Arm motion reproduction equipment and system, motion capture equipment and center console

Abstract

The present application provides an arm motion reproduction device and system, a motion capture device and a central console. The arm motion reproduction device includes a mechanical arm, a data source and a controller, wherein the mechanical arm is used to simulate arm motions, the data source is used to provide arm motion data, and the controller is used to control the mechanical arm to simulate arm motions based on the arm motion data, wherein the mechanical arm includes a structure that can be combined with a human hand. The above-mentioned arm motion reproduction device and system, motion capture device and central console of the present application can improve the quality and speed of calligraphy learning.

Description

Technical Field

[0001] The present application relates to the technical field of calligraphy learning, and more specifically, to an arm motion reproduction device and system, a motion capture device, and a central control console. Background Art

[0002] The current calligraphy learning process generally adopts two methods: copying and imitating. These methods require learning content through visual observation, understanding and memorizing the key points of writing, and gradually improving proficiency. These methods have a common disadvantage. Learners cannot immediately perceive the best writing movements (such as the best pen holding position and pen strength, etc.), and need multiple explorations and attempts to get started. Summary of the invention

[0003] A brief overview of the present application is provided below in order to provide a basic understanding of certain aspects of the present application. It should be understood that this overview is not an exhaustive overview of the present application. It is not intended to identify the key or important parts of the present application, nor is it intended to limit the scope of the present application. Its purpose is merely to present certain concepts in a simplified form as a prelude to a more detailed description discussed later.

[0004] In view of the above-mentioned defects of the prior art, one of the purposes of the present application is to provide an arm motion reproduction device and system, a motion capture device and a central console, so as to at least solve the problem in the existing calligraphy learning technology that learners cannot instantly perceive the optimal writing movement.

[0005] According to one aspect of the present application, there is provided an arm motion reproduction device, comprising a robotic arm, a data source and a controller, wherein the robotic arm is used to simulate arm motions, the data source is used to provide arm motion data, and the controller is used to control the robotic arm to simulate arm motions based on the arm motion data, wherein the robotic arm comprises a structure that can be combined with a human hand.

[0006] According to another aspect of the present application, a motion capture device is provided, including a robotic arm, a database and a controller, wherein the robotic arm is used to capture arm motions and output data, the database is used to store the data, and the controller is used to control the robotic arm to capture the arm motions, wherein the robotic arm includes a structure that can be combined with a human hand.

[0007] According to another aspect of the present application, a central control console is provided, including an interactive device and a host, wherein the interactive device is used to receive user settings and instructions, and the host is configured to control at least one of the arm motion reproduction devices mentioned above and at least one of the arm motion capture devices mentioned above according to the user settings and instructions received by the interactive device.

[0008] According to another aspect of the present application, an arm motion reproduction system is provided, comprising the arm motion reproduction device described above, the arm motion capture device described above, and the central control console described above.

[0009] The above-mentioned arm motion reproduction device and system, motion capture device and central console of the present application can enable learners to instantly perceive the optimal writing movements during calligraphy learning. The experience is equivalent to that of calligraphy teachers or calligraphers and other professors personally teaching learners in real time, which greatly improves the quality and speed of calligraphy learning. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to further illustrate the above and other advantages and features of the present invention, the specific embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings. The accompanying drawings together with the following detailed description are included in this specification and form a part of this specification. Elements with the same function and structure are represented by the same reference numerals. It should be understood that these drawings only describe typical examples of the present invention and should not be regarded as limiting the scope of the present invention. In the drawings:

[0011] Figure 1 is a schematic structural diagram of an arm motion reproduction device according to an embodiment of the present invention;

[0012] Figure 2 It is a schematic diagram of the electrical connection relationship between various parts of the arm motion reproduction device according to one embodiment of the present invention;

[0013] Figure 3 is a schematic diagram of a mechanical arm having a structure capable of being combined with a human hand according to an embodiment of the present invention;

[0014] Figure 4 is a schematic structural diagram of a retractable knuckle according to an embodiment of the present invention;

[0015] Figure 5 is a schematic structural diagram of a palm capable of being enlarged or reduced according to an embodiment of the present invention;

[0016] Figure 6 is a schematic diagram of a finger joint with an open side according to an embodiment of the present invention;

[0017] Figure 7 is a schematic diagram of the electrical connection relationship between various parts of an arm motion reproduction device according to another embodiment of the present invention;

[0018] Figure 8 is a schematic diagram of the electrical connection relationship between various parts of an arm motion reproduction device according to another embodiment of the present invention;

[0019] Fig. 9is a schematic diagram of the electrical connection relationship between various parts of an arm motion reproduction device according to another embodiment of the present invention;

[0020] Fig.10 is a schematic diagram of the electrical connection relationship between various parts of a motion capture device according to an embodiment of the present invention;

[0021] Fig.11 is a schematic diagram of a mechanical arm of a motion capture device having a structure capable of being combined with a human hand according to an embodiment of the present invention;

[0022] Fig.12 It is a schematic structural diagram of a retractable knuckle of a motion capture device according to an embodiment of the present invention;

[0023] Fig.13 It is a schematic structural diagram of a palm capable of being enlarged or reduced in a motion capture device according to an embodiment of the present invention.

[0024] Fig.14 It is a structural schematic diagram of a first device of a motion capture device that can be extended and retracted according to the length of at least one of a forearm and an upper arm of a person in one embodiment of the present invention;

[0025] Fig.15 is a schematic diagram of the electrical connection relationship between various parts of a motion capture device according to another embodiment of the present invention;

[0026] Fig.16 It is a schematic diagram of the electrical connection relationship between various parts of a motion capture device according to another embodiment of the present invention. DETAILED DESCRIPTION

[0027] Exemplary implementations of the present invention will be described below in conjunction with examples. For the sake of clarity and conciseness, not all features of actual implementations are described in the specification. However, it should be understood that many implementation-specific decisions must be made in the process of developing any such actual implementation in order to achieve the developer's specific goals, such as meeting those constraints related to the system and business, and these constraints may vary from implementation to implementation. In addition, it should be understood that although the development work may be very complex and time-consuming, it is only a routine task for those skilled in the art who benefit from the present disclosure.

[0028] It is also necessary to explain here that, in order to avoid obscuring the present invention due to unnecessary details, only the device structure and / or processing steps closely related to the solution according to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0029] Arm movement reproduction equipment

[0030] According to one aspect of the present invention, there is provided an arm motion reproduction device, comprising a robotic arm, a data source and a controller, wherein the robotic arm is used to simulate arm motions, the data source is used to provide arm motion data, and the controller is used to control the robotic arm to simulate arm motions based on the arm motion data, wherein the robotic arm comprises a structure that can be combined with a human hand.

[0031] like Figure 1 FIG. 2 is a schematic diagram of the structure of an arm motion reproduction device according to an embodiment of the present invention. Figure 1 As shown, the arm motion reproduction device of this embodiment includes a robotic arm 101, a data source 102 and a controller 103, wherein the robotic arm 101 is used to simulate arm motions, the data source 102 is used to provide arm motion data, and the controller 103 is used to control the robotic arm 101 to simulate arm motions based on the arm motion data, wherein the robotic arm 101 also includes a structure 1011 that can be combined with a human hand.

[0032] in, Figure 2 Shows Figure 1 The arm movements in the reproduction device are used to reproduce the electrical connections between the various parts. Figure 2 As shown, the robotic arm 101 is connected to the data source 102 and the controller 103 , the data source 102 is connected to the controller 103 , and the structure 1011 combined with a human hand is connected to the robotic arm 101 .

[0033] like Figure 3 FIG. 1 is a schematic diagram of a robotic arm 101 having a structure 1011 capable of being combined with a human hand according to an embodiment of the present invention. Figure 3 A finger of the structure 1011 of the shown robotic arm 101 that can be combined with a human hand can, for example, be a finger with three knuckles (i.e., proximal knuckle, middle knuckle and distal knuckle, where the distal knuckle is the fingertip) (such as the index finger, middle finger, ring finger or little finger), or it can also be a finger with two knuckles (such as the thumb).

