CN204496431U - Upper limbs wearing-type motion capture device - Google Patents
Upper limbs wearing-type motion capture device Download PDFInfo
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- CN204496431U CN204496431U CN201520047958.6U CN201520047958U CN204496431U CN 204496431 U CN204496431 U CN 204496431U CN 201520047958 U CN201520047958 U CN 201520047958U CN 204496431 U CN204496431 U CN 204496431U
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Abstract
The utility model relates to upper limbs three-dimensional motion capturing technology field, particularly a kind of upper limbs wearing-type motion capture device.The problems such as the hand perspire difficulty existed for existing upper extremity exercise capture device, wearing comfort degree is lower, motion capture precision is lower and cost is higher, the utility model provides a kind of upper limbs wearing-type motion capture device.The data collector that the utility model comprises finger gesture sensing device, arm attitude sensing device, wrist attitude sensing device and is arranged on the back of the hand.Data acquisition module in data collector is connected with the sensor assembly in finger gesture sensing device, arm attitude sensing device and wrist attitude sensing device by winding displacement.
Description
Technical field
The present invention relates to upper limbs three-dimensional motion capturing technology field, particularly a kind of upper limbs wearing-type motion capture device.
Background technology
Virtual reality is also called virtual environment, is the interactive simulation environment generated by computing machine real-time operation.Operator can by use various specific installation by oneself " projection " in this environment, there is interaction with virtual environment, realize special object.Essentially, virtual reality is a kind of computer user interactive interface, it provides such as vision, the sense of hearing, sense of touch etc. various naturally real-time perception and interactive means directly perceived by being supplied to user, user friendly operation and the experience enriching user to greatest extent.Virtual reality has a wide range of applications in fields such as military affairs, aviation, medical science, building, education, amusements.
By by diversified man-machine interaction means, operator can be made to be immersed in virtual environment, obtain the experience similar to real world, thus reach the object of certain technical ability of training.The attitude of upper limbs and action are in virtual environment, carry out the most frequently used input medium of man-machine interaction.User can obtain the position of its upper limbs by wearing-type motion capture device, posture, and actuating signal, role in virtual environment or object is driven with this, and can a certain specific attitude or action be defined and be identified, as the order input medium in virtual environment. wearing-type motion capture device is the key equipment realizing man-machine interaction, virtual portrait, dummy object in play a part to intergrate with practice user and virtual environment.
CyberGlove is hand three-dimensional motion capture device comparatively advanced at present, can capture the fine actions of finger, palm and arm.CyberGlove is the data glove of a fabricbase; whole hand is covered after dressing; user needs to dress under the prerequisite of hand drying; user needs carefully to pull the edge of data glove all to contact bottom data glove to make the five fingers; user needs to adjust one by one each root in data glove and points to make the five fingers all fit with data glove well; no matter donning process or use procedure all need the sensor on careful protected data gloves, avoid damaging sensor.In use there is the problem of not easily perspire in CyberGlove, when the long period uses, hand sweat can stained gloves, clean very difficult.In addition, CyberGlove price is higher, inadaptable popular universal.
P5 Glove is the real-time interactive adopting bend sensor and remote tracing technology to realize user and 3d gaming and virtual environment.P5 Glove can capture the finger movement of centimetre-sized, but lacks capturing ability for opening of the five fingers with closing action.In addition, P5 Glove can not realize the motion capture to arm, and the motion capture precision of P5 Glove is lower.
Shape Hand Plus can to the abduction of wrist and finger and adduction, bending and the action such as to stretch and carry out
catch.The sensor of Shape Hand Plus is not fixed on gloves, but adopts the mode be connected with gloves, thus can adapt to the needs of not homochirality, and this also makes Shape Hand Plus all can wear on hand in left and right two.Thus, except non-user needs to catch double-handed exercise simultaneously, otherwise logical need use a Shape Hand Plus can catch the action of two hands in left and right respectively.At the hand of user, also there is the problem of not easily perspire by fabricbase glove donning in Shape Hand Plus, when the long period uses, hand sweat can stained gloves, clean very difficult.
5dt data glove can catch the angle between the digital flexion position of user and finger, but lacks the capturing ability to arm action.In addition, 5dt data glove is the fabricbase gloves of lycra material, also there is the problem of not easily perspire, and when the long period uses, hand sweat can stained gloves, clean very difficult.
