein
Value).Definition referring to American Society Testing and Materials (ASTM) to elastomer, at room temperature, material can be stretched to repeatedly
It is at least former 2 times long, it can restore rapidly after external force release to the long material of original to be elastomer.In the present invention, elasticity herein
It is defined as, ratio under the conditions of room temperature (about 20 DEG C or so such as 18~25 DEG C), between the maximum stretchable amount of material and initial length
Value 0.1~2；It is non-resilient to be defined as, at room temperature, the ratio < 0.1 between the maximum stretchable amount of material and initial length.
In various implementations of the invention, conductive fabric can, nickel plating silver-plated by fabric, copper facing etc. be made, or
Person is blended using being passed through by materials such as silver fiber, nickel fiber, copper fiber, carbon fiber, electrically conductive organic fibre etc. and spandex, polyamide fibres
Manufactured flexible blended material；And existing adhesive plaster, glue film, adhesive tape etc. can be used in upper fixing layer, lower fixing layer, it can also
Using the regular non elastic fabric for not having viscosity.
Conductive fabric in the non-resilient fixed accommodation space of above-described embodiment specifically can be set to strip.At other
In embodiment, for the ease of conductive fabric can be set to U, W-shaped, two ends of conductive fabric from the same side extraction wire
Portion is provided with conducting wire tie point, for connecting with conducting wire.
The modes such as direct gluing can be used, welds or rivets in the connection type of conductive fabric and conducting wire.For moving more
Frequent application scenarios can use knot as shown in Figure 3 in order to avoid generating the case where falling off in the long-term use
Structure, using the end for having reeded sheet metal (such as copper sheet) package conductive fabric, which is set as covering conductive fabric
With the tie point of conducting wire.Both further increase the stability of connection using which, and the marginal position of sheet metal not with
Conductive fabric forms close connection, avoids and sheet metal is used for a long time to conductive fabric generation cutting, influence conductive effect.
Fig. 4 shows the structural schematic diagram of integrated circuit according to an embodiment of the present invention.Electricity is integrated according to this embodiment
Measuring circuit, amplifying circuit, analog to digital conversion circuit, control circuit and communication interface are provided in road.
Wherein, measuring circuit can test circuit using bridge-type, and flexible strain transducer accesses measurement electricity as a bridge arm
Lu Zhong；Specifically, the lead of flexible strain transducer one end is connected to DC power supply, the other end and the first fixed resistance value resistance string
It is grounded after connection；One end of resistance value adjustable resistance is connected to DC power supply, and the other end connects with the second fixed resistance value resistance and is followed by ground；
Third fixed resistance value resistance is in parallel with the flexible lead of strain transducer；By the first fixed resistance value resistance and the second fixed resistance value electricity
Voltage difference between resistance and ground is exported as voltage signal to amplifier；Measuring circuit basis under the voltage effect that power supply applies
The resistance value of flexible strain transducer exports corresponding voltage signal, wherein third fixed resistance value resistance is set as answering in flexibility
Useful signal can be exported by becoming in the biggish situation of change in resistance range of sensor, even if the voltage signal of measuring circuit output exists
Within the input voltage range of analog to digital conversion circuit.
Amplifying circuit, for voltage signal to be amplified to the input voltage range of analog to digital conversion circuit；Analog to digital conversion circuit,
For voltage signal to be converted to digital signal；Control circuit, the digital signal for being exported according to analog to digital conversion circuit calculate
The resistance value of the equivalent resistance of flexible strain transducer generates and flexible strain transducer deformation according to the change in resistance of equivalent resistance
Measure the measurement data such as corresponding resistance value and/or voltage；Communication interface can be with for sending measured data to receiving device
It, can also be wired using USB, optical fiber, twisted pair etc. using wireless communication interfaces such as WIFI, bluetooth, NFC, cellular data networks
Communication interface.
It in some applications, can be in glove bulk rear end (for example, overlapping the difference in circuit board with integrated circuit
Layer) miniscope connecting with the control circuit in integrated circuit is set (for example, 1.77 inches or smaller TFT liquid crystal
Display screen), to directly display the measurement data of acquisition.
