CN114593900B - Method and system for testing dexterity and moving range of ice hockey gloves - Google Patents

Abstract

The invention provides a method and a system for testing dexterity and a movable range of hockey gloves, wherein the gloves do not comprise goalkeeper gloves, the gloves are worn on a manipulator, and the method comprises the following steps: controlling the action of the manipulator according to a preset control instruction so as to drive the glove to act; acquiring equivalent rotation stress of a manipulator knuckle and a knuckle bending angle; obtaining a fitting curve of the manipulator knuckle and the knuckle according to the equivalent rotation stress of the manipulator knuckle and the knuckle bending angle; obtaining the dexterity of the glove according to the slope of the fitting curve; and obtaining the moving range of the glove according to the knuckle bending angle. The embodiment of the invention can test the dexterity and the range of motion of different types of gloves, give out a test result and facilitate the user to select different types of gloves.

Description

A method and system for testing dexterity and range of motion of an ice hockey glove

technical field

The invention relates to the field of sporting goods, in particular to a method and system for testing the dexterity and range of motion of ice hockey gloves.

Background technique

Ice hockey is an ice sport that combines confrontation, speed and skill. In order to prevent injuries in intense confrontation, athletes need to wear protective gear all over their bodies during training or competition; ice hockey gloves can protect the entire hands of athletes , The palm back protection area is composed of several protective blocks, the wrist is covered by a protective plate, the protective block and the protective plate are wrapped by a piece of breathable fabric, and each finger is stitched by the car thread. Ice hockey gloves are indispensable equipment in ice hockey, their dexterity and range of motion greatly limit the effect of athletes' movements during the confrontation process. In view of this, it is necessary to provide a method for testing the dexterity and range of motion of ice hockey gloves.

Contents of the invention

The technical problem to be solved by the present invention is to provide a method and system for testing the dexterity and range of motion of the ice hockey glove, so as to solve the problem that the dexterity and range of motion of the ice hockey glove greatly limit the movement effect of athletes during the confrontation process.

In order to solve the above technical problems, the present invention provides the following technical solutions:

In one aspect, a method for testing the dexterity and range of motion of an ice hockey glove is provided, the glove does not include a goalkeeper glove, and the glove is worn on a manipulator, the method comprising:

Control the action of the manipulator according to the preset control command, and then drive the action of the glove;

Obtaining the equivalent force of the knuckle rotation of the robot and the bending angle of the knuckle;

A fitting curve of the two is obtained according to the equivalent force of the knuckle rotation of the robot and the bending angle of the knuckle;

obtaining the dexterity of the glove according to the slope of the fitting curve;

The range of motion of the glove is obtained according to the bending angle of the knuckles.

In a possible implementation manner, the controlling the action of the manipulator according to the preset control instruction includes:

Obtain the coupling relationship between the knuckles of the same finger;

Obtaining first preset control instructions of different phalanxes according to the coupling relationship between the phalanxes;

The action of the manipulator is controlled according to the first preset control instruction.

In a possible implementation manner, the acquiring the coupling relationship between knuckles of the same finger includes:

Obtain the rotation angle of the previous knuckle;

The rotation angle of the previous knuckle is superimposed on the rotation angle of this knuckle, and the coupling relationship between knuckles is obtained according to the rotation angle of this knuckle and the rotation angle of the previous knuckle.

In a possible implementation manner, the obtaining the dexterity of the glove according to the slope of the fitting curve includes:

The dexterity of the glove is obtained according to the following formula:

Wherein, D is the dexterity of the glove, α is the bending angle of the knuckle, and f is the equivalent force of the knuckle rotation.

In a possible implementation, the method further includes:

When min(|DD _min |/(D _max -D _min ),|DD _max |/(D _max -D _min ))>preset parameters, regain the dexterity of the glove, where D _min is the glove Dexterity minimum, D _max glove dexterity maximum.

In a possible implementation manner, the acquiring the equivalent rotational force of the robotic finger includes acquiring an interaction force between the knuckle and the glove in a direction perpendicular to the knuckle during the knuckle rotation.