Dexmo adopts exoskeleton structure to carry out the wearable device of hand motion capture, is decomposed by the flexure operation of hand and is mapped on rotation sensor, and on exoskeleton, be provided with force feedback assembly by one group of connecting rod.By completing the Analysis of Inverse Kinematics of finger to ectoskeletal positive kinematics modeling, realize hand motion capture.Exoskeleton structure makes the profile of Dexmo comparatively clumsy, and the comfort level of wearing is lower.
Control Vr can follow the trail of the deliberate action of arm or finger more exactly, in order to manipulate the dummy object such as game character and three-dimensional animation, or even the entity device such as robot, military equipment.The upper limks movements capture device of Control Vr comprises the fabricbase gloves, arm sensor and the breast sensor that arrange sensor, and it exists equally, and profile is comparatively clumsy, wearing comfort degree is lower and the problem of fabricbase gloves perspire difficulty.
On the whole, the subject matter that existing upper limbs three-dimensional motion capture device exists has: hand perspire difficulty, the problem such as wearing comfort degree is lower, motion capture precision is lower and cost is higher.
Utility model content
The problems such as the hand perspire difficulty existed for existing upper extremity exercise capture device, wearing comfort degree is lower, motion capture precision is lower and cost is higher, the utility model provides a kind of upper limbs wearing-type motion capture device.
The technical solution of the utility model is:
A kind of upper limbs wearing-type motion capture device, it data collector comprising finger gesture sensing device, arm attitude sensing device, wrist attitude sensing device and be arranged on the back of the hand.
Finger gesture sensing device by the outer box of sensor, be set in the elastic bands on the outer box of sensor and the sensor assembly be arranged in the outer box of sensor forms.
The Nomenclature Composition and Structure of Complexes of arm attitude sensing device is consistent with finger gesture sensing device.
Wrist attitude sensing device comprises wrist attitude sensor module, and wrist attitude sensor module is identical with the sensor assembly in finger gesture sensing device and arm attitude sensing device.
Data collector by the outer box of data acquisition unit, the elastic bands be set on the outer box of data acquisition unit, the battery be arranged in the outer box of data acquisition unit, be arranged on the data acquisition module in the outer box of data acquisition unit and be arranged in the outer box of data acquisition unit and the data transmission module suitable with data acquisition module forms.Battery is data acquisition module, sensor assembly in data transmission module, wrist attitude sensor module and finger gesture sensing device and arm attitude sensing device is powered.
Data acquisition module in data collector is connected with the sensor assembly in finger gesture sensing device and arm attitude sensing device with wrist attitude sensor module by winding displacement.
Concrete, the outer box of sensor in finger gesture sensing device or arm attitude sensing device comprises the first base for placing elastic bands, to be arranged on the first base for the first middle layer of placement sensor module and to be arranged on the first middle layer for settling the first top cover of cable terminal.First middle layer is provided with the jack for connection data acquisition module.First top cover is provided with first row line terminals mounting hole.First base is provided with the first groove for placing elastic bands, the surface of contact of the first base and finger is the cambered surface suitable with finger radian.
Concrete, the outer box of sensor in finger gesture sensing device or arm attitude sensing device comprising the second base for placing elastic bands, being arranged on the second base for the second top cover settling the second middle layer of the cable terminal of connecting sensor module and be arranged on for placement sensor module on the second middle layer.Second middle layer is provided with the line outlet groove that second row line terminals mounting hole is connected with for winding displacement.Second top cover is provided with the jack for connection data acquisition module.Second base is provided with the second groove for placing elastic bands, the surface of contact of the second base and finger is the cambered surface suitable with finger radian.
Concrete, the outer box of data acquisition unit comprises for the 3rd top cover settling the 3rd base of battery, data acquisition module and data transmission module and be arranged on the 3rd base.3rd base is provided with the line outlet groove that the bandage wire hole for placing elastic bands is connected with for winding displacement.The surface of contact of the 3rd base and the back of the hand is the cambered surface suitable with the back of the hand radian.
Concrete, wrist attitude sensing device also comprises and being fixedly installed on the outer box of data acquisition unit for settling the 4th base of wrist attitude sensor module and being arranged on the 4th base for settling the 4th top cover of cable terminal.4th top cover is provided with the 4th cable terminal mounting hole, the 4th base is provided with the jack for connection data acquisition module.