[0034] Figure 4 An exemplary structural schematic diagram of a retractable knuckle is shown. Optionally, the retractable knuckle can be formed by a group of cylindrical sleeves of different diameters that are mutually sleeved to realize the function of retracting the knuckle, wherein the retracting function can be realized by connecting a slide rail of cylindrical sleeves of different diameters, or by connecting multiple sleeves by an elastic medium to realize the function of retracting the knuckle. Optionally, the cylindrical sleeve can be hollow or solid, and preferably, when the cylindrical sleeve is hollow, it can reduce weight and save materials.

[0035] As an example, each of some or all of the fingers of the structure 1011 capable of being combined with a human hand may be composed of three Figure 4 The telescopic knuckles shown are connected, and the telescopic knuckles can adapt to human hands with different knuckle lengths. In this way, the connected knuckles can be relatively bent to achieve actions such as grasping and holding.

[0036] Figure 5 A schematic diagram of a palm capable of being enlarged or reduced is shown. Optionally, the palm capable of being enlarged or reduced may be formed by connecting sheet structures similar to the shape of a human palm, wherein the function of enlarging or reducing may be achieved by connecting slide rails between the sheet structures, or by connecting multiple sheet structures by an elastic medium to achieve the function of extending and retracting the knuckles. The palm capable of being enlarged or reduced may adapt to human hands of different sizes.

[0037] As an optional implementation, the structure 1011 capable of combining with a human hand may include a human hand-shaped structure, which is used to hold a human hand or be held by a human hand.

[0038] Optionally, the human hand-shaped structure may include retractable knuckles and a palm that can be enlarged or reduced. Optionally, the interior of the human hand-shaped structure may be hollow and used for human hand wear, i.e., a human hand-shaped structure suitable for human hand wear. Optionally, when the hollow human hand-shaped structure is used for human hand wear, the knuckle side may not be closed, for example Figure 6 shown.

[0039] As an optional embodiment, the structure 1011 capable of being combined with a human hand may include a structure suitable for being worn by a human hand. Optionally, the structure suitable for being worn by a human hand may include, for example, retractable knuckles (e.g. Figure 4 as shown) and a palm that can be enlarged or reduced (e.g. Figure 5 As shown). Optionally, the structure suitable for human hands to wear may have a non-closed knuckle side, for example Figure 6 shown.

[0040] Optionally, when the knuckle sides of the hollow human hand-shaped structure or the structure suitable for human hand wear are not closed, two sections can be connected by an elastic medium (not shown in the figure) to be suitable for human hands with different knuckle thicknesses.

[0041] As an optional implementation, the structure 1011 capable of combining with a human hand may include a single human hand-shaped structure or a structure suitable for human hand wear, or may include both a human hand-shaped structure and a structure suitable for human hand wear, or a combination of a human hand-shaped structure and a structure suitable for human hand wear, that is, a human hand-shaped structure suitable for human hand wear. Optionally, the human hand-shaped structure suitable for human hand wear may be a hollow human hand-shaped structure.

[0042] As an optional embodiment, the structure 1011 capable of being combined with a human hand may include a replaceable interface for replaceably connecting a human hand-shaped structure or a structure suitable for being worn by a human hand. Optionally, the replaceable interface may be a threaded connection interface, a snap connection interface, or a key connection interface. This is not limited here, and those skilled in the art may select or design it as needed.

[0043] As an optional implementation, the structure 1011 capable of being combined with a human hand can be switched between the left and right hands. Optionally, the structure 1011 capable of being combined with a human hand can be used as the left hand or the right hand by setting the movement direction and movement angle of the knuckles and the palm.

[0044] Optionally, when the structure 1011 capable of being combined with a human hand is used as a left hand, for example, the angle of the knuckles and palm moving toward the right side can be set to be relatively large (relative to the left side), so as to simulate the bending and tilting of the knuckles and palm of the left hand toward the palm of the left hand. The specific range of the angle of the knuckles and palm moving toward the right side can be set according to experience, or can be determined by experiment, which will not be described in detail here.

[0045] Optionally, when the structure 1011 capable of being combined with a human hand is used as a right hand, for example, the angle of the knuckles and palm moving toward the left side can be set to be relatively large (relative to the right side), so as to simulate the bending and tilting of the knuckles and palm of the right hand toward the left palm side. The specific range of the angle of the knuckles and palm moving toward the left side can be set according to experience, or can be determined by experiment, which will not be described in detail here.

[0046] In addition, as an optional embodiment, when the structure 1011 capable of being combined with a human hand switches between the left and right hands, the inner and outer surfaces are reversed. In other words, the structure 1011 capable of being combined with a human hand has two side surfaces, for example, a first side surface and a second side surface. When the structure 1011 capable of being combined with a human hand is used as a left hand, the first side surface can be used as the palm surface, and the second side surface can be used as the back surface of the hand, so that the angle at which the knuckles and palm of the structure 1011 capable of being combined with a human hand move toward the first side surface is greater than the angle at which the knuckles and palm of the structure 1011 capable of being combined with a human hand move toward the second side surface; and when the structure 1011 capable of being combined with a human hand is used as a right hand, the second side surface can be used as the palm surface, and the first side surface can be used as the back surface of the hand, so that the angle at which the knuckles and palm of the structure 1011 capable of being combined with a human hand move toward the second side surface is greater than the angle at which the knuckles and palm of the structure 1011 capable of being combined with a human hand move toward the second side surface is greater than the angle at which the knuckles and palm of the structure 1011 capable of being combined with a human hand move toward the first side surface.

[0047] As an optional embodiment, the robotic arm 101 may further include a device suitable for being worn by at least one of a person's forearm and upper arm. Optionally, the device suitable for being worn by at least one of a person's forearm and upper arm can be adjusted according to the length and / or thickness of at least one of a person's forearm or upper arm.

[0048] Optionally, the device suitable for at least one of a person's forearm and upper arm to wear may include a first device that can be extended and retracted according to the length of at least one of the person's forearm and upper arm. Optionally, the first device, for example, includes a multi-section sheet structure connected by a slide rail, or a multi-section sheet structure connected by an elastic medium to achieve the function of extension and retraction. Optionally, the sheet structure can be designed according to the shape of the person's arm.

[0049] Optionally, the device suitable for at least one of a person's forearm and upper arm to wear may include a second device that can be retracted and extended according to the thickness of at least one of the person's forearm and upper arm. Optionally, the second device, for example, includes an elastic band that can be wrapped around at least one of the person's forearm and upper arm, or the retractable function is achieved by a band that is retracted and extended section by section.

[0050] like Figure 7 As shown, as an optional implementation, the data source 102 may include a communication device 1021, where the communication device 1021 is used to transmit data from a motion capture device, where the motion capture device is used to capture arm motions and output data, where the data includes arm motion data.

[0051] Optionally, the motion capture device may be at least one depth camera, 3D camera or somatosensory camera.

[0052] like Figure 7 As shown, as another optional implementation, the data source 102 may include a first memory and / or a cloud platform 1022 for storing data.

[0053] Optionally, when the data source 102 is the first memory, the arm motion data may be local data, and when the data source 102 is the cloud platform, the arm motion data may be remote data. Optionally, when the data source 102 includes both the first memory and the cloud platform, the arm motion data may be local data or remote data.

[0054] Optionally, the arm motion data may be the arm motion data captured in real time by a motion capture device, or may be the arm motion data captured in advance and stored.

[0055] As an optional implementation, the arm motion data may include robotic arm motion indication data. Optionally, the robotic arm motion indication data may, for example, indicate at least one of the following robotic arm motions: the robotic arm 101 holds the pen according to a predetermined pressure, the robotic arm 101 writes according to a predetermined pressure, the robotic arm 101 writes according to a predetermined trajectory, the robotic arm 101 writes according to a predetermined speed, and the robotic arm 101 writes according to a predetermined acceleration. The above-mentioned predetermined trajectory may, for example, be a two-dimensional trajectory or a three-dimensional trajectory.

[0056] Optionally, the robot arm motion indication data may be data directly obtained by a motion capture device, or may be data manually set as needed.

[0057] As another optional implementation, the arm motion data may also include writing content indication data for indicating the specific characters, strokes or radicals written.