In a possible implementation manner, obtaining the equivalent force of the mechanical finger joint rotation includes:

The knuckle bending angle when the knuckle rotation equivalent force tends to be stable and maintains a preset number of sampling periods is obtained as the glove range of motion.

In a possible implementation manner, the controlling the action of the manipulator according to the preset control instruction further includes:

obtaining the coupling relationship between the fingers according to the coupling relationship between the knuckles,

Obtaining a second preset control instruction between different fingers according to the coupling relationship between the fingers;

The action of the manipulator is controlled according to the second preset control instruction.

In a possible implementation manner, obtaining the equivalent force of the mechanical finger joint rotation includes:

Obtain the equivalent force of the manipulator abdomen and back knuckle rotation;

The maximum range of motion of the glove is obtained according to the fitting curve of the equivalent force of the knuckle rotation on the abdomen of the manipulator and the bending angle of the knuckle;

According to the fitting curve of the knuckle rotation equivalent force on the back of the manipulator and the knuckle bending angle, the minimum range of motion of the glove is obtained.

In another aspect, a ice hockey glove dexterity and range of motion testing system is provided, the system includes: a memory, a processor, and a computer program stored on the memory, the processor executes the computer program to achieve any of the above the method described.

The beneficial effects of above-mentioned technical scheme of the present invention are as follows:

The test method provided by the embodiment of the present invention puts the glove on the manipulator, controls the action of the manipulator to drive the glove to move, obtains the knuckle rotation equivalent force of the glove and the knuckle bending angle to obtain the knuckle rotation equivalent force And the fitting curve of the knuckle bending angle; the dexterity parameter of the glove is obtained according to the slope of the fitting curve; the range of motion of the glove is obtained according to the knuckle bending angle of the glove, and then the testing of the dexterity and range of motion of different types of gloves is completed , the test results are given, which is convenient for users to choose different types of gloves.

Description of drawings

Fig. 1 is a schematic flow chart of a method for testing the dexterity and range of motion of an ice hockey glove provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of the relationship curve between knuckle bending angle and equivalent force in Fig. 1;

Fig. 3 is a schematic diagram of the relationship curve of the maximum range of motion of the glove;

Fig. 4 is a schematic diagram of the relationship curve of the minimum range of motion of the glove.

Detailed ways

In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will describe in detail with reference to the drawings and specific embodiments.

Ice hockey gloves are indispensable equipment in ice hockey, their dexterity and range of motion greatly limit the effect of athletes' movements during the confrontation process. There are many types of ice hockey gloves on the market, and users have no criteria and basis for selection. In view of this, the embodiment of the present invention provides a method and system for testing the dexterity and range of motion of ice hockey gloves, providing quantitative performance evaluation for sporting goods. , Ice hockey players choose ice hockey gloves to provide objective basis.

On the one hand, a method for testing the dexterity and range of motion of an ice hockey glove is provided. Please refer to FIG. 1 . , the method includes:

S101. Control the movement of the manipulator according to the preset control instruction, and then drive the movement of the glove.

S102. Obtain the equivalent rotational force of the knuckle of the robot and the bending angle of the knuckle.

S103. Obtain a fitting curve of the two according to the equivalent force of the knuckle rotation of the robot and the bending angle of the knuckle.

S104. Obtain the dexterity of the glove according to the slope of the fitting curve.

S105. Obtain the range of motion of the glove according to the bending angle of the knuckles.

The beneficial effects of above-mentioned technical scheme of the present invention are as follows:

The test method provided by the embodiment of the present invention puts the glove on the manipulator, controls the action of the manipulator to drive the glove to move, obtains the knuckle rotation equivalent force of the glove and the knuckle bending angle to obtain the knuckle rotation equivalent force And the fitting curve of knuckle bending angle; get the dexterity parameter of the glove according to the slope of the fitting curve; get the range of motion of the glove according to the knuckle bending angle of the glove, and then complete the test of dexterity and range of motion of different types of gloves, giving The test results are displayed, which is convenient for users to choose different types of gloves.