Concrete, wrist attitude sensing device also comprises and being fixedly installed on the outer box of data acquisition unit for settling the 5th base of the cable terminal connecting wrist attitude sensor module and being arranged on the 5th base for settling the 5th top cover of wrist attitude sensor module.5th base is provided with the line outlet groove that the 5th cable terminal mounting hole is connected with for winding displacement, the 5th top cover is provided with the jack for connection data acquisition module.
Concrete, the outer box of sensor and the outer box of data acquisition unit use conductive material to make, sensor assembly in wrist attitude sensor module and finger gesture sensing device and arm attitude sensing device is MPU-6050 type motion tracker, and the data acquisition module in data collector is Atmega328 type single-chip microcomputer.
The beneficial effects of the utility model:
The utility model establishes the attitude sensing device for finger, wrist and arm, attitude data and the actuating signal of finger, wrist and arm attitude sensor is integrated by data collecting module collected, finally by data transmission module, the attitude data of upper limbs (comprising finger, wrist and arm) and actuating signal are transferred to host computer and carry out computing and analysis, achieve the motion capture for upper limbs.By mutually touching between the outer box of conductive sensor, make finger, palm, between arm, form contact-making switch pair.The utility model uses elastic bands carry out the wearing of equipment and fix, and solve hand perspire problem, and user can, from the degree of tightness of Row sum-equal matrix elastic bands, make wearing comparatively comfortable, is applicable to long-time continuous and uses.It is convenient that the utility model is installed, user can installation and removal voluntarily. and user charges to battery by data acquisition module circuit, also directly battery can be changed, type selecting can be carried out in the utility model for the sensor assembly catching attitude data and actuating signal, to meet the requirement of high precision motion capture application according to application scenario.Primary electronic component of the present utility model, as sensor assembly, data acquisition module and data transmission module all can adopt existing ripe IC chip, cost is lower.Principle mechanical components of the present utility model, box as outer in sensor and the outer box of data acquisition unit all can die sinking manufactures, and cost of manufacture can significantly reduce.
Accompanying drawing explanation
Fig. 1 is the overall using state schematic diagram of the utility model.
Fig. 2 is the utility model hand using state schematic diagram.
Fig. 3 is the detonation configuration schematic diagram of the outer box of sensor in embodiment 1.
Fig. 4 is the detonation configuration schematic diagram at outer another visual angle of box of sensor in embodiment 1.
Fig. 5 is the detonation configuration schematic diagram of the outer box of collector in embodiment 1.
Fig. 6 is the detonation configuration schematic diagram of the outer box of sensor in embodiment 2.
Fig. 7 is the detonation configuration schematic diagram at outer another visual angle of box of sensor in embodiment 2.
Fig. 8 is the detonation configuration schematic diagram of the outer box of collector in embodiment 2.
Wherein, 1 finger gesture sensing device, 2 arm attitude sensing devices, 3 data collectors, 4 elastic bands, 5 sensor assemblies, 6 winding displacements, 7 first bases, 7-1 first groove, 7-2 first draw-in groove, the anti-skidding tongue of 7-3 first, 8 first middle layers, 8-1 first snap fit, 8-2 second draw-in groove, 8-3 jack, 9 first top covers, 9-1 first row line terminals mounting hole, 9-2 second snap fit, 10 cable terminals, 11 second bases, 11-1 second groove, 11-2 the 3rd draw-in groove, the anti-skidding tongue of 11-3 second, 12 second middle layers, 12-1 second row line terminals mounting hole, 12-2 second line outlet groove, 12-3 the 3rd snap fit, 12-4 the 4th draw-in groove, 13 second top covers, 13-1 the 4th snap fit, 13-2 jack, 14 the 3rd bases, 14-1 bandage wire hole, 14-2 the 3rd line outlet groove, 14-3 the 5th draw-in groove, 14-4 charges hole, 15 the 3rd top covers, 15-1 the 5th snap fit, 15-2 wire hole, 15-3 switch mounting hole, 16 the 4th bases, 16-1 the 6th draw-in groove, 16-2 jack, 17 the 4th top covers, 17-1 the 4th cable terminal mounting hole, 17-2 the 6th snap fit, 18 the 5th bases, 18-1 the 5th cable terminal mounting hole, 18-2 the 7th draw-in groove, 18-3 the 5th line outlet groove, 19 the 5th top covers, 19-1 the 7th snap fit, 19-2 jack, 20 wrist attitude sensing devices.