[0058] Optionally, specific characters may include characters sorted in ascending or descending order according to the number of strokes of the character, characters sorted in the order of initial consonants according to pinyin, and characters classified according to the first stroke. Optionally, strokes may include strokes classified according to writing direction, and strokes sorted according to the number of turning points of the strokes in writing. Optionally, radicals may include radicals sorted in ascending or descending order according to the number of strokes of the radical, and radicals classified according to the structure of the radical.

[0059] Optionally, the writing content indication data may indicate a single specific character, stroke or radical, or may indicate multiple specific characters, strokes or radicals. Optionally, the writing content indication data may indicate only specific characters, only strokes, or only radicals. Optionally, the writing content indication data may indicate a combination of specific characters, strokes or radicals.

[0060] As another optional embodiment, the arm motion data may also include writing method indication data, which may, for example, indicate at least one of the following writing methods: writing demonstration, a human hand-shaped structure holding a human hand to write, a human hand-shaped structure being held by a human hand to write, and a human hand wearing a structure suitable for the human hand to wear to write.

[0061] As another optional implementation, the arm motion data may also include writing style indication data, which may, for example, indicate at least one of the following writing styles: type of writing pen, writing direction, font, style, font size, and language.

[0062] Optionally, the types of writing pens may include soft pens and hard pens.

[0063] Optionally, the writing direction may include horizontal writing and vertical writing. Optionally, horizontal writing may include writing from left to right for each horizontal line and writing from right to left. Optionally, horizontal writing may include writing from top to bottom horizontal line by horizontal line, writing from bottom to top horizontal line by horizontal line, and writing from a predetermined position upward or downward horizontal line by horizontal line. Optionally, vertical writing may include writing from top to bottom for each vertical line and writing from bottom to top. Optionally, vertical writing may include writing from left to right vertical line by vertical line, writing from right to left vertical line by vertical line, and writing from a predetermined position left or right vertical line by vertical line.

[0064] Optionally, the writing direction may also include free writing without direction.

[0065] Optionally, the font may include common writing fonts such as Kaiti and Xingkai.

[0066] Optionally, the calligraphy styles may include regular script, official script, running script, cursive script and the like.

[0067] Optionally, the font size may include font sizes ranging from size 1 to size 8, and may also include a custom font size. Optionally, the language may include Chinese, English, and other languages.

[0068] like Figure 8 As shown, as an optional embodiment, the data source 102 may include a data selector 1023 for selecting arm motion data, and the data selector 1023 may include a writing data option switch, which may, for example, include at least one of the following options: robotic arm motion, writing content, writing method, and writing style.

[0069] Optionally, the data selector 1023 may also include an advanced writing data option switch, which may include, for example, at least one of the following options: scaling a specified word, stroke or radical to a specified proportion or to a specified size, and setting a writing time interval.

[0070] Optionally, setting the writing time interval may include setting the time interval between each single word, single stroke or single radical, and may also include setting the time interval between writing a plurality of single words, single strokes or single radicals. Optionally, the number of the plurality of single words, single strokes or single radicals may be set.

[0071] As an optional implementation, the data selector 1023 may also include a sensing device, and the data selector 1023 may also be used to determine arm motion data that can be selected by the data selector 1023 based on the structure 1011 that can be combined with a human hand sensed by the sensing device.

[0072] Optionally, when the sensing device senses that the structure 1011 capable of combining with a human hand is a human-shaped structure, the arm motion data selectable by the data selector 1023 is determined to be data of the human-shaped structure holding the human hand and writing, or the human-shaped structure being held by the human hand and writing; when the sensing device senses that the structure 1011 capable of combining with a human hand is a structure suitable for being worn by a human hand, the arm motion data selectable by the data selector 1023 is determined to be data of the human hand wearing the structure suitable for being worn by a human hand and writing.

[0073] As an optional implementation, the controller 103 may be configured to control the robotic arm 101 to simulate arm movements based on the data source 102 according to instructions received from the central console.

[0074] As an optional implementation, the structure 1011 capable of being combined with a human hand can also be used to hold a pen, and the controller 103 can also be used to adjust the pen-holding posture of the structure 1011 capable of being combined with a human hand according to the type, thickness and length of the pen.

[0075] Optionally, the structure 1011 that can be combined with a human hand can also be used to hold a pen and perform writing demonstrations.

[0076] Optionally, the types of pens may include soft pens and hard pens. A pen-holding posture with a structure that can be combined with a human hand may be selected according to the type of the pen.

[0077] like Fig. 9 As shown, as an optional embodiment, the controller 103 may also include a control mode selection device 1031, which is used to select the writing control mode of the arm motion reproduction device by the controller 103. The writing control mode selection device 1031 may include a writing control mode option switch. The writing control mode option switch may include at least one of the following options: watching a writing demonstration, a human hand-shaped structure holding a human hand to write, a human hand-shaped structure being held by a human hand to write, and a human hand wearing a structure suitable for a human hand to wear to write.

[0078] Optionally, the controller 103 can also be used to control the structure 1011 that can be combined with a human hand to hold a pen for writing demonstration.

[0079] Optionally, the writing control mode selection device 1031 may further include an advanced writing control mode option switch, which may include, for example, at least one of the following options: a robot-following writing mode, and a free writing mode.

[0080] Optionally, in the writing mode following the robotic arm 101 , the robotic arm 101 takes the lead and the human hand follows the robotic arm 101 to write; in the free writing mode, the human hand takes the lead and the robotic arm 101 follows the human hand to write.

[0081] As an optional embodiment, the arm motion reproduction device may also include a writing evaluation device, which may include a data acquisition device and a data processing device. The data processing device can be used to evaluate the writing motion based on the data collected by the data acquisition device. The controller 103 can also be configured to control the writing evaluation device to evaluate the writing motion based on the data source 102 according to the instructions received from the central control console.

[0082] Optionally, the writing data acquisition device may include a pressure sensor for obtaining the pressure value between the human hand and the robotic arm 101; the data processing device may also be used, in a writing evaluation mode, for example, when the pressure value is less than a first pressure threshold, to judge the writing action as excellent, when the pressure value is greater than or equal to the first pressure threshold and less than a second pressure threshold, to judge the writing action as good, and when the pressure value is greater than or equal to the second pressure threshold, to judge the writing action as poor, wherein the first pressure threshold is less than the second pressure threshold.

[0083] For example, assuming that in the following robotic arm writing mode described above, when the user holds the structure 1011 of the robotic arm 101 that can be combined with the human hand to write, assuming that the robotic arm 101 is currently writing the stroke of "vertical hook", when it finishes writing the "vertical" part of the "vertical hook" and turns to the right to start writing the "curved" part, if the user does not change the writing direction (still continuing to write the "vertical" part downwards), a larger pressure value will be generated between the above-mentioned structure 1011. If the pressure value is greater than the second pressure threshold, the writing action at the current moment is judged to be poor.

[0084] According to an embodiment of the present disclosure, the number of pressure sensors included in the writing data collection device may be one or more.

[0085] In one example, the writing data acquisition device may include a pressure sensor, which may be arranged at a predetermined position of the above-mentioned structure 1011 that can be combined with a human hand. The predetermined position is, for example, a position for contacting the tip of the user's thumb or index finger (or other parts of the hand, etc.).

[0086] In another example, the writing data acquisition device may also include multiple pressure sensors. The multiple pressure sensors may be respectively arranged at multiple different predetermined positions of the above-mentioned structure 1011 that can be combined with a human hand. The multiple different predetermined positions may include, for example, one or more of the following positions: a position for contacting the fingertips (or other parts) of any one or more of the five fingers of the user's left hand; a position for contacting the fingertips (or other parts) of any one or more of the five fingers of the user's right hand; a position for contacting at least one part of the user's palm; and so on.

[0087] It should also be noted that the first pressure threshold and the second pressure threshold can be set according to empirical values, or can also be determined by experiments, which will not be described in detail here.