Said integrated circuit can be realized the initial acquisition and processing function of data, but if desired more accurate or complicated
May also include using, the system be provided with the functional units such as control, Data Analysis Services, storage, display exterior terminal (on
The realization for stating function belongs to the prior art, and the present invention is not elaborated), which passes through communication interface and integrated circuit
Realize data transmission.The exterior terminal specifically can pass through the hand transmitted to integrated circuit acquisition using PC, mobile phone or plate etc.
Portion's bending data carry out deeper into analysis, storage and display, be suitable for specific environment application.For example, in some interactions
In, which can also realize shows with the real-time synchronization of hand motion capture.
In the control circuit of integrated circuit, the data acquisition of each flexible strain transducer of setting can be set
Work is acquired for trigger circuit simultaneously.In to power consumption and the higher application scenarios of volume requirement, due to requiring gloves
Volume is smaller, therefore need to control the volume of integrated circuit as far as possible, and reduces the data operation quantity in integrated circuit as far as possible,
Therefore, the algorithm that the present invention acquires data in control circuit is set as successively triggering measurement electricity respectively using a control circuit
Road successively measures the acquisition of data to multiple flexible strain transducers.For example, if the five fingers on glove bulk are set gradually
Flexible strain transducer covering, then control circuit can trigger deformation of the measuring circuit to the flexible strain transducer of setting respectively
Data are successively acquired respectively, and interval time may be configured as 10ms.If a finger is provided with multiple flexible strain transducers
Covering, then the interval time of data acquisition may be configured as 2ms.
In addition, single flexible strain transducer needs to be introduced into both ends as circuit connection point in circuit in circuit connection,
If the five fingers are all respectively provided with a piece of flexible strain transducer and cover all articulations digitorum manus, 10 conducting wire access integrated circuits are needed
In, similarly, if two panels is respectively set in the five fingers, flexibility strain transducer is covered each by articulations digitorum manus, needs 20 integrated electricity of conducting wire access
Lu Zhong, too many tie point not only result in conducting wire and entwine, and also technique can be made more complicated.In the present invention, the flexible strain of institute passes
One end of sensor need to only be connected in parallel to one end of a wherein flexible strain transducer, be grounded in the conducting wire access integrated circuit at the end
Processing, effectively reduces the connection of actual wire.
Fig. 5 shows a kind of rear view of the gloves of hand motion capture system according to an embodiment of the present invention.According to
The gloves of the embodiment have flexible strain transducer identical with finger-joint quantity, cover each joint of finger, thus
Obtain the measurement data for reacting each joint flexion.
As an example, conductive fabric in setting Fig. 5 in each flexible strain transducer using silver fiber and spandex, brocade,
And the blended manufactured flexible conductive fabric of polyamide fibre is (for example, silver fiber 44%, cotton 35%, polyamide fibre 18.4%, spandex
2.6%), the length is 2.00cm, width 0.2cm, shape be it is U-shaped (in practical applications can be according to different uses
Different gloves sizes is arranged in crowd, and corresponding flexibility strain transducer may also set up different length and widths).Conductive fabric
Upper and lower surface can further cover the sticking PU film of tool, which is that length is 3.00cm, and width is the rectangular of 1.5cm,
Elastic conduction fabric is fixed on centre.
Flexible strain transducer is in the curved situation of non-stress, and the voltage that power supply applies is 3V, what control circuit obtained
The initial resistance value of flexible strain transducer is about 22 Ω in measurement data；When flexible strain transducer is because of the bending in each joint of finger
Activity and when being stretched, the curvature range of the resistance value of flexible strain transducer, length and corresponding joint is as shown in table 1 below
(amount of tension herein refers to the length after flexible strain transducer is stretched and the difference between initial length):
Table 1
| Flexible strain transducer resistance | Sensor amount of tension | Corresponding curvature range |
| 22Ω | 0 | 0 °~10 ° |
| 35Ω | 0.4mm | 20 °~30 ° |
| 55Ω | 0.6mm | 35 °~45 ° |
| 60Ω | 0.8mm | 50 °~60 ° |
| 65Ω | 1mm | 80 °~90 ° |
From the foregoing, it will be observed that the special construction of flexible strain transducer through the invention, by the amount of tension of conductive fabric and electricity
Resistance variation characteristic is fixed in one section of linear measurable range.Since the length of conductive fabric in flexible strain transducer is different,
Initial resistance value is also different, and measured resistance value also can be different after stretching.Therefore, it can be set in integrated circuit or exterior terminal
Storage unit is set, in the present embodiment, each joint of each finger is numbered in exterior terminal setting storage unit, is stored
Multiple resistance values of the corresponding flexible strain transducer of each number and the resistance value of corresponding multiple curvature-curvature data
It is right；Control circuit obtain measurement data in resistance value after, by inquiry storage unit in resistance value-curvature data pair,
The curvature data in available each joint.