The method provided by the embodiment of the present invention will be further explained and described through optional embodiments below.

S101. Control the movement of the manipulator according to the preset control instruction, and then drive the movement of the glove.

It should be noted that the test method provided by the embodiment of the present invention requires the hockey glove to be worn on the manipulator. Since the arms and finger joints of the manipulator can move freely, it is possible to control the manipulator to imitate the action of the user when using the glove to drive Glove action, enabling testing of glove dexterity and range of motion.

And based on the movement sequence and bending degree of the fingers when the athlete uses it, the opening and closing and bending of different fingers of the manipulator are controlled to obtain the dexterity and range of motion of the glove, which improves the accuracy of the glove dexterity and range of motion test.

It should be noted that the range of motion provided by the embodiments of the present invention refers to the maximum rotation angle that the knuckles of the glove can reach when the fingers are bent from the calibration state after the manipulator wears the ice hockey glove; the range of motion can be defined as A, that is, when the slope The variation of k tends to be stable, as an example, the knuckle rotation angle at which the slope k does not vary by more than 5%.

In an optional embodiment, S101 includes: S1011, S1012, and S1013.

S1011. Obtain a coupling relationship between knuckles.

In an optional embodiment, S1011 includes:

Obtain the rotation angle of the previous knuckle;

The rotation angle of the previous knuckle is superimposed on the rotation angle of this knuckle, and the coupling relationship between knuckles is obtained according to the rotation angle of this knuckle and the rotation angle of the previous knuckle.

It should be noted that the knuckles of the manipulator provided in the embodiment of the present invention include a distal knuckle, a middle knuckle, and a proximal knuckle, and the knuckles of the manipulator correspond to the knuckles of the glove. The coupling relationship between knuckles refers to the state and state range of other knuckles when one knuckle moves. As an example, when the proximal phalanx moves, the middle phalanx and the distal phalanx move with it, and when the middle phalanx moves, the distal phalanx moves with it.

S1012. Obtain first preset control instructions for different phalanxes according to the coupling relationship between the phalanxes.

The coupling relationship between the knuckles can be determined according to the test needs. For example, when it is necessary to test the knuckle bending angle of the glove, the proximal knuckle needs to be bent by 30°, the middle knuckle needs to be bent by 60°, and the distal knuckle needs to be bent by 90°. In this way, each knuckle is controlled according to the bending angle of each knuckle, and then the rotational equivalent force of different knuckles of each finger is obtained. It should be noted that the acquisition of the equivalent force of knuckle rotation is collected at a certain sampling interval during the bending process of the knuckle from 0 degrees to the limit angle, that is, the force is measured while rotating. In the embodiment of the present invention, each movement of 1 Acquisition was performed once, and the determination of the maximum range of motion was based on the fact that the equivalent force on the knuckle tended to be stable.

S1013. Control the action of the manipulator according to the first preset control instruction.

S102. Obtain the equivalent rotational force of the knuckle of the robot and the bending angle of the knuckle.

It should be noted that in the embodiment of the present invention, a thin-film pressure sensor can be arranged on the finger of the manipulator, and further, it can be arranged on the pulp and back of the finger of the manipulator, and the pressure on the finger of the manipulator can be collected by the thin-film pressure sensor, and then Take this force as the rotational equivalent force of the glove. By setting an attitude sensor on the finger of the manipulator, the specific action gesture of the finger of the manipulator is obtained through the attitude sensor.

In an optional embodiment, a thin-film pressure sensor can be provided on at least one finger, but considering the collection and processing of data from the thin-film pressure sensor, the thumb that mainly exerts force when the user grabs the ice hockey stick , the middle finger and the ring finger are provided with a thin-film pressure sensor, and the index finger and the little finger may not be provided with a thin-film pressure sensor.

S103. Obtain a fitting curve of the two according to the equivalent force of the knuckle rotation of the robot and the bending angle of the knuckle.