Embodiment
embodiment 1
With reference to Fig. 1-5, the data collector 3 that the upper limbs wearing-type motion capture device of embodiment 1 comprises finger gesture sensing device 1, arm attitude sensing device 2, wrist attitude sensing device 20 and is arranged on the back of the hand.Finger gesture sensing device 1 by the outer box of sensor, be set in the elastic bands 4 on the outer box of sensor and the sensor assembly 5 be arranged in the outer box of sensor forms.The Nomenclature Composition and Structure of Complexes of arm attitude sensing device 2 is consistent with finger gesture sensing device 1.Data collector 3 by the outer box of data acquisition unit, the elastic bands 4 be set on the outer box of data acquisition unit, the battery be arranged in the outer box of data acquisition unit, be arranged on the data acquisition module in the outer box of data acquisition unit and be arranged in the outer box of data acquisition unit and the data transmission module suitable with data acquisition module forms.Wrist attitude sensor module in wrist attitude sensing device 20 is identical with the sensor assembly in finger gesture sensing device 1 and arm attitude sensing device 2.Battery is data acquisition module, sensor assembly 5 in data transmission module, wrist attitude sensor module and finger gesture sensing device 1 and arm attitude sensing device 2 is powered, and data acquisition module is connected to switch key and rechargeable battery.Data acquisition module in data collector 3 is connected with the sensor assembly 5 in wrist attitude sensing device 20, finger gesture sensing device 1 and arm attitude sensing device 2 by winding displacement 6.
As shown in Figure 3-4, in embodiment 1, the outer box of sensor comprising the first base 7 for placing elastic bands 4, to be arranged on the first base 7 for the first middle layer 8 of placement sensor module 5 and to be arranged on the first middle layer 8 for settling the first top cover 9 of cable terminal 10.The top of the first base 7 is provided with the first groove 7-1 for placing elastic bands 4, first groove 7-1 is provided with the first anti-skidding tongue 7-3 preventing elastic bands 4 from coming off, first base 7 with the surface of contact of finger or arm is and the cambered surface pointed or arm radian is suitable, and this cambered surface can be fixedly installed elastic cushion, to improve the wearing comfort degree of equipment.The front/rear end of the first base 7 is symmetrically arranged with respectively two the first draw-in groove 7-2.After the front end face of the first base 7 refers to that equipment is dressed, near the end face of finger tip on the first base 7.After the rear end face of the first base 7 refers to that equipment is dressed, near the end face of wrist on the first base 7.First middle layer 8 is provided with the jack 8-3 for connection data acquisition module.The bottom in the first middle layer 8 is provided with four first snap fit 8-1s suitable with the first draw-in groove 7-2.The top of the first middle layer about 8 end face is symmetrically arranged with two the second draw-in groove 8-2 respectively.Point to the direction of finger tip for positive dirction by the outer box of sensor after dressing with equipment, the left and right end face in the first middle layer 8 refers to that this positive dirction is the left and right end face of benchmark.The center of top of the first top cover 9 is provided with first row line terminals mounting hole 9-1.Four second snap fit 9-2s suitable with the second draw-in groove 8-2 are provided with bottom first top cover 9.
As shown in Figure 5, in embodiment 1, the outer box of collector comprises for the 3rd top cover 15 settling the 3rd base 14 of battery, data acquisition module and data transmission module and be arranged on the 3rd base 14.The left and right end face of the 3rd base 14 is respectively provided with the bandage wire hole 14-1 for placing elastic bands 4 of two groups of symmetries, the centre position of its left and right end face is respectively provided with a 5th draw-in groove 14-3.Point to the direction of middle finger for positive dirction by the outer box of collector after dressing with equipment, the left and right end face of the 3rd base 14 refers to that this positive dirction is the left and right end face of benchmark.The top of all end faces of the 3rd base 14 is respectively provided with a 3rd line outlet groove 14-2, is connected with arm attitude sensor module for each finger with the winding displacement between data acquisition module.3rd base 14 is provided with charging hole 14-4, and charging hole 14-4 is the charging socket for connecting attaching plug and data acquisition module.3rd base 14 is the cambered surface suitable with the back of the hand radian with the surface of contact of the back of the hand, and this cambered surface can be fixedly installed elastic cushion, to improve the wearing comfort degree of equipment.Two five snap fit 15-1s suitable with the 5th draw-in groove 14-3 are provided with bottom 3rd top cover 15.3rd top cover 15 is also provided with wire hole 15-2 and switch mounting hole 15-3.Wire hole 15-2 is used for wrist attitude sensor module and is connected with the winding displacement between data acquisition module.