[0088] Optionally, the pressure sensor can also be used to obtain the pressure direction between the human hand and the robotic arm 101; the data processing device can also be used to, in the writing evaluation mode, judge the writing action to be excellent when the deviation angle of the pressure direction from the predetermined direction is less than a first angle threshold, judge the writing action to be good when the deviation angle is greater than or equal to the first angle threshold and less than the second angle threshold, and judge the writing action to be poor when the deviation angle is greater than or equal to the second angle threshold, wherein the first angle threshold is less than the second angle threshold.

[0089] It should be noted that the first angle threshold and the second angle threshold may be set, for example, based on empirical values, or may be determined by experiments, which will not be described in detail here.

[0090] From the above description, it can be seen that the pressure between the human hand and the robotic arm 101 can reflect the quality of the user's writing action. For example, a larger pressure may be caused by one or more factors such as different writing directions, writing strengths, writing speeds, and writing accelerations between the human hand and the robotic arm 101. Therefore, according to the pressure between the human hand and the robotic arm 101, the quality of the user's writing action can be accurately judged.

[0091] In addition, the pressure direction between the human hand and the robotic arm 101 can also reflect the quality of the user's writing action. The greater the deviation angle of the pressure direction from the predetermined direction, the greater the difference between the user's writing action and the standard action of the robotic arm 101, that is, the worse the writing action. Therefore, according to the deviation angle (or pressure direction) between the human hand and the robotic arm 101, the quality of the user's writing action can also be accurately judged.

[0092] In addition, according to an embodiment of the present invention, the pressure value and the deviation angle (or pressure direction) between the above-mentioned human hand and the robotic arm 101 can also be combined to comprehensively judge the quality of the user's writing action. For example, when the pressure value is less than the first pressure threshold, and the deviation angle of the pressure direction from the predetermined direction is less than the first angle threshold, the writing action is judged to be excellent; when the pressure value is greater than or equal to the first pressure threshold and less than the second pressure threshold, and the deviation angle is greater than or equal to the first angle threshold and less than the second angle threshold, the writing action is judged to be good; when the pressure value is greater than or equal to the second pressure threshold, and the deviation angle is greater than or equal to the first angle threshold and less than the second angle threshold, the writing action is judged to be poor.

[0093] In this way, the quality of the user's writing action is judged based on the combination of the pressure value and the deviation angle (or pressure direction) between the human hand and the robotic arm 101. Compared with unilateral judgment based on the pressure value or the deviation angle (or pressure direction), the accuracy of judging the quality of the writing action is greatly improved.

[0094] According to an embodiment of the present invention, the data processing device can be used to give writing suggestions (hereinafter referred to as suggestions) based on one or more of the evaluations of the writing action based on the pressure value and the deviation angle obtained by the pressure sensor.

[0095] In one example, the data processing device may give suggestions based on the writing data collected by the writing data collection device. For example, when it is determined that the pressure value of the web of the index finger is greater than the second pressure threshold, the writing suggestion may be "please follow the robot arm to write"; when it is determined that the deviation angle (or pressure direction) is greater than the second angle threshold, the writing suggestion may be "please pay attention to the correct writing direction".

[0096] In one example, the data processing device may give suggestions based on the evaluation of the writing action. For example, if the writing action is determined to be excellent, the writing suggestion may be "please maintain the current writing state"; if the writing action is determined to be good, the writing suggestion may be "please pay attention to the writing action at certain locations" and prompt the locations that need attention; if the writing action is determined to be poor, the writing suggestion may be "please rewrite".

[0097] In another example, the data processing device can give comprehensive suggestions based on the pressure value, deviation angle and evaluation of the writing action obtained by the pressure sensor. For example, when the writing action is comprehensively judged to be excellent, the writing suggestion can be "GOOD JOB"; when the comprehensive judgment is good, the writing suggestion can be "Please pay attention to the writing action at individual positions" and prompt the positions that need attention; if the writing action is judged to be poor, the writing suggestion can be "Please rewrite".

[0098] As an optional implementation, a display screen and an audio playback device may also be included.

[0099] Optionally, in the writing evaluation mode, the display screen can be used to display in real time, for example, at least one of the following items: pressure value, deviation angle, evaluation of the writing action by the data processing device, and suggestions.

[0100] Optionally, in the writing evaluation mode, the audio playback device can be used to play in real time at least one of the following items: pressure value, deviation angle, evaluation of the writing action by the data processing device, and suggestions.

[0101] Thus, by displaying and / or playing in real time the above-mentioned pressure value, deviation angle, evaluation of the writing action by the data processing device and at least one of the suggestions through a display screen and / or an audio playback device, the user can understand his or her own writing situation in real time, accurately and promptly find poor writing actions, and then when he or she finds that his or her writing actions are poor, he or she can promptly and accurately correct the corresponding errors (such as knowing how to correct them according to suggestions, etc.).

[0102] Optionally, the display can also be used to play writing demonstrations.

[0103] Optionally, the display screen can also be used for video communication. Optionally, the audio playback device can also be used for audio communication.

[0104] Optionally, the writing evaluation device may further include a second memory for storing writing content corresponding to the writing action, and the evaluation and suggestions of the data processing device on the writing action.

[0105] Optionally, the controller 103 may further include a first control switch. When the first control switch is turned on, the arm motion reproduction device is controlled to start working, and when the first control switch is turned off, the arm motion reproduction device is controlled to stop working.

[0106] Optionally, the controller 103 may further include a second control switch. When the second control switch is turned on, the arm motion reproduction device is controlled to suspend operation. When the second control switch is turned off, the arm motion reproduction device is controlled to continue operation.

[0107] Optionally, the controller 103 may further include a third control switch. When the third control switch is turned on, the writing evaluation device is controlled to enter the writing evaluation mode. When the third control switch is turned off, the writing evaluation device is controlled to exit the writing evaluation mode.

[0108] As an optional implementation, the first memory and / or the cloud platform 1022 can also be used to store the working progress of the arm motion reproduction device.

[0109] Optionally, the motion capture device may include an audio collection device for collecting audio while performing motion capture.

[0110] Optionally, the arm motion data may also include audio data.

[0111] The arm motion reproduction device of the present application simulates arm movements by controlling a mechanical arm, so that learners can learn the writing process of professors such as calligraphy teachers or calligraphers through the device. The experience is equivalent to that of calligraphy teachers or calligraphers teaching learners in person, which can improve the quality and speed of calligraphy learning.

[0112] It should be noted that the arm motion reproduction device described above in the present application can be used not only for the reproduction of calligraphy motions, but can be used for the reproduction of any motions.

[0113] Motion capture equipment

[0114] According to another aspect of the present application, a motion capture device is provided, including a robotic arm, a database and a controller, wherein the robotic arm is used to capture arm motions and output data, the database is used to store data, and the controller is used to control the robotic arm to capture arm motions.

[0115] like Fig.10 The figure shows the electrical connection relationship between the various parts of the motion capture device of an embodiment of the present invention. The motion capture device of this embodiment includes a mechanical arm 201, a database 202 and a controller 203, wherein the mechanical arm 201 is used to capture arm movements and output data, the database 202 is used to store data, and the controller 203 is used to control the mechanical arm 201 to capture arm movements, wherein the mechanical arm 201 also includes a structure 2011 that can be combined with a human hand.

[0116] like Fig.11 FIG. 2 is a schematic diagram of a mechanical arm 201 having a structure 2011 capable of being combined with a human hand according to an embodiment of the present invention. Fig.11 A finger (such as the index finger) of the structure 2011 of the robot arm 201 that can be combined with a human hand has three knuckles (i.e., the proximal knuckle, the middle knuckle, and the distal knuckle, wherein the distal knuckle is the finger pulp). Fig.12 The telescopic knuckles shown are connected. In this way, the connected knuckles can be relatively bent to achieve actions such as grasping and holding.

[0117] As an optional implementation, the structure 2011 capable of combining with a human hand may include a human hand-shaped structure for holding a human hand or being held by a human hand.

[0118] Optionally, the human hand-shaped structure may include retractable knuckles and a palm that can be enlarged or reduced. Optionally, the interior of the human hand-shaped structure may be hollow and used for human hand wear, i.e., a human hand-shaped structure suitable for human hand wear. Optionally, when the hollow human hand-shaped structure is used for human hand wear, the knuckle side may not be closed, for example Fig.14 shown.