In practical applications, if being bent degree without accurate feedback, flexible strain sensing can be fixed in some cases
The data relationship of the resistance value of device and bending situation is constant to detect bending change；But in most applications, due to different
Wearer's finger length, size have a difference, integrated circuit acquisition to flexible strain transducer bend after resistance value with
Curved line relation between actual digital flexion situation has difference, detects according to the data and curves relationship of a certain fixation
Bending situation can then generate error.In order to eliminate this error, the present invention program also settable data scaling in exterior terminal
Unit wears flexible strain transducer resistance value-bending situation data song that the gloves generate for obtaining different users
Line；Bending situation herein can be customized by users, and be 0 as can define bending situation under nature straight configuration, half is bent situation
It is down 50%, state of holding with a firm grip completely is 100%, and acquisition active user first is from finger nature straight configuration to state of holding with a firm grip completely
Data and curves of each sensor resistance and bending situation variation during this, the data and curves relationship and corresponding user
Data are stored in storage unit, complete calibration；Subsequently into the course of work, user's finger random movement (can also be according to application
Scene carries out in required movement, such as game, rehabilitation), measuring circuit obtains real-time sensor resistance, passes through calibration
Data and curves obtain real-time digital flexion data.Same user can be demarcated once, can directly transfer and deposit when reusing
The nominal data of the stored user in storage unit avoids repeating to demarcate.Certainly curved in needing more accurate application scenarios
Bent situation may also indicate that actual bending degree, obtain through the foregoing embodiment the resistance value of flexible strain transducer, length and
Relationship between the curvature range of corresponding joint, detects the actual flexion degree of finger, described in implementation specific as follows.
Further, curvature-gesture number of multiple curvature Yu gesture corresponding relationship can also be stored in storage unit
According to right.For example, as shown in fig. 6, successively by the corresponding flexible strain transducer in each joint of the finger from finger tip to volar direction
Number is the first flexible strain transducer, the second flexible strain transducer, third flexibility strain transducer.First when index finger closes
Bent-segment degree is 30 °~90 °, and the curvature of second joint is 60 °~90 °, and the curvature in third joint is 10 °~60 °；Big thumb
The first joint flexion referred to is 60 °~90 °, and the curvature of second joint is 20 °~60 °；Also, other each joints of finger
Curvature be 0 °~30 ° when, corresponding gesture be OK.Alternatively, when the curvature of index finger and each joint of middle finger is 0 °~
15°；Also, when the curvature in other each joints of finger is 60 °~90 °, corresponding gesture is V.Alternatively, when each finger
When the curvature in each joint is at 0 °~15 °, corresponding gesture is PALM (palm).Alternatively, working as each pass of each finger
When the curvature of section is at 70 °~90 °, corresponding gesture is FIST (clenching fist).The gloves of above-described embodiment can pass through outside
The gesture that the display real-time display control circuit of terminal is identified.
Fig. 7 shows the interactive system according to an embodiment of the present invention including above-mentioned hand motion capture system.The interaction
System includes hand motion capture system, data processing equipment, limb motion tracing equipment and output display unit, these set
By wireless network or cable network connection to transmit data between standby.
Wherein, limb motion tracing equipment includes that glove bulk is arranged in the limbs tracking point at wrist location
One or more hand follow-up mechanisms；Integrated circuit on gloves is connect by conducting wire with hand follow-up mechanism, to control hand
Follow-up mechanism.Hand follow-up mechanism can use acceleration transducer directly to send the movement number of wrist location to integrated circuit
According to.