In embodiment 1, be also fixedly installed wrist attitude sensing device 20 above the 3rd top cover 15, see Fig. 5.Wrist attitude sensing device 20 is by being fixedly installed on the outer box of data acquisition unit for settling the 4th base 16 of wrist attitude sensor module and being arranged on the 4th base 16 for settling the 4th top cover 17 of cable terminal to form.4th base 16 is provided with the jack 16-2 for connection data acquisition module.4th base about 16 end face is symmetrically arranged with respectively two the 6th draw-in groove 16-1.4th top cover 17 top center position is provided with the 4th cable terminal mounting hole 17-1, the 4th top cover about 17 end face is respectively arranged with two six snap fit 17-2s suitable with the 6th draw-in groove 16-1.
In embodiment 1, the sensor assembly 5 in wrist attitude sensor module and finger gesture sensing device 1 and arm attitude sensing device 2 is MPU-6050 type motion tracker (Motion Tracking device); Data acquisition module in data collector 3 is Atmega328 type single-chip microcomputer.Each sensor assembly is all connected with data acquisition module by winding displacement, adopts I2C bus protocol to communicate.Only there are two I2C bus addresss MPU-6050 type motion tracker inside, and when its ad0 pin input logic high level signal, its I2C bus address is 0x69; When its ad0 pin input logic low level signal, its I2C bus address is 0x68.The numeral of Atmega328 type single-chip microcomputer or analog output channel are connected to one to one the ad0 pin of each MPU-6050 type motion tracker, by the numeral of control Atmega328 type single-chip microcomputer or the output level of analog output channel, can realize in the data collection cycle of a certain MPU-6050 type motion tracker, Atmega328 type single-chip microcomputer is or logic low high to this MPU-6050 type motion tracker output logic only, all exports opposite levels to all the other MPU-6050 type motion tracker.By above communication control method, extend the I2C bus address of MPU-6050 type motion tracker, achieve the data acquisition of Atmega328 type single-chip microcomputer to multiple MPU-6050 type motion tracker.
The wearing mode of embodiment 1 is shown in Fig. 1-2, and upper wearing two the finger gesture sensing devices 1 of every root finger, often prop up on arm and dress two arm attitude sensing devices 2, the back of the hand dresses a data collector 3.Forefinger, middle finger, the third finger are consistent with the wearing position of the finger gesture sensing device 1 of two on little finger of toe, namely a finger movement sensing device 1 is dressed between the first interphalangeal joint and the second interphalangeal joint, for directly catching the action of the second interphalangeal joint and indirectly catching the action (the first interphalangeal joint under normal circumstances on forefinger, middle finger, the third finger and little finger of toe can not self contained function, the action of the first interphalangeal joint can be reconstructed by the action of the second interphalangeal joint) of the first interphalangeal joint; A finger movement sensing device 1 is dressed, for catching the action of metacarpophalangeal joints between second interphalangeal joint and metacarpophalangeal joints.Two finger movement sensing devices 1 on thumb are worn on the front and back position of thumb first interphalangeal joint respectively, are respectively used to the action catching thumb first interphalangeal joint and thumb metacarpophalangeal joints.Two arm action sensing devices 2 on arm are worn on the centre position of forearm and upper arm respectively, are respectively used to the action catching elbow joint and shoulder joint.Be worn on the data collector 3 on the back of the hand and be provided with wrist attitude sensing device 20, for catching carpal action.Finger gesture sensing device 1 or arm attitude sensing device 2 form a closed circle with the elastic bands 4 placed thereon, finger or arm are worn in this closed circle, elastomeric elastic bands 4 can make finger gesture sensing device 1 or arm attitude sensing device 2 comparatively closely be fitted on finger or arm, and the size of the closed circle that user can point according to self or the thickness of arm is formed from Row sum-equal matrix elastic bands 4, can ensure that wearing is comparatively comfortable.Data collector 3 places two elastic bands 4 of intersecting, as shown in Figure 1, the elastic bands 4 of two arranged crosswise can make data collector 3 be placed in more securely on the back of the hand.