[0119] As an optional embodiment, the structure 2011 capable of being combined with a human hand may include a structure suitable for being worn by a human hand. Optionally, the structure suitable for being worn by a human hand may include, for example, retractable knuckles (e.g. Fig.12 as shown) and a palm that can be enlarged or reduced (e.g. Fig.13As shown). Optionally, the structure suitable for human hands to wear may have a non-closed knuckle side, for example Fig.14 shown.

[0120] Optionally, when the knuckle sides of the hollow human hand-shaped structure or the structure suitable for human hand wear are not closed, two sections can be connected by an elastic medium (not shown in the figure) to be suitable for human hands with different knuckle thicknesses.

[0121] Fig.12 An exemplary structural schematic diagram of a retractable knuckle is shown. Optionally, the retractable knuckle can be formed by a group of cylindrical sleeves of different diameters that are mutually sleeved to achieve the function of retracting the knuckle, wherein the retracting function can be achieved by a slide rail connecting the cylindrical sleeves of different diameters, or by connecting multiple sleeves with an elastic medium to achieve the function of retracting the knuckle.

[0122] Fig.13 A schematic diagram of a palm that can be enlarged or reduced is shown. Optionally, the palm that can be enlarged or reduced can be formed by connecting sheet structures similar to the shape of a human palm, wherein the function of enlarging or reducing can be achieved by connecting the slide rails between the sheet structures, or the function of extending and retracting the knuckles can be achieved by connecting multiple sheet structures with an elastic medium.

[0123] As an optional implementation, the structure 2011 capable of combining with a human hand may include a single human hand-shaped structure or a structure suitable for human hand wear, or may include both a human hand-shaped structure and a structure suitable for human hand wear, or a combination of a human hand-shaped structure and a structure suitable for human hand wear, i.e., a human hand-shaped structure suitable for human hand wear. Optionally, the human hand-shaped structure suitable for human hand wear may be a hollow human hand-shaped structure.

[0124] As an optional embodiment, the structure 2011 capable of being combined with a human hand may include a replaceable interface for replaceably connecting a human hand-shaped structure or a structure suitable for being worn by a human hand. Optionally, the replaceable interface may be a threaded connection interface, a snap connection interface, or a key connection interface. This is not limited here, and those skilled in the art may select or design it as needed.

[0125] As an optional implementation, the structure 2011 capable of being combined with a human hand can be switched between the left and right hands. Optionally, the structure 2011 capable of being combined with a human hand can be used as the left hand or the right hand by setting the movement direction and movement angle of the knuckles and the palm.

[0126] Optionally, when the structure 2011 capable of being combined with a human hand is used as a left hand, for example, the angle of the knuckles and palm moving toward the right side can be set to be relatively large (relative to the left side), so as to simulate the bending and tilting of the knuckles and palm of the left hand toward the palm of the left hand. The specific range of the angle of the knuckles and palm moving toward the right side can be set according to experience, or can be determined by experiment, which will not be described in detail here.

[0127] Optionally, when the structure 2011 capable of being combined with a human hand is used as a right hand, for example, the angle of the knuckles and palm moving toward the left side can be set to be relatively large (relative to the right side), so as to simulate the bending and tilting of the knuckles and palm of the right hand toward the left palm side. The specific range of the angle of the knuckles and palm moving toward the left side can be set according to experience, or can be determined by experiment, which will not be described in detail here.

[0128] In addition, as an optional implementation, when the structure 2011 capable of being combined with a human hand switches between the left and right hands, the inner and outer sides are switched. In other words, the structure 2011 capable of being combined with a human hand has two side surfaces, for example, a first side surface and a second side surface. When the structure 2011 capable of being combined with a human hand is used as a left hand, the first side surface can be used as the palm surface, and the second side surface can be used as the back surface of the hand, so that the angle at which the knuckles and palm of the structure 2011 capable of being combined with a human hand move toward the first side surface is greater than the angle at which the knuckles and palm of the structure 2011 capable of being combined with a human hand move toward the second side surface; and when the structure 2011 capable of being combined with a human hand is used as a right hand, the second side surface can be used as the palm surface, and the first side surface can be used as the back surface of the hand, so that the angle at which the knuckles and palm of the structure 2011 capable of being combined with a human hand move toward the second side surface is greater than the angle at which the knuckles and palm of the structure 2011 capable of being combined with a human hand move toward the first side surface.

[0129] As an optional embodiment, the robotic arm 201 may also include a device suitable for at least one of a person's forearm and upper arm to wear. Optionally, the device suitable for at least one of a person's forearm and upper arm to wear can be adjusted according to the length and / or thickness of at least one of the person's forearm or upper arm.

[0130] Optionally, the device suitable for at least one of a person's forearm and upper arm to wear may include a first device that can be extended and retracted according to the length of at least one of the person's forearm and upper arm. Optionally, the first device, for example, includes a multi-section sheet structure connected by a slide rail, or a multi-section sheet structure connected by an elastic medium to achieve the function of extension and retraction. Optionally, the sheet structure can be designed according to the shape of the person's arm.

[0131] Optionally, the device suitable for at least one of a person's forearm and upper arm to wear may include a second device that can be retracted and extended according to the thickness of at least one of the person's forearm and upper arm. Optionally, the second device, for example, includes an elastic band that can be wrapped around at least one of the person's forearm and upper arm, or the retractable function is achieved by a band that is retracted and extended section by section.

[0132] As an optional embodiment, the robotic arm 201 may also include, for example, at least one of the following sensors: a pressure sensor for obtaining the pen-holding pressure of the robotic arm 201; a displacement sensor for obtaining the moving trajectory of the robotic arm 201; a speed sensor for obtaining the moving speed of the robotic arm 201; an acceleration sensor for obtaining the moving acceleration of the robotic arm 201.

[0133] Optionally, the pressure sensor can also be used to obtain the writing pressure calculated based on the pen holding pressure obtained by the robotic arm 201 when capturing arm movements.

[0134] like Fig.15 As shown, as an optional embodiment, the database 202 may include a communication device 2021 for transmitting data from the robotic arm 201; the data may, for example, include at least one of the following: robotic arm motion data, writing content data, writing method data, and writing style data; the database 202 may also include an associated storage module 2022 for executing, for example, at least one of the following associated storages: associating and storing the robotic arm motion data with the robotic arm motion indication data, associating and storing the writing content data with the writing content indication data, associating and storing the writing method data with the writing method indication data, and associating and storing the writing style data with the writing style indication data.

[0135] As an optional implementation, the database 202 may also include a sensing device; the database 202 may also be used to determine that the storage of the arm motion data is, for example, at least one of the following data categories based on the structure 2011 that can be combined with a human hand sensed by the sensing device: a human hand-shaped structure data category, or a structure data category suitable for human hand wear. For example, when the sensing device senses that the arm motion data acquired by the mechanical arm 201 is acquired in a human hand-shaped structure state, the acquired data is stored in the human hand-shaped structure data category; when the sensing device senses that the arm motion data acquired by the mechanical arm 201 is acquired in a structure state suitable for human hand wear, the acquired data is stored in the structure data category suitable for human hand wear.

[0136] As an optional implementation, the controller 203 may be configured to control the robotic arm 201 to capture arm movements according to instructions received from the central console.

[0137] As an optional implementation, the structure 2011 capable of being combined with a human hand can also be used to hold a pen; the controller 203 can also be used to adjust the pen-holding posture of the structure 2011 capable of being combined with a human hand according to the type, thickness and length of the pen.

[0138] like Fig.16 As shown, as an optional implementation, the controller 203 may further include an arm motion capture mode selection device 2031, which is used to select the arm motion capture mode of the mechanical arm 201 by the controller 203; the arm motion capture mode selection device 2031 may include an arm motion capture mode option switch; the arm motion capture mode option switch may, for example, include at least one of the following options: capturing the arm motion of a human hand-shaped structure holding a human hand, capturing the arm motion of a human hand-shaped structure being held by a human hand, and capturing the arm motion of a human hand wearing a structure suitable for a human hand to wear.