Wear the glove on the manipulator, and the knuckles of the knuckles are driven by the drive mechanism to bend. At this time, the equivalent bending force of the knuckles of the knuckles is measured, and the relationship between the bending angle of each knuckle and the equivalent force is drawn.

Establish a two-dimensional coordinate system based on the obtained mechanical knuckle rotation equivalent force and knuckle bending angle. As an example, please refer to FIG. 2 . The ordinate, the knuckle bending angle as the abscissa establishes a coordinate system, and the slope of the fitting curve is the dexterity of the glove. In Figure 2, i is the number of fingers, and j is the number of knuckles. The peak of the curve in Figure 2 represents the glove reaching its bending limit.

In an optional embodiment, the dexterity of the glove is obtained according to the slope of the fitting curve, including:

The dexterity of the glove is obtained according to the following formula:

Among them, D is the dexterity of the glove, α is the bending angle of the knuckle, and f is the equivalent force of the knuckle rotation.

In an optional embodiment, the method also includes:

When min(|DD _min |/(D _max -D _min ),|DD _max |/(D _max -D _min ))>preset parameters, the dexterity of the glove is regained.

Among them, D _min is the minimum value of glove dexterity, and D _max is the maximum value of glove dexterity.

As an example, the preset parameter may be 5%, and the preset parameter may be set as required, and the embodiment of the present invention is not limited to the preset parameter.

In an optional embodiment, obtaining the equivalent rotational force of the robotic finger includes obtaining an interaction force between the knuckle and the glove in a direction perpendicular to the knuckle during the rotation process.

In an optional embodiment, obtaining the equivalent rotational force of the knuckles of the robot includes:

Obtain the knuckle bending angle when the knuckle rotation equivalent force tends to be stable and maintain the preset number of sampling periods as the glove range of motion.

It can be understood that the performance difference of the glove is basically not very big when the rotation angle is small, but the range of motion of the glove can be well seen by obtaining the maximum value of the glove bending angle. Therefore, the embodiment of the present invention ensures the accuracy of the obtained data by obtaining the equivalent force of knuckle rotation when the bending angle of the knuckle reaches the maximum angle, and by obtaining a preset number of sampling periods. For example, the preset number can be 3, 4, or 5, etc., and the specific number can be determined according to the test requirements, and the embodiment of the present invention is not limited to the preset number.

In an optional embodiment, S101 also includes:

According to the coupling relationship between knuckles, the coupling relationship between fingers is obtained,

Obtaining second preset control instructions between different fingers according to the coupling relationship between the fingers;

The action of the manipulator is controlled according to the second preset control instruction.

It should be noted that when the user uses gloves, they need to grasp through the cooperative actions of the fingers, so it is necessary to imitate the user's actions during the test for testing. At this time, it is necessary to know the coupling relationship between each finger, that is, The telescopic relationship between the fingers ensures that the test results correspond to the actual use results.

As an example, when it is necessary to grasp the club, the fingers need to cooperate to grab the club. At this time, the index finger is in a bent state, and the middle finger, ring finger, and little finger are adjusted to be in a bent state. Further, the direction in which the glove wants to grab the club can be obtained. As an example, the user can choose whether the head of the club is facing up or the head of the club is facing down. At this time, the stretching degree of the little finger and the ring finger will be different. When When the head of the club is facing up, the ring finger and little finger should be bent at a smaller angle to adjust the direction of the club. When the head of the club is facing down, the ring finger and little finger should be bent at a larger angle. Thus, according to the coupling relationship Obtaining second preset control instructions between different fingers; controlling the action of the manipulator according to the second preset control instructions. It should be noted that the above example is only an illustration, and the manner of controlling between fingers in the embodiment of the present invention is not limited thereto.

In an optional embodiment, the embodiment of the present invention can first obtain the different states of the glove, and then determine the coupling mode between the fingers of the glove in different states, the degree of bending of different fingers in different states, and the degree of bending of different fingers in different states. The coupling method between knuckles is controlled according to the above coupling method and bending degree, and the key wear parts are tested several times according to the conditions of different parts of the glove in use to ensure the accuracy of the test.