embodiment 2
With reference to Fig. 1-2 and Fig. 6-8, the data collector 3 that the upper limbs wearing-type motion capture device of embodiment 2 comprises finger gesture sensing device 1, arm attitude sensing device 2, wrist attitude sensing device 20 and is arranged on the back of the hand.Finger gesture sensing device 1 by the outer box of sensor, be set in the elastic bands 4 on the outer box of sensor and the sensor assembly 5 be arranged in the outer box of sensor forms.The Nomenclature Composition and Structure of Complexes of arm attitude sensing device 2 is consistent with finger gesture sensing device 1.Data collector 3 by the outer box of data acquisition unit, the elastic bands 4 be set on the outer box of data acquisition unit, the battery be arranged in the outer box of data acquisition unit, be arranged on the data acquisition module in the outer box of data acquisition unit and be arranged in the outer box of data acquisition unit and the data transmission module suitable with data acquisition module forms.Wrist attitude sensor module in wrist attitude sensing device 20 is identical with the sensor assembly in finger gesture sensing device 1 and arm attitude sensing device 2.Battery is data acquisition module, sensor assembly 5 in data transmission module, wrist attitude sensor module and finger gesture sensing device 1 and arm attitude sensing device 2 is powered, and data acquisition module is connected to switch key and rechargeable battery.Data acquisition module in data collector 3 is connected with the sensor assembly 5 in wrist attitude sensor module, finger gesture sensing device 1 and arm attitude sensing device 2 by winding displacement 6.
As shown in fig. 6-7, in embodiment 2, the outer box of sensor comprising the second base 11 for placing elastic bands 4, being arranged on two bases 11 for the second top cover 13 settling the second middle layer 12 of cable terminal 10 and be arranged on for placement sensor module 5 on the second middle layer 12.The top of the second base 11 is provided with the second groove 11-1 for placing elastic bands 4, second groove 11-1 is provided with the second anti-skidding tongue 11-3 preventing elastic bands 4 from coming off, second base 11 with the surface of contact of finger or arm is and the cambered surface pointed or arm radian is suitable, and this cambered surface can be fixedly installed elastic cushion, to improve the wearing comfort degree of equipment.The front/rear end of the second base 11 is symmetrically arranged with respectively two the 3rd draw-in groove 11-2.After the front end face of the second base 11 refers to that equipment is dressed, near the end face of finger tip on the second base 11.After the rear end face of the second base 11 refers to that equipment is dressed, near the end face of wrist on the second base 11.Second middle layer 12 is provided with the second row line terminals mounting hole 12-1 for installing cable terminal 10.The bottom in the second middle layer 12 is provided with four three snap fit 12-3s suitable with the 3rd draw-in groove 11-2.The top of the second middle layer about 12 end face is symmetrically arranged with two the 4th draw-in groove 12-4 respectively.The top of the second middle layer 12 front/rear end is symmetrically arranged with a second line outlet groove 12-2 respectively.Point to the direction of finger tip for positive dirction by the outer box of sensor after dressing with equipment, the left and right end face in the second middle layer 12 refers to that this positive dirction is the left and right end face of benchmark.Four four snap fit 13-1s suitable with the 4th draw-in groove 12-4 are provided with bottom second top cover 13.Second top cover 13 is also provided with the jack 13-2 for connection data acquisition module.