[0139] As an optional embodiment, the controller 203 may also include a first control switch. When the first control switch is turned on, the robotic arm 201 is controlled to start capturing arm movements. When the first control switch is turned off, the robotic arm 201 is controlled to stop capturing arm movements. The controller 203 may also include a second control switch. When the second control switch is turned on, the robotic arm 201 is controlled to pause capturing arm movements. When the second control switch is turned off, the robotic arm 201 is controlled to continue capturing arm movements.

[0140] Optionally, the motion capture device may also include an audio acquisition device.

[0141] Optionally, the motion capture device may also include a video acquisition device.

[0142] The motion capture device of the present application can accurately obtain the arm motion of the user by capturing the arm motion through a mechanical arm and outputting data. Therefore, the arm motion data of the writing process of a calligraphy teacher or calligrapher can be effectively obtained through the device. In this way, the writing process of the calligrapher can be pre-recorded by the motion capture device, and the writing process of the calligraphy teacher or calligrapher can be reproduced without space and time restrictions, so that the learner can repeatedly learn the writing process of the calligrapher through the arm motion reproduction device without an instructor, and can instantly perceive the best writing motion during the writing process. The experience is equivalent to the calligrapher teaching the learner in real time, which can improve the quality and speed of calligraphy learning.

[0143] It should be noted that the aforementioned motion capture device according to the present application is not limited to calligraphy learning, but can be used for any motion capture.

[0144] Center console

[0145] According to another aspect of the present application, a central control console is provided as an optional implementation, including an interactive device and a host, the interactive device is used to receive user settings and instructions, and the host is configured to control at least one of at least one arm motion device and at least one motion capture device according to the user settings and instructions received by the interactive device.

[0146] As an optional implementation, the host may be configured to: control at least one designated arm motion reproduction device to synchronously receive user settings and instructions.

[0147] Optionally, the user settings and instructions received by the arm motion reproduction device that synchronously accepts user settings and instructions may be the same or different.

[0148] As an optional implementation, the host may be configured to: control at least one designated arm motion reproduction device to receive user settings and instructions respectively.

[0149] Optionally, the user settings and instructions received by the arm motion reproduction devices that respectively receive the user settings and instructions may be the same or different.

[0150] As an optional implementation, the interactive device can also be used to transmit data from the arm motion reproduction device and the motion capture device.

[0151] Optionally, the interactive device can also be used to receive feedback from the arm motion reproduction device and the motion capture device on the execution of user settings and instructions. Optionally, the interactive device can also be used to give suggestions, choices or methods and approaches based on the feedback.

[0152] As an optional implementation, the user setting may also include setting the interactive device to preferentially transmit data from the arm motion reproduction device, or preferentially transmit data from the motion capture device. When the user chooses to preferentially receive data from the arm motion reproduction device, the interactive device preferentially transmits data from the arm motion reproduction device; when the user chooses to preferentially receive data from the motion capture device, the interactive device preferentially transmits data from the motion capture device.

[0153] The central control console mentioned above in the present application can be used not only for arm motion reproduction equipment and motion capture equipment, but can also be used in other suitable aspects.

[0154] Arm motion reproduction system

[0155] According to another aspect of the present application, an arm motion reproduction system is provided, which, as an optional implementation, includes the arm motion reproduction device, motion capture device and central control console described above.

[0156] As an optional implementation, the user can wear the arm motion reproduction device to learn the arm motions stored in the system. Optionally, the user can also learn the arm motions obtained from the cloud platform.

[0157] As an optional implementation, data from an arm motion reproduction device and a motion capture device connected to a central console can be transmitted to each other.

[0158] Optionally, the arm motion reproduction device can receive real-time data from a motion capture device to perform motion learning.

[0159] Optionally, the arm motion reproduction device may choose to store the data of the motion capture device to the first memory and / or the cloud platform.

[0160] Optionally, when the arm motion reproduction device and the motion capture device are connected to the same central console, when the interactive device is set to prioritize transmission of data from the arm motion reproduction device, the motion capture device passively receives data from the arm motion reproduction device; when the interactive device is set to prioritize transmission of data from the motion capture device, the arm motion reproduction device passively receives data from the motion capture device.

[0161] According to the description of the above implementation modes, the present application provides the following technical solutions.

[0162] Solution 1: An arm motion reproduction device, characterized by comprising:

[0163] A robotic arm, used to simulate arm movements;

[0164] A data source, used to provide arm motion data;

[0165] A controller, configured to control the robotic arm to simulate arm motions based on the arm motion data;

[0166] Wherein, the robotic arm includes a structure that can be combined with a human hand.

[0167] Solution 2: The arm motion reproduction device according to Solution 1 is characterized in that:

[0168] The structure capable of being combined with a human hand includes at least one of the following:

[0169] A human hand-shaped structure, used to hold or be held by a human hand; and

[0170] A structure suitable for being worn by human hands.

[0171] Solution 3: The arm motion reproduction device according to Solution 1 is characterized in that:

[0172] The structure capable of being combined with a human hand comprises a replaceable interface for replaceably connecting:

[0173] A human hand-shaped structure, used to hold or be held by a human hand; or

[0174] A structure suitable for being worn by human hands.

[0175] Solution 4: The arm motion reproduction device according to any one of solutions 1-3, characterized in that:

[0176] The structure capable of being combined with a human hand can be adjusted according to the size of the human hand.

[0177] Solution 5: The arm motion reproduction device according to any one of solutions 1-4, characterized in that:

[0178] The structure capable of being combined with a human hand includes at least one of the following:

[0179] retractable knuckles;

[0180] A palm that can be enlarged or reduced.

[0181] Solution 6: The arm motion reproduction device according to any one of solutions 1-5, characterized in that:

[0182] The structure capable of being combined with a human hand can be switched between the left and right hands.

[0183] Solution 7: The arm motion reproduction device according to any one of solutions 1 to 6, characterized in that:

[0184] The structure capable of being combined with a human hand includes a structure capable of being adjusted inside and outside.

[0185] Solution 8: The arm motion reproduction device according to any one of solutions 1 to 7, characterized in that:

[0186] The robotic arm also includes a device suitable for being worn on at least one of a person's forearm and upper arm.

[0187] Solution 9: The arm motion reproduction device according to Solution 8 is characterized in that:

[0188] The device suitable for being worn on at least one of a person's forearm and upper arm can be adjusted according to the length and / or thickness of at least one of the person's forearm and upper arm.

[0189] Solution 10: The arm motion reproduction device according to Solution 8 or 9, characterized in that:

[0190] The device suitable for being worn on at least one of a person's forearm and upper arm comprises at least one of the following:

[0191] A first device capable of extending and retracting according to the length of at least one of the forearm and the upper arm of the person;

[0192] A second device capable of being retracted and extended according to the thickness of at least one of the forearm and the upper arm of the person.

[0193] Solution 11: The arm motion reproduction device according to any one of solutions 1 to 10, characterized in that:

[0194] The data source includes a communication device, the communication device is used to transmit data from a motion capture device, the motion capture device is used to capture the arm motion and output the data;

[0195] The data includes the arm motion data.

[0196] Solution 12: The arm motion reproduction device according to any one of solutions 1-11, characterized in that:

[0197] The data source includes a first memory and / or a cloud platform, and the first memory and / or the cloud platform is used to store the data.

[0198] Solution 13: The arm motion reproduction device according to Solution 11 or 12, characterized in that:

[0199] The arm motion data includes robot arm motion indication data;

[0200] The robotic arm action indication data indicates at least one of the following robotic arm actions: the robotic arm holds a pen according to a predetermined pressure, the robotic arm writes according to a predetermined pressure, the robotic arm writes according to a predetermined trajectory, the robotic arm writes according to a predetermined speed, and the robotic arm writes according to a predetermined acceleration.

[0201] Solution 14: The arm motion reproduction device according to any one of Solution 11 to Solution 13, characterized in that:

[0202] The arm motion data also includes writing content indication data, which is used to indicate the specific characters, strokes or radicals written.

[0203] Solution 15: The arm motion reproduction device according to any one of Solution 11-14, characterized in that:

[0204] The arm motion data also includes writing method indication data;

[0205] The writing method indication data indicates at least one of the following writing methods: writing demonstration, the human hand-shaped structure holding a human hand to write, the human hand-shaped structure being held by a human hand to write, and a human hand wearing the structure suitable for human hand to write.