It should be noted that in the embodiment of the present invention, the host computer can be used to set the parameters of the manipulator action, read the equivalent rotational force of the mechanical finger joints and the bending angle of the knuckles, and calculate the equivalent rotational force and the bending angle of the knuckles. Data analysis, giving analysis results, and data processing.

In an optional embodiment, obtaining the equivalent rotational force of the knuckles of the robot includes:

Obtain the equivalent force of the manipulator abdomen and back knuckle rotation;

The maximum range of motion of the glove is obtained according to the fitting curve of the equivalent force of the knuckle rotation on the abdomen of the manipulator and the bending angle of the knuckle;

According to the fitting curve of the knuckle rotation equivalent force on the back of the manipulator and the knuckle bending angle, the minimum range of motion of the glove is obtained.

Please refer to Fig. 3-Fig. 4, Fig. 3 is a schematic diagram of the curve of the maximum range of motion of the glove; Fig. 4 is a schematic diagram of the relationship curve of the minimum range of motion of the glove. It should be noted that, in the embodiment of the present invention, by collecting the bending angle of the knuckle and the equivalent force of rotation, and then fitting the two, the curves of the phalanx and the belly of the knuckle are different from the curves of the back of the finger. After obtaining the data of the two, analyze according to the curve. Further, the maximum value of the range of motion is the knuckle rotation angle corresponding to when the equivalent force tends to be stable, and the minimum value of the range of motion is the knuckle rotation angle corresponding to the minimum equivalent force of the knuckle rotation.

In another aspect, a system for testing the dexterity and range of motion of an ice hockey glove is provided. The system includes: a memory, a processor, and a computer program stored on the memory. The processor executes the computer program to implement any of the above methods.

The system also includes a knuckle angle acquisition module, a multi-channel AD conversion module, a main control module and the like connected with the processor. As an example, the processor can be a single-chip microcomputer, and the single-chip microcomputer control board is powered on and initialized, and the PWM signal generated by the upper computer setting and the single-chip control board controls the manipulator to drive the knuckles to move in a standard mode or a custom mode.

The system also includes a host computer, and the host computer can set the movement sequence of the fingers of the manipulator, the angle of the knuckles, and the number of cycles according to user requirements. The setting method of finger movement sequence is from left to right, from right to left, and five linkage schemes; the setting method of knuckle angle is to select the knuckle first, then set the angle, and obtain it through the program in the interface of the host computer PWM value, and finally input the value into the control program and download it to the single-chip control board; the setting method of the number of cycles is two schemes of limited number of times and infinite loop.

The upper computer reads the data in the main control module in the visual interface of the upper computer interaction interface through the RS232-USB interface. The data includes the readings of the thin-film pressure sensor and the readings of the attitude sensor. Force refers to the interaction force between the finger joint and the glove in the direction perpendicular to the knuckle during the rotation of the finger joint, and its effect is to hinder the positive rotation of the knuckle.

The host computer defines the dexterity level and determines the range of motion of the glove according to the slope of the fitting curve of knuckle angle-joint rotation equivalent force. The relative angle at which the fingers can fully grip the stick determines range of motion. Wherein, the relative angle of a phalanx is the tangential angle between the phalanx and the adjacent phalanx near the palm side.

The ice hockey glove dexterity and range of motion test method provided by the embodiment of the present invention is helpful to the establishment of the efficacy evaluation method, standard, equipment and system of ice and snow sports wear equipment in my country. Through the quantitative evaluation of the dexterity and range of motion of the ice hockey glove, it provides an objective basis for the quantitative performance evaluation of sporting goods and the selection of ice hockey gloves by ice hockey players.

The above description is a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, these improvements and modifications It should also be regarded as the protection scope of the present invention.

