Data glove calibration method based on joint correlation analysis

Abstract

The invention discloses a data glove calibration method based on joint correlation analysis and belongs to the field of data glove calibration technology. The method aims to solve the problem that when reading data of a glove and actual joint data of a human hand are regarded to be in a linear relation for calibration of the glove, a mapping relation between the reading data and the joint data ispoor in accuracy. According to the method, first, a human hand model is established, and sensors, corresponding to all joints, in the data glove are determined according to the human hand model; an operator wears the data glove to perform a stipulated action, and stipulated action data of the operator is obtained; according to each joint, correlation analysis is performed on the corresponding stipulated action data, and the joints in the human hand model are dived into independent joints, single-coupling joints and multi-coupling joints according to different correlations; and the stipulated action data corresponding to each joint is processed, the mapping relation between the corresponding stipulated action data and the corresponding joints in the human hand model is obtained, and the data glove is calibrated according to the mapping relation. The method is used for calibration of the data glove.

Description

Data glove calibration method based on joint correlation analysis technical field The invention relates to a data glove calibration method based on joint correlation analysis, and belongs to the technical field of data glove calibration. Background technique As the most dexterous actuator in nature, the human hand has more than 20 degrees of freedom and can use various tools flexibly. As an effective extension of the human hand, the robotic dexterous hand has been a popular research direction in the field of robotics since the second half of the 20th century due to its strong versatility, rich perception capabilities, and the ability to achieve precise and stable grasping that meets geometric closure and force closure. It has been extensively studied by researchers from various countries, but achieving the stability and dexterity of dexterous hand grasping has always been a difficulty in this field. In order to make dexterous hands possess the flexibility of human hands, ...

AI Technical Summary

Problems solved by technology

The purpose of the present invention is to solve the problem of poor accuracy of the mapping relationship when the glove reading data and the actual joint data of the human hand are regarded as a linear relationship to calibrate the glove, and to provide a data glove calibration method based on joint correlation analysis

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