[0206] Solution 16: The arm motion reproduction device according to any one of solutions 11 to 15, characterized in that:

[0207] The arm motion data also includes writing style indication data;

[0208] The writing style indication data indicates at least one of the following writing styles: type of writing pen, writing direction, font, style, font size and language.

[0209] Solution 17: The arm motion reproduction device according to any one of solutions 1 to 16, characterized in that:

[0210] The data source also includes:

[0211] A data selector, used for selecting the arm motion data;

[0212] The data selector includes a write data option switch;

[0213] The writing data option switch includes at least one of the following options: robot arm movement, writing content, writing method and writing style.

[0214] Solution 18: The arm motion reproduction device according to Solution 17, characterized in that:

[0215] The data selector also includes an advanced writing data option switch;

[0216] The advanced writing data option switch includes at least one of the following options: scaling a specified single word, a single stroke or a single radical to a specified proportion or to a specified size, and setting a writing time interval.

[0217] Solution 19: The arm motion reproduction device according to Solution 17 or 18, characterized in that:

[0218] The data selector also includes a sensing device;

[0219] The data selector is also used to determine the arm motion data that can be selected by the data selector based on the structure that can be combined with a human hand sensed by the sensing device.

[0220] Solution 20: The arm motion reproduction device according to any one of solutions 1-19, characterized in that:

[0221] The controller is configured to control the robotic arm to simulate the arm motion based on the data source according to the instruction received from the central console.

[0222] Solution 21: The arm motion reproduction device according to any one of solutions 1-20, characterized in that:

[0223] The structure capable of being combined with a human hand is also used for holding a pen;

[0224] The controller is also used to adjust the pen-holding posture of the structure that can be combined with a human hand according to the type, thickness and length of the pen.

[0225] Solution 22: The arm motion reproduction device according to any one of solutions 1-21, characterized in that:

[0226] The controller further comprises a writing control mode selection device for selecting a writing control mode of the controller on the arm motion reproduction device;

[0227] The writing control mode selection device includes a writing control mode option switch;

[0228] The writing control mode option switch includes at least one of the following options: watching a writing demonstration, the human hand-shaped structure holding a human hand to write, the human hand-shaped structure being held by a human hand to write, and the human hand wearing the structure suitable for human hand to write.

[0229] Solution 23: The arm motion reproduction device according to Solution 22, characterized in that:

[0230] The writing control mode selection device further includes an advanced writing control mode option switch;

[0231] The advanced writing control mode option switch includes at least one of the following options: a writing mode following the robotic arm, and a free writing mode.

[0232] Solution 24: The arm motion reproduction device according to any one of solutions 1 to 23, further comprising: a writing evaluation device;

[0233] The writing evaluation device includes a writing data acquisition device and a data processing device;

[0234] The data processing device is used to evaluate the writing action based on the data collected by the writing data collection device;

[0235] The controller is further configured to control the writing evaluation device to evaluate the writing action based on the data source according to the instruction received from the central console.

[0236] Solution 25. The arm motion reproduction device according to Solution 24 is characterized in that:

[0237] The writing data acquisition device includes a pressure sensor for obtaining the pressure value between the human hand and the mechanical arm;

[0238] The data processing device is also used to, in a writing evaluation mode, determine that the writing action is excellent when the pressure value is less than a first pressure threshold, determine that the writing action is good when the pressure value is greater than or equal to the first pressure threshold and less than a second pressure threshold, and determine that the writing action is poor when the pressure value is greater than or equal to the second pressure threshold, wherein the first pressure threshold is less than the second pressure threshold.

[0239] Solution 26: The arm motion reproduction device according to Solution 24 or 25, characterized in that:

[0240] The pressure sensor is also used to obtain the pressure direction between the human hand and the robotic arm;

[0241] The data processing device is also used to, in a writing evaluation mode, judge the writing action to be excellent when the deviation angle of the pressure direction from the predetermined direction is less than a first angle threshold, judge the writing action to be good when the deviation angle is greater than or equal to the first angle threshold and less than a second angle threshold, and judge the writing action to be poor when the deviation angle is greater than or equal to the second angle threshold, wherein the first angle threshold is less than the second angle threshold.

[0242] Solution 27: The arm motion reproduction device according to any one of Solution 24-26, characterized in that:

[0243] The data processing device is further configured to provide suggestions based on the evaluation of the writing action.

[0244] Scheme 28. An arm motion reproduction device according to any one of Schemes 1-27, characterized in that it also includes a display screen and an audio playback device.

[0245] Solution 29: The arm motion reproduction device according to Solution 28, characterized in that:

[0246] In the writing evaluation mode, the display screen is used to display in real time at least one of the following items: the pressure value, the deviation angle, the evaluation of the writing action by the data processing device, and the suggestion.

[0247] Solution 30: The arm motion reproduction device according to Solution 28 or 29, characterized in that:

[0248] In the writing evaluation mode, the audio playback device is used to play in real time at least one of the following items: the pressure value, the deviation angle, the evaluation of the writing action by the data processing device, and the suggestion.

[0249] Solution 31: The arm motion reproduction device according to any one of solutions 24-30, characterized in that:

[0250] The writing evaluation device further includes a second memory for storing the writing content corresponding to the writing action, the evaluation of the writing action by the data processing device, and the suggestion.

[0251] Solution 32: The arm motion reproduction device according to any one of solutions 1-31, characterized in that:

[0252] The controller further comprises a first control switch, which controls the arm motion reproduction device to start working when the first control switch is turned on, and controls the arm motion reproduction device to stop working when the first control switch is turned off;

[0253] The controller further comprises a second control switch, which controls the arm motion reproduction device to suspend operation when the second control switch is turned on, and controls the arm motion reproduction device to continue operation when the second control switch is turned off;

[0254] The controller further includes a third control switch, which controls the writing evaluation device to enter a writing evaluation mode when the third control switch is turned on, and controls the writing evaluation device to exit the writing evaluation mode when the third control switch is turned off.

[0255] Solution 33: The arm motion reproduction device according to Solution 32, characterized in that:

[0256] The first memory and / or cloud platform is also used to store the working progress of the arm motion reproduction device.

[0257] Solution 34: The arm motion reproduction device according to any one of solutions 11-33, characterized in that:

[0258] The motion capture device also includes an audio acquisition device;

[0259] The data also includes audio data.

[0260] Solution 35. A motion capture device, comprising:

[0261] A robotic arm, used to capture arm movements and output data;

[0262] A database, used to store the data;

[0263] A controller, used for controlling the robotic arm to capture the arm motion;

[0264] Wherein, the robotic arm includes a structure that can be combined with a human hand.

[0265] Solution 36. The motion capture device according to Solution 35 is characterized in that:

[0266] The structure capable of being combined with a human hand includes at least one of the following:

[0267] A human hand-shaped structure, used to hold or be held by a human hand; and

[0268] A structure suitable for being worn by human hands.

[0269] Solution 37. The motion capture device according to Solution 35 is characterized in that:

[0270] The structure capable of being combined with a human hand comprises a replaceable interface for replaceably connecting:

[0271] A human hand-shaped structure, used to hold or be held by a human hand; or

[0272] A structure suitable for being worn by human hands.

[0273] Solution 38: The motion capture device according to any one of Solutions 35-37, characterized in that:

[0274] The structure capable of being combined with a human hand can be adjusted according to the size of the human hand.

[0275] Solution 39: The motion capture device according to any one of Solutions 35-38, characterized in that:

[0276] The structure capable of being combined with a human hand includes at least one of the following:

[0277] retractable knuckles;

[0278] A palm that can be enlarged or reduced.

[0279] Solution 40: The motion capture device according to any one of Solutions 35-39, characterized in that:

[0280] The structure capable of being combined with a human hand can be switched between the left and right hands.

[0281] Solution 41: The motion capture device according to any one of Solutions 35-40, characterized in that:

[0282] The structure capable of being combined with a human hand includes a structure capable of being adjusted inside and outside.