As shown in Figure 8, in embodiment 2, the outer box of collector comprises for the 3rd top cover 15 settling the 3rd base 14 of battery, data acquisition module and data transmission module and be arranged on the 3rd base 14.The left and right end face of the 3rd base 14 is respectively provided with the bandage wire hole 14-1 for placing elastic bands 4 of two groups of symmetries, the centre position of its left and right end face is respectively provided with a 5th draw-in groove 14-3.Point to the direction of middle finger for positive dirction by the outer box of collector after dressing with equipment, the left and right end face of the 3rd base 14 refers to that this positive dirction is the left and right end face of benchmark.The top of all end faces of the 3rd base 14 is respectively provided with a 3rd line outlet groove 14-2, is connected with arm attitude sensor module for each finger with the winding displacement between data acquisition module.3rd base 14 is provided with charging hole 14-4, and charging hole 14-4 is the charging socket for connecting attaching plug and data acquisition module.3rd base 14 is the cambered surface suitable with the back of the hand radian with the surface of contact of the back of the hand, and this cambered surface can be fixedly installed elastic cushion, to improve the wearing comfort degree of equipment.Two five snap fit 15-1s suitable with the 5th draw-in groove 14-3 are provided with bottom 3rd top cover 15.3rd top cover 15 is also provided with wire hole 15-2 and switch mounting hole 15-3.Wire hole 15-2 is used for wrist attitude sensor module and is connected with the winding displacement between data acquisition module.
In embodiment 2, be also fixedly installed wrist attitude sensing device 20 above the 3rd top cover 15, see Fig. 8.Wrist attitude sensing device 20 is by being fixedly installed on the outer box of data acquisition unit for settling the 5th base 18 of cable terminal and being arranged on the 5th base 18 for settling the 5th top cover 19 of wrist attitude sensor module to form.5th top cover 19 is provided with the jack 19-2 for connection data acquisition module.5th base 18 is provided with the 5th line outlet groove 18-3 that the 5th cable terminal mounting hole 18-1 for installing cable terminal is connected with for winding displacement.5th base about 18 end face is symmetrically arranged with respectively two the 7th draw-in groove 18-2.Bottom 5th top cover 19, left and right end face is respectively arranged with two seven snap fit 19-1s suitable with the 7th draw-in groove 18-2.
In embodiment 2, the sensor assembly 5 in wrist attitude sensor module, finger gesture sensing device 1 and arm attitude sensing device 2 is MPU-6050 type motion tracker (Motion Tracking device); Data acquisition module in data collector 3 is Atmega328 type single-chip microcomputer.Communication means and the embodiment 1 of each MPU-6050 type motion tracker and Atmega328 type single-chip microcomputer are consistent.
The wearing mode of the upper limbs wearing-type motion capture device of embodiment 2 is consistent with embodiment 1.
Embodiment 1 is with embodiment 2, and the outer box of sensor all uses conductive material to make.By jack 19-2,13-2,16-2 or 8-3, use winding displacement that outer for a certain sensor box is connect the VCC end of Atmega328 type single-chip microcomputer, the outer box of all the other sensors connects the input end of analog signal of Atmega328 type single-chip microcomputer by winding displacement.Hold the outer box of the sensor be connected to touch the outer box of all the other sensors be connected with the input end of analog signal of Atmega328 type single-chip microcomputer by with the VCC of Atmega328 type single-chip microcomputer, make the outer box of one group of sensor touched mutually constitute a pair contact-making switch.Detect the level change of Atmega328 type single-chip microcomputer analog signals input end, the expansion input signal beyond a kind of attitude sensor data can be it can be used as, to perform specific action.
The above embodiment is only preferred embodiment of the present utility model, and is not the exhaustive of the feasible enforcement of the utility model.For persons skilled in the art, to any apparent change done by it under the prerequisite not deviating from the utility model principle and spirit, all should be contemplated as falling with within claims of the present utility model.
Claims (8)
1. a upper limbs wearing-type motion capture device, is characterized in that it data collector (3) comprising finger gesture sensing device (1), arm attitude sensing device (2), wrist attitude sensing device (20) and be arranged on the back of the hand;
Described finger gesture sensing device (1) by the outer box of sensor, be set in the elastic bands (4) on the outer box of described sensor and the sensor assembly (5) be arranged in the outer box of described sensor forms;
The Nomenclature Composition and Structure of Complexes of described arm attitude sensing device (2) is consistent with described finger gesture sensing device (1);
Described wrist attitude sensing device (20) comprises wrist attitude sensor module, and described wrist attitude sensor module is identical with the sensor assembly (5) in finger gesture sensing device (1) and arm attitude sensing device (2);
Described data collector (3) by the outer box of data acquisition unit, the elastic bands (4) be set on the outer box of described data acquisition unit, the battery be arranged in the outer box of described data acquisition unit, be arranged on the data acquisition module in the outer box of described data acquisition unit and be arranged in the outer box of data acquisition unit and the data transmission module suitable with described data acquisition module forms; Described battery is sensor assembly (5) power supply in data acquisition module, wrist attitude sensor module, data transmission module and finger gesture sensing device (1) and arm attitude sensing device (2);
Data acquisition module in described data collector (3) is connected with the sensor assembly (5) in finger gesture sensing device (1) and arm attitude sensing device (2) with described wrist attitude sensor module by winding displacement (6).