In the case where only needing to carry out gesture identification etc. and the application scenarios of acceleration transducer data processing, data processing equipment
More detailed curvature-gesture can be can store using mobile terminals such as mobile phone, tablet computer, portable computers
Data pair, obtain each joint from gloves curvature data simultaneously, pass through limb motion tracing equipment obtain limbs
The limb motion data of tracking point, and gesture-movement-limbs of storage is combined to express data pair, it is available more accurate
Limbs express data.For example, gesture-movement-limbs expression data are to can store are as follows: identifying that gesture is PALM, and limb
When motion state is that left and right swings (for example, swinging less than 20 centimetres) by a small margin in body exercise data, corresponding limbs table
Up to for NO.In the application of more displaying, such as in game, the curvature data and limbs in each joint can also be directly based upon
Exercise data, to change the state of corresponding role or device in scene of game.
In a further embodiment, limb motion tracing equipment can be anti-using LED light, infrared transmitter, ultrasonic wave
Present device, radar wave feedback device perceives position and the direction of motion, state of hand etc., and sets in integrated circuit and data processing
Under standby cooperation, the motion profile at wrist location is obtained.
Specifically, when using LED light, data processing equipment is set as with imaging device (for example, motion capture images
Head), image processor and memory；On the one hand, LED light, infrared transmitter are controlled to preset by the control circuit on gloves
Frequency issue the visible light or black light of specific wavelength, while by calling imaging device to acquire the figure including gloves
The limb motions data such as position and its variation track of gloves upper limb body tracking point are identified as data, and by image processor；
On the other hand, the memory in data processing equipment can store curvature-gesture data and express, gesture-movement-limbs
Data equity, by receiving the curvature data from gloves, available finger and hand overall motion data and its correspondence
Limbs express data, and then can by graphics processor and display equipment, the curvature data that will acquire, gesture data,
Limbs expression data etc. are applied in the scene of the software buildings such as the game such as virtual reality, augmented reality, amusement, education, medical treatment.
When using infrared transmitter, ultrasound feedback device, radar wave feedback device, with above-mentioned principle, data processing
Equipment is set as with ultrasonic wave, radar wave producer, using existing infrared ray, ultrasonic wave, radar wave range measurement principle, according to
Received echo judges the position of hand and the distance between with data processing equipment, obtains the exercise data of hand.
Above-mentioned interactive system, which is realized, acquires entire wrist while obtaining includes the minutias such as finger subtle bending
Limb motion, and do not significantly increase the complexity of conventional images identifying processing, while improving posture data accuracy,
Maintain portability and lower cost.
Meanwhile using the curved detection function of flexible strain transducer, the limb motion tracing equipment in the present invention
It can also be the curved detection sensor that elbow, knee position are set, obtain the bending data of wearer's elbow, knee, sentence
Determine the motion state and trend of wearer；The curved detection sensor is realized using above-mentioned flexible strain transducer, is specifically set
It sets and can refer to digital flexion detection part.
The output display unit can be PC machine, and Helmet Mounted Display HMD, mobile phone, plate etc. is having a display function to be set
It is standby, the number of bends such as the hand exercise data of the gesture data, the acquisition of hand follow-up mechanism that are obtained by gloves and elbow, knee
It is input to data processing equipment according to as data, then output display is transmitted to by wired or wireless communication by data processing equipment
Equipment can create game animation scene, the 3D immersion environment such as true nature environment of simulation in systems, realize wearer and institute
Interaction between the environment of creation.
In the present invention, in order to improve the interactivity and interest between system and wearer, further comprising can judge
The ground cushion of human motion trend.The ground cushion is sentenced for obtaining Human Sole pressure distributed intelligence by establishing different models
Human body on disconnected ground cushion be in lean forward, swing back, "Left"-deviationist, the states such as Right deviation, using above-mentioned state, system is settable lean forward and be equal to before
Into, layback be equal to retreat order, realize movement interaction scene creation.Specifically, the prior art can be used in the ground cushion
In flexible array pressure sensor realize, as U.S. Teksan, SPI company research and develop Pressure Distribution Measuring System, by obtaining
Take fully base pressure force information, analyze the pressure distribution image of different location, according to the model of creation judge current stance to lean forward,
Layback, "Left"-deviationist, Right deviation etc..Also it can use test section of the elastic force conductive flexible strain transducer of the present invention as ground cushion
Part establishes corresponding model, measures wearer's reality by obtaining the distribution of resistance information of flexible strain transducer under different stances
When movement tendency.
