CN104881118B - A kind of donning system for being used to capture human upper limb locomotion information - Google Patents
A kind of donning system for being used to capture human upper limb locomotion information Download PDFInfo
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- CN104881118B CN104881118B CN201510271805.4A CN201510271805A CN104881118B CN 104881118 B CN104881118 B CN 104881118B CN 201510271805 A CN201510271805 A CN 201510271805A CN 104881118 B CN104881118 B CN 104881118B
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 32
- 230000033001 locomotion Effects 0.000 title claims abstract description 13
- 238000012545 processing Methods 0.000 claims abstract description 24
- 210000001145 finger joint Anatomy 0.000 claims abstract description 15
- 230000001133 acceleration Effects 0.000 claims abstract description 12
- 238000004088 simulation Methods 0.000 claims abstract description 4
- 230000003993 interaction Effects 0.000 abstract description 6
- 230000035876 healing Effects 0.000 abstract description 3
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 230000003044 adaptive effect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 210000003811 finger Anatomy 0.000 description 14
- 238000005516 engineering process Methods 0.000 description 5
- 210000000245 forearm Anatomy 0.000 description 3
- 210000004932 little finger Anatomy 0.000 description 2
- 210000003813 thumb Anatomy 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 210000005224 forefinger Anatomy 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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Abstract
The present invention relates to a kind of donning system for being used to capture human upper limb locomotion information, belong to human-computer interaction device's technical field.Donning system includes being used for the three-dimensional angular velocity for gathering each joint of human upper limb, the sensor of three-dimensional acceleration and Three-Dimensional Magnetic vector, for receiving the three-dimensional angular velocity in each joint of human upper limb, acceleration and magnetic vector, each finger-joint is calculated in real time, the posture of palm and arm, speed and the central processing unit of position, by by each finger-joint, the posture of palm and arm, speed and position are sent to the wireless transport module of display, for receiving each finger-joint, the posture of palm and arm, speed and position, and the display of Real Time Drive human upper limb simulation model.This donning system adaptive faculty is strong, easy to wear, can in real time, completely, rapidly capture the movable information of arm, palm and each finger, can be shown with long-distance transmissions and intuitively, can apply to the multiple fields such as man-machine interaction, remote operating, upper limb healing monitoring.
Description
Technical field
The present invention relates to a kind of donning system for being used to capture human upper limb locomotion information, belong to human-computer interaction device's technology
Field.
Background technology
Human-computer interaction technology fast development in recent years, it mainly by relevant device identify people various actions action,
Body gesture etc. carries out interactive, the function such as realization game, operation training, body-building with computer virtual environment.Capture human motion
It is wherein crucial.At present, human motion capture technology is largely based on image recognition technology, it is necessary to image first-class external set
It is standby, it is vulnerable to the influence of the conditions such as illumination, environment.
The content of the invention
The purpose of the present invention is to propose to a kind of donning system for being used to capture human upper limb locomotion information, to capture hand in real time
The movable information of arm, palm and each finger, and real-time display is carried out, applied to man-machine interaction, remote operating, upper limb healing monitoring
Etc. many-side.
The donning system proposed by the present invention for being used to capture human upper limb locomotion information, including：
Multiple sensors, for gathering three-dimensional angular velocity, three-dimensional acceleration and the Three-Dimensional Magnetic in each joint of human upper limb
Vector, including arm sensor, palm sensor and finger sensor, arm sensor and palm sensor are serially connected, worn
It is worn on arm and palm, finger sensor is divided into each sensor in five groups, every group and is serially connected, and is worn on five fingers respectively
Each joint on, and by the three-dimensional angular velocity in each joint of the human upper limb of collection, three-dimensional acceleration and Three-Dimensional Magnetic vector
Central processing unit is sent to by signal wire；
Central processing unit, three-dimensional angular velocity, the three-dimensional in each joint of human upper limb for receiving multiple sensor collections
Acceleration and Three-Dimensional Magnetic vector, the posture, speed and position of each finger-joint, palm and arm, central processing are calculated in real time
Device is worn on palm or arm, and central processing unit is connected by signal wire with multiple sensors；
Wireless transport module, by above-mentioned central processing unit is calculated each finger-joint, palm and arm posture,
Speed and position, are wirelessly sent to display；
Power supply, for being powered for multiple sensors, central processing unit and wireless transport module, power supply is worn on arm；
Display, each finger-joint, palm and the arm being calculated by wireless transport module reception central processing unit
Posture, speed and position, and according to each finger-joint of reception, the posture of palm and arm, speed and position, Real Time Drive
Human upper limb simulation model.