2. a kind of upper limbs wearing-type motion capture device according to claim 1, is characterized in that the outer box of described sensor comprising the first base (7) for placing elastic bands, to be arranged on the first base (7) for first middle layer (8) of placement sensor module (5) and to be arranged on the first middle layer (8) for settling first top cover (9) of cable terminal (10); Described first middle layer (8) is provided with the jack (8-3) for connection data acquisition module; Described first top cover (9) is provided with first row line terminals mounting hole (9-1); Described first base (7) is provided with the first groove (7-1) for placing elastic bands (4); Described first base (7) and the surface of contact of finger are the cambered surface suitable with finger radian.
3. a kind of upper limbs wearing-type motion capture device according to claim 1, is characterized in that the outer box of described sensor comprising the second base (11) for placing elastic bands, being arranged on the second base (11) for the second top cover (13) settling second middle layer (12) of cable terminal (10) and be arranged on for placement sensor module (5) on the second middle layer (12); Described second middle layer (12) is provided with the second line outlet groove (12-2) that second row line terminals mounting hole (12-1) is connected with for winding displacement; Described second top cover (13) is provided with the jack (13-2) for connection data acquisition module; Described second base (11) is provided with the second groove (11-1) for placing elastic bands (4); Described second base (11) and the surface of contact of finger are the cambered surface suitable with finger radian.
4. a kind of upper limbs wearing-type motion capture device according to claim 1 or 2 or 3, is characterized in that the outer box of described data acquisition unit comprises for the 3rd top cover (15) settling the 3rd base (14) of battery, data acquisition module and data transmission module and be arranged on the 3rd base (14); The 3rd line outlet groove (14-2) that on described 3rd base (14), the bandage wire hole (14-1) be provided with for placing elastic bands (4) is connected with for winding displacement; Described 3rd base (14) is the cambered surface suitable with the back of the hand radian with the surface of contact of the back of the hand.
5. a kind of upper limbs wearing-type motion capture device according to claim 4, is characterized in that described wrist attitude sensing device also comprises and is fixedly installed on the outer box of data acquisition unit for settling the 4th base (16) of wrist attitude sensor module and being arranged on the 4th base (16) for settling the 4th top cover (17) of cable terminal; Described 4th top cover (17) is provided with the 4th cable terminal mounting hole (17-1), described 4th base (16) is provided with the jack (16-2) for connection data acquisition module.
6. a kind of upper limbs wearing-type motion capture device according to claim 4, is characterized in that described wrist attitude sensing device also comprises and is fixedly installed on the outer box of data acquisition unit for settling the 5th base (18) of cable terminal and being arranged on the 5th base (18) for settling the 5th top cover (19) of wrist attitude sensor module; Described 5th base (18) is provided with the 5th line outlet groove (18-3) that the 5th cable terminal mounting hole (18-1) is connected with for winding displacement, described 5th top cover (19) is provided with the jack (19-2) for connection data acquisition module.
7. a kind of upper limbs wearing-type motion capture device according to claim 1, it is characterized in that the outer box of described sensor and the outer box of data acquisition unit use conductive material to make, the outer box of sensor described in any one connects the VCC end of data acquisition module, and the outer box of all the other sensors connects the different input end of analog signal of data acquisition module respectively.
8. a kind of upper limbs wearing-type motion capture device according to claim 1, is characterized in that the sensor assembly (5) in described wrist attitude sensor module and finger gesture sensing device (1) and arm attitude sensing device (2) is MPU-6050 type motion tracker; Data acquisition module in described data collector (3) is Atmega328 type single-chip microcomputer.
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| CN201520047958.6U CN204496431U (en) | 2015-01-23 | 2015-01-23 | Upper limbs wearing-type motion capture device |
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| CN201520047958.6U CN204496431U (en) | 2015-01-23 | 2015-01-23 | Upper limbs wearing-type motion capture device |
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