Further, human body is fallen on ground cushion in order to prevent, and the edge along ground cushion is also provided with fender rod, the fender rod
It may be configured as being detachably connected with ground cushion.Certainly, ground cushion is further increased to the accurate of human motion Trend judgement in order to increase
Property, fender rod are also provided with a circle conductive flexible strain transducer, and when human body leans forward, body can be forward by making the conduction of the side
The resistance of flexible strain transducer changes, can more accurate judgement human motion trend in conjunction with human body direction is obtained ahead of time.
In a further embodiment, above-mentioned ground cushion can also realize human motion with the gait monitoring shoes or insole substitution of the prior art
The detection of trend.
The above, the only detailed description of the specific embodiment of the invention, rather than limitation of the present invention.The relevant technologies
The technical staff in field is not in the case where departing from principle and range of the invention, various replacements, modification and the improvement made
It should all be included in the protection scope of the present invention.
Claims (15)
1. a kind of hand motion capture system, which is characterized in that the system comprises: glove bulk, one or more flexibility
Strain transducer and integrated circuit；
Wherein, the glove bulk is set as covering at least one joint of at least one finger；The flexibility strain transducer,
It is fixed at the position for covering the finger-joint back side on glove bulk, so that activity of the flexible strain transducer with finger-joint
And changes length and lead to the change of its equivalent resistance；
The integrated circuit is arranged on glove bulk, and is connected by the conducting wire tie point on conducting wire and flexible strain transducer
It connects, to obtain measurement data corresponding with flexible strain transducer deformation quantity.
2. hand motion capture system according to claim 1, which is characterized in that the flexibility strain transducer includes leading
Electric fabric, and it is respectively overlay in the upper fixing layer of the upper and lower surfaces of conductive fabric, lower fixing layer；The conductive fabric is by bullet
Property material is made, and upper fixing layer, lower fixing layer are made of non-elastic material；Upper fixing layer, lower fixing layer consolidate conductive fabric
Due in the non-resilient fixed accommodation space formed therebetween, by the pass of the amount of tension of conductive fabric and resistance variation characteristic
System is limited in and can linearly survey in range.
3. hand motion capture system according to claim 2, which is characterized in that at room temperature, the elasticity material
Ratio between the stretchable amount of maximum and initial length of material is 0.1~2；The stretchable amount of maximum of the non-elastic material and just
Ratio < 0.1 between beginning length.
4. hand motion capture system according to claim 3, which is characterized in that the conductive fabric is by plating fabric
Silver, nickel plating or copper facing are made；Or by one of silver fiber, nickel fiber, copper fiber, carbon fiber, electrically conductive organic fibre or
It is a variety of with one of spandex, cotton, polyamide fibre or a variety of blended to be made.
5. hand motion capture system according to claim 4, which is characterized in that the conductive fabric uses silver fiber
44%, cotton 35%, polyamide fibre 18.4%, the blended manufactured flexible conductive fabric of spandex 2.6%.
6. hand motion capture system according to claim 3, which is characterized in that fixed layer, lower fixing layer are adopted
It is realized with adhesive plaster, glue film or adhesive tape.
7. hand motion capture system according to claim 2, which is characterized in that the conductive fabric is set as two ends
Portion is located at the same side, and has conducting wire tie point to connect with conducting wire；And it is knitted using having reeded sheet metal package conduction
The end of object, the groove are set as the tie point of covering conductive fabric and conducting wire.
8. hand motion capture system according to claim 1, which is characterized in that include measurement electricity in the integrated circuit
Road, amplifying circuit, analog to digital conversion circuit, control circuit and communication interface；
Wherein, the measuring circuit, have the first resistor in parallel with flexible strain transducer, and with flexible strain transducer
Concatenated second resistance, measuring circuit is under the voltage effect that power supply applies according to the resistance value output phase of flexible strain transducer
The voltage signal answered；
The amplifying circuit, for voltage signal to be amplified to the input voltage range of analog to digital conversion circuit；Analog to digital conversion circuit,
For voltage signal to be converted to digital signal；
The control circuit, the digital signal for being exported according to analog to digital conversion circuit calculate the equivalent electricity of flexible strain transducer
The resistance value of resistance generates measurement data corresponding with flexible strain transducer deformation quantity according to the change in resistance of equivalent resistance；Communication
Interface, for sending measured data to receiving device；
The integrated circuit is set as successively triggering measuring circuit respectively using a control circuit to multiple flexible strain sensings
Device successively measures the acquisition of data.