The donning system proposed by the present invention for being used to capture human upper limb locomotion information, is such as imaged first-class without external equipment
Work is can be carried out, not by ambient lighting, blocks etc. and to influence, adaptive faculty is strong, easy to wear, adapts to different human body upper limbs,
The movable informations such as energy real-time, complete, rapidly capture arm, palm and each finger acceleration, speed, posture and position.
The donning system of the present invention can be shown with long-distance transmissions and intuitively, can apply to man-machine interaction, remote operating, upper limb healing monitoring
Deng multiple fields.
Brief description of the drawings
Fig. 1 is the FB(flow block) proposed by the present invention for being used to capture the donning system of human upper limb locomotion information.
Fig. 2 is the structural representation of the donning system of the present invention.
In Fig. 2,1 is sensor, and 2 be power supply, and 3 be central processing unit, and 4 be wireless transport module.
Embodiment
The donning system proposed by the present invention for being used to capture human upper limb locomotion information, FB(flow block) is as shown in figure 1, bag
Include：
Multiple sensors 1, for gathering three-dimensional angular velocity, three-dimensional acceleration and the Three-Dimensional Magnetic in each joint of human upper limb
Vector, including arm sensor, palm sensor and finger sensor, arm sensor and palm sensor are serially connected, worn
It is worn on arm and palm, finger sensor is divided into each sensor in five groups, every group and is serially connected, and is worn on five fingers respectively
Each joint on；In one embodiment of the present of invention, altogether using 18 sensor assemblies, wherein 5 strings are worn on 5 respectively
Each joint of finger, is worn in palm, forearm and large arm for a string, as shown in Fig. 2 and each closing the human upper limb of collection
Three-dimensional angular velocity, three-dimensional acceleration and the Three-Dimensional Magnetic vector of section are sent to central processing unit by signal wire；
Central processing unit 3, three-dimensional angular velocity, the three-dimensional in each joint of human upper limb for receiving multiple sensor collections
Acceleration and Three-Dimensional Magnetic vector, the posture, speed and position of each finger-joint, palm and arm, central processing are calculated in real time
Device is worn on palm or arm, and central processing unit is connected by signal wire with multiple sensors.
Wireless transport module 4, by the appearance that above-mentioned central processing unit is calculated to each finger-joint, palm and arm
State, speed and position, are wirelessly sent to display；
Power supply 2, for being powered for multiple sensors, central processing unit and wireless transport module, power supply is worn on arm,
Power supply is compact lithium cell, output voltage 5v.
Display, each finger-joint, palm and the arm being calculated by wireless transport module reception central processing unit
Posture, speed and position, and according to each finger-joint of reception, the posture of palm and arm, speed and position, Real Time Drive
Human upper limb simulation model.
In donning system proposed by the present invention for capturing human upper limb locomotion information, the calculation process of central processing unit
It is as follows：
(1) according to the metrical information of each sensor, using Kalman filtering, each sensor 3 d pose is obtained, is used
Four element Qi3 d pose is represented, wherein the posture for being worn on the sensor of large arm, forearm and palm is respectively Q1、Q2、Q3, wear
It is worn over thumb proximal joint, the posture of sensor is respectively Q in middle-end joint and distal joint11、Q12、Q13, similarly forefinger,
Middle finger, the third finger, the posture of sensor assembly 1 is respectively Q on little finger of toe21、Q22、Q23, Q31、Q32、Q33, Q41、Q42、Q43, Q51、
Q52、Q53；
(2) using large arm as base joint, the posture for obtaining large arm is q1=Q1, the posture of forearm is q2=Q2·q1, palm
Posture be q3=Q3·q2, thumb, each joint posture of index finger, middle finger, ring finger and little finger are expressed as qj1=Qj1·q3,
qj2=Qj2·q3, qj3=Qj3·q3, wherein j=1,2,3,4,5；
(3) joint posture is subjected to differential, is then multiplied by the length in respective joint, just obtain the speed letter of upper extremity exercise
Breath；
(4) posture in respective joint is multiplied with length, has just obtained the positional information of upper extremity exercise.