Claims (9)

1. A kind of ice hockey glove dexterity and range of motion test method, described glove does not comprise goalkeeper glove, it is characterized in that, described glove is worn on the manipulator, and described method comprises: Control the action of the manipulator according to the preset control command, and then drive the action of the glove; Obtaining the equivalent force of the knuckle rotation of the robot and the bending angle of the knuckle; According to the equivalent force of the knuckle rotation of the mechanical finger and the bending angle of the knuckle, the fitting curve of the two is obtained; wherein, the equivalent force of the knuckle rotation of the mechanical finger is the ordinate, the bending angle of the knuckle is the abscissa, and the slope of the fitting curve is the mechanical knuckle rotation equivalent force/knuckle bending angle; Obtaining the dexterity of the glove according to the slope of the fitting curve includes: obtaining the dexterity of the glove according to the following formula:

Wherein, D is the dexterity of the glove, α is the bending angle of the knuckle, and f is the equivalent force of the knuckle rotation; The range of motion of the glove is obtained according to the bending angle of the knuckles. 2. The method for testing the dexterity and range of motion of an ice hockey glove according to claim 1, wherein said controlling the action of said manipulator according to a preset control instruction comprises: Obtain the coupling relationship between the knuckles of the same finger; Obtaining first preset control instructions of different phalanxes according to the coupling relationship between the phalanxes; The action of the manipulator is controlled according to the first preset control instruction. 3. The ice hockey glove dexterity and range of motion testing method according to claim 2, wherein said obtaining the coupling relationship between the knuckles of the same finger comprises: Obtain the rotation angle of the previous knuckle; The rotation angle of the previous knuckle is superimposed on the rotation angle of this knuckle, and the coupling relationship between knuckles is obtained according to the rotation angle of this knuckle and the rotation angle of the previous knuckle. 4. ice hockey glove dexterity and range of motion test method according to claim 3, is characterized in that, described method also comprises: When min(|DD _min |/(D _max -D _min ),|DD _max |/(D _max -D _min ))>preset parameters, regain the dexterity of the glove, where D _min is the glove The minimum dexterity, D _max is the maximum dexterity of the glove. 5. The method for testing the dexterity and range of motion of an ice hockey glove according to claim 1, wherein said obtaining the equivalent force of the knuckle rotation of the mechanical knuckle comprises obtaining the direction perpendicular to the knuckle during the rotation of the knuckle , the interaction force with the glove. 6. The ice hockey glove dexterity and range of motion test method according to claim 1, characterized in that obtaining the equivalent rotational force of the knuckles of the mechanical knuckle comprises: The knuckle bending angle when the knuckle rotation equivalent force tends to be stable and maintains a preset number of sampling periods is obtained as the glove range of motion. 7. The ice hockey glove dexterity and range of motion testing method according to claim 2, wherein said controlling the action of said manipulator according to a preset control command further comprises: obtaining the coupling relationship between the fingers according to the coupling relationship between the knuckles, Obtaining a second preset control instruction between different fingers according to the coupling relationship between the fingers; The action of the manipulator is controlled according to the second preset control instruction. 8. The method for testing the dexterity and range of motion of the ice hockey glove according to claim 1, wherein obtaining the equivalent force of the knuckle rotation of the mechanical finger comprises: Obtain the equivalent force of the manipulator abdomen and back knuckle rotation; The maximum range of motion of the glove is obtained according to the fitting curve of the equivalent force of the knuckle rotation on the abdomen of the manipulator and the bending angle of the knuckle, and the maximum range of motion is the corresponding knuckle bending angle when the equivalent force tends to be stable; According to the fitting curve of the knuckle rotation equivalent force on the back of the manipulator and the knuckle bending angle, the minimum activity range of the glove is obtained, and the minimum activity range is the knuckle bending angle corresponding to the minimum knuckle rotation equivalent force. 9. A hockey glove dexterity and range of motion testing system, said system comprising: a memory, a processor, and a computer program stored on the memory, wherein said processor executes said computer program to realize claim 1 -8 any of the methods described.

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