9. hand motion capture system according to claim 1, which is characterized in that the system also includes be provided with control
System, Data Analysis Services, storage, display function unit exterior terminal；
Wherein, storage unit stores the corresponding flexible strain of each number and passes for each joint of each finger to be numbered
Multiple resistance values of sensor and the resistance value of corresponding multiple curvature-curvature data pair；Control unit is obtaining measurement data
In resistance value after, by inquiry storage unit in resistance value-curvature data pair, to obtain the bending degree in each joint
According to；
The storage unit is used to store multiple curvature pass corresponding with gesture of the corresponding flexible strain transducer of each number
Curvature-gesture data pair of system；Control unit is after obtaining the resistance value in measurement data, by inquiry storage unit
Curvature-gesture data pair, to obtain gesture data.
10. hand motion capture system according to claim 9, which is characterized in that further comprised in the exterior terminal
Data scaling unit wears flexible strain transducer resistance value-bending feelings that the gloves generate for obtaining different users
Condition data and curves.
11. a kind of interactive system, which is characterized in that including hand motion capture according to any one of claim 1 to 7
System, data processing equipment, limb motion tracing equipment and output display unit；Between these equipment by wireless network or
Person's cable network is connected to transmit data；
The data processing equipment is used to obtain limb motion data by control limb motion tracing equipment, and is based on from hand
The curvature data in received each joint are covered, come the limb motion data obtained.
12. interactive system according to claim 11, which is characterized in that the limb motion tracing equipment includes that setting exists
One or more hand follow-up mechanisms of the glove bulk in the limbs tracking point at wrist location；Integrated circuit on gloves
It is connect by conducting wire with hand follow-up mechanism, to control hand follow-up mechanism.
13. interactive system according to claim 11, which is characterized in that the limb motion tracing equipment using LED light,
One or more of infrared transmitter, ultrasound feedback device, radar wave feedback device；
When using LED light, the data processing equipment is set as with imaging device, image processor and memory；It is described
Data processing equipment is set as, and controls shining for limb motion tracing equipment by control circuit on gloves, by call at
Acquire the image data including gloves as device, and by image processor identify gloves upper limb body tracking point position and its
Variation track is to obtain limb motion data；
When using infrared transmitter, ultrasound feedback device, radar wave feedback device, the data processing equipment is set as root
The position of hand is judged according to received echo and the distance between with data processing equipment, to obtain limb motion data.
14. interactive system according to claim 11, which is characterized in that the limb motion tracing equipment includes that can sentence
The ground cushion of disconnected human motion trend；The ground cushion is for obtaining Human Sole pressure distributed intelligence, by establishing different models,
Judge human body on ground cushion be in lean forward, swing back, left-leaning, Right deviation state.
15. interactive system according to claim 14, which is characterized in that the ground cushion is also provided with fender rod along edge,
The fender rod may be configured as being detachably connected with ground cushion.
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| CN201811173804.6A CN109407836B (en) | 2018-10-09 | 2018-10-09 | Hand motion capturing system and interaction system |
| PCT/CN2019/109978 WO2020073891A1 (en) | 2018-10-09 | 2019-10-08 | Hand motion capture system and interactive system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811173804.6A CN109407836B (en) | 2018-10-09 | 2018-10-09 | Hand motion capturing system and interaction system |
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| CN109407836B CN109407836B (en) | 2024-08-30 |
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| CN201811173804.6A Active CN109407836B (en) | 2018-10-09 | 2018-10-09 | Hand motion capturing system and interaction system |
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| WO (1) | WO2020073891A1 (en) |
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| CN117556607A (en) * | 2023-11-13 | 2024-02-13 | 绍兴清研微科技有限公司 | Wearable fabric design method and system based on flexible sensing technology |
| CN117556607B (en) * | 2023-11-13 | 2024-05-28 | 绍兴清研微科技有限公司 | Wearable fabric design method and system based on flexible sensing technology |
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| Publication number | Publication date |
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| WO2020073891A1 (en) | 2020-04-16 |
| CN109407836B (en) | 2024-08-30 |
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