Claims (1)
1. a kind of donning system for being used to capture human upper limb locomotion information, it is characterised in that the donning system includes：
Multiple sensors, for gathering three-dimensional angular velocity, three-dimensional acceleration and the Three-Dimensional Magnetic vector in each joint of human upper limb,
Multiple sensors are arm sensor, palm sensor and finger sensor, wherein described arm sensor and palm sensing
Device is serially connected, and is worn on arm and palm, and described finger sensor is divided into five groups, each biography in every group of finger sensor
Sensor is serially connected, and is worn on respectively on each joint of five fingers, and each sensor is by each joint of the human upper limb of collection
Three-dimensional angular velocity, three-dimensional acceleration and Three-Dimensional Magnetic vector central processing unit is sent to by signal wire；
Central processing unit, the three-dimensional angular velocity in each joint of human upper limb for receiving multiple sensor collections, three-dimensional acceleration
Degree and Three-Dimensional Magnetic vector, calculate the posture, speed and position of each finger-joint, palm and arm in real time, and central processing unit is worn
It is worn on palm or arm, central processing unit is connected by signal wire with multiple sensors；
Wireless transport module, by posture, speed that above-mentioned central processing unit is calculated to each finger-joint, palm and arm
And position, wirelessly it is sent to display；
Power supply, for being powered for multiple sensors, central processing unit and wireless transport module, power supply is worn on arm；
Display, the appearance of each finger-joint, palm and arm that central processing unit is calculated is received by wireless transport module
State, speed and position, and according to each finger-joint of reception, the posture of palm and arm, speed and position, Real Time Drive human body
Upper limbs simulation model.
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| CN201510271805.4A CN104881118B (en) | 2015-05-25 | 2015-05-25 | A kind of donning system for being used to capture human upper limb locomotion information |
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| CN201510271805.4A CN104881118B (en) | 2015-05-25 | 2015-05-25 | A kind of donning system for being used to capture human upper limb locomotion information |
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| CN104881118A CN104881118A (en) | 2015-09-02 |
| CN104881118B true CN104881118B (en) | 2018-04-10 |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105353871B (en) * | 2015-10-29 | 2018-12-25 | 上海乐相科技有限公司 | The control method and device of target object in a kind of virtual reality scenario |
| CN105677036B (en) * | 2016-01-29 | 2018-04-10 | 清华大学 | A kind of interactive data gloves |
| CN105690386B (en) * | 2016-03-23 | 2019-01-08 | 北京轩宇智能科技有限公司 | A kind of mechanical arm remote control system and teleoperation method |
| CN106073790B (en) * | 2016-08-26 | 2023-06-16 | 北京神秘谷数字科技有限公司 | Exoskeleton suit and torso simulation system |
| CN108670259A (en) * | 2018-03-07 | 2018-10-19 | 佛山市顺德区中山大学研究院 | Human behavior recognition device and system based on wearable sensor |
| CN110322748A (en) * | 2018-03-30 | 2019-10-11 | 北京华文众合科技有限公司 | Arm action reproduction equipment and system, motion capture equipment and console |
| CN110780731B (en) * | 2018-07-30 | 2023-06-09 | 宏达国际电子股份有限公司 | Finger gesture detection device and control assembly |
| CN109820486B (en) * | 2018-12-07 | 2023-09-26 | 南京医科大学 | Three-dimensional upper limb movement detection system and method based on permanent magnet positioning technology |
| CN109545325A (en) * | 2019-01-18 | 2019-03-29 | 董安琴 | A kind of wearable upper limb intelligent rehabilitation device of hemiplegic patient |
| CN111956449A (en) * | 2020-08-10 | 2020-11-20 | 河海大学常州校区 | Exoskeleton rehabilitation treatment device for shoulder-elbow joint injury and control system thereof |
| CN115674138B (en) * | 2022-12-02 | 2024-07-23 | 深圳市工匠社科技有限公司 | Joint motion capturing method, device, equipment and medium for combat robot controller |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201533842U (en) * | 2009-08-04 | 2010-07-28 | 中国科学院合肥物质科学研究院 | Wearable arm tremor detection device |
| CN103853333A (en) * | 2014-03-21 | 2014-06-11 | 上海威璞电子科技有限公司 | Gesture control scheme for toy |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20130271355A1 (en) * | 2012-04-13 | 2013-10-17 | Nokia Corporation | Multi-segment wearable accessory |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201533842U (en) * | 2009-08-04 | 2010-07-28 | 中国科学院合肥物质科学研究院 | Wearable arm tremor detection device |
| CN103853333A (en) * | 2014-03-21 | 2014-06-11 | 上海威璞电子科技有限公司 | Gesture control scheme for toy |
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