[0283] Solution 42: The motion capture device according to any one of Solution 35-41 is characterized in that:

[0284] The robotic arm also includes a device suitable for being worn on at least one of a person's forearm and upper arm.

[0285] Solution 43: The motion capture device according to Solution 42, characterized in that:

[0286] The device can be adjusted according to the length and / or thickness of at least one of the person's forearm and upper arm.

[0287] Solution 44: The motion capture device according to Solution 42 or 43, characterized in that:

[0288] The device comprises at least one of the following:

[0289] A first device capable of extending and retracting according to the length of at least one of the forearm and the upper arm of the person;

[0290] A second device capable of being retracted and extended according to the thickness of at least one of the forearm and the upper arm of the person.

[0291] Solution 45. The motion capture device according to any one of Solutions 35-44, characterized in that:

[0292] The robotic arm further comprises at least one of the following sensors:

[0293] A pressure sensor, used to obtain the pen holding pressure of the robotic arm;

[0294] A displacement sensor, used to obtain the movement trajectory of the robotic arm;

[0295] A speed sensor, used to obtain the moving speed of the robotic arm;

[0296] The acceleration sensor is used to obtain the movement acceleration of the robotic arm.

[0297] Solution 46. The motion capture device according to Solution 45 is characterized in that:

[0298] The pressure sensor is also used to obtain the writing pressure calculated based on the pen holding pressure obtained by the robotic arm when capturing the arm movement.

[0299] Solution 47: The motion capture device according to any one of Solution 35-46, characterized in that:

[0300] The database includes communication means for transmitting the data from the robotic arm;

[0301] The data includes at least one of the following: robot arm motion data, writing content data, writing method data, and writing style data;

[0302] The database includes an associative storage module for performing at least one of the following associative storage: associating storage of robotic arm motion data with robotic arm motion indication data, associating storage of writing content data with writing content indication data, associating storage of writing method data with writing method indication data, and associating storage of writing style data with writing style indication data.

[0303] Solution 48: The motion capture device according to any one of Solutions 35-47, characterized in that:

[0304] The database also includes a sensing device;

[0305] The database is also used to determine the storage of the arm motion data as at least one of the following data categories based on the structure that can be combined with a human hand sensed by the sensing device: a human hand shape structure data category, or a structure data category suitable for human hand wear.

[0306] Solution 49: The motion capture device according to any one of Solutions 35-48, characterized in that:

[0307] The controller is configured to control the robotic arm to capture the arm motion according to the instruction received from the central console.

[0308] Solution 50: The motion capture device according to any one of Solution 35-49, characterized in that:

[0309] The structure capable of being combined with a human hand is also used for holding a pen;

[0310] The controller is also used to adjust the pen-holding posture of the structure that can be combined with a human hand according to the type, thickness and length of the pen.

[0311] Solution 51. The motion capture device according to any one of Solutions 35-50, characterized in that:

[0312] The controller further comprises an arm motion capture mode selection device, which is used to select the arm motion capture mode of the mechanical arm by the controller;

[0313] The arm motion capture mode selection device comprises an arm motion capture mode option switch;

[0314] The arm motion capture mode option switch includes at least one of the following options: capturing the arm motion of the human hand-shaped structure holding a human hand, capturing the arm motion of the human hand-shaped structure being held by a human hand, and capturing the arm motion of a human hand wearing the structure suitable for being worn by a human hand.

[0315] Solution 52: The motion capture device according to any one of Solutions 35-51, characterized in that:

[0316] The controller further comprises a first control switch, which controls the robot arm to start capturing the arm motion when the first control switch is turned on, and controls the robot arm to stop capturing the arm motion when the first control switch is turned off;

[0317] The controller also includes a second control switch. When the second control switch is turned on, the robotic arm is controlled to pause capturing the arm movement. When the second control switch is turned off, the robotic arm is controlled to continue capturing the arm movement.

[0318] Solution 53: The motion capture device according to any one of Solution 35-52, further comprising:

[0319] Audio acquisition equipment, and video acquisition equipment.

[0320] Solution 54: A center console, characterized by comprising:

[0321] An interactive device for receiving user settings and instructions;

[0322] The host is configured to control at least one of the following devices according to the settings and instructions of the user received by the interactive device: at least one arm motion reproduction device described in one of schemes 1-34, and at least one arm motion capture device described in one of schemes 35-53.

[0323] Solution 55. The center console according to Solution 54 is characterized in that:

[0324] The host is configured to control at least one designated arm motion reproduction device to synchronously receive user settings and instructions.

[0325] Solution 56: The center console according to Solution 54, characterized in that:

[0326] The host is configured to control at least one designated arm motion reproduction device to receive user settings and instructions respectively.

[0327] Solution 57: A center console according to any one of Solution 54-56, characterized in that:

[0328] The interactive device is also used to transmit data from the arm motion reproduction device and the arm motion capture device.

[0329] Solution 58: The center console according to Solution 57, characterized in that:

[0330] The user setting also includes setting the interactive device to preferentially transmit data from the arm motion reproduction device, or preferentially transmit data from the arm motion capture device.

[0331] Solution 59: An arm motion reproduction system, comprising:

[0332] The arm motion reproduction device described in one of technical solutions 1-34, the arm motion capture device described in one of technical solutions 35-53, and the center console described in one of technical solutions 34-58.

[0333] Furthermore, the present invention also proposes a program product consisting of machine-readable instruction codes. When the instruction codes are read and executed by a machine, the method according to the embodiment of the present invention can be executed.

[0334] Accordingly, a storage medium storing the above-mentioned machine-readable instruction code, and a computing device comprising the storage medium and a processor running the instruction code on the storage medium, are also included in the disclosure of the present invention. The storage medium includes but is not limited to a floppy disk, an optical disk, a magneto-optical disk, a memory card, a memory stick, and the like.

[0335] It should also be noted that in the equipment, device and system of the present invention, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present invention. In addition, the steps of performing the above-mentioned series of processes can naturally be performed in chronological order according to the order of description, but do not necessarily need to be performed in chronological order. Some steps can be performed in parallel or independently of each other.

[0336] Finally, it should be noted that the term "comprising" is intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or apparatus.

[0337] Although the embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, it should be understood that the above-described embodiments are only used to illustrate the present invention and do not constitute a limitation of the present invention. For those skilled in the art, various modifications and changes can be made to the above-mentioned embodiments without departing from the essence and scope of the present invention. Therefore, the scope of the present invention is limited only by the attached claims and their equivalent meanings.

Claims

1. An arm motion reproduction device, characterized in that include: A robotic arm, used to simulate arm movements; wherein the robotic arm includes a structure capable of being combined with a human hand; the structure capable of being combined with a human hand is also used to hold a pen; A data source, used to provide arm motion data; A controller, configured to control the robotic arm to simulate arm motions based on the arm motion data; Writing evaluation equipment, including a writing data acquisition device and a data processing device; The data processing device is used to evaluate the writing action based on the data collected by the writing data collection device; The controller is further configured to control the writing evaluation device to evaluate the writing action based on the data source according to the instruction received from the central console; The writing data acquisition device includes a pressure sensor for obtaining the pressure value between the human hand and the mechanical arm; The writing data collection device includes a pressure sensor, which is arranged at a predetermined position of a structure capable of being combined with a human hand, and the predetermined position is a position for contacting the fingertips of a user's thumb or index finger; The writing data acquisition device includes a plurality of pressure sensors, which are respectively arranged at a plurality of different predetermined positions of a structure capable of combining with a human hand, wherein the plurality of different predetermined positions include one or more of the following positions: a position for contacting with the fingertips of any one or more of the five fingers of the user's left hand; a position for contacting with the fingertips of any one or more of the five fingers of the user's right hand; a position for contacting with at least one part of the user's palm; The data processing device is also used to, in a writing evaluation mode, determine that the writing action is excellent when the pressure value is less than a first pressure threshold, determine that the writing action is good when the pressure value is greater than or equal to the first pressure threshold and less than a second pressure threshold, and determine that the writing action is poor when the pressure value is greater than or equal to the second pressure threshold, wherein the first pressure threshold is less than the second pressure threshold.

2. The arm motion reproduction device according to claim 1, characterized in that: The structure capable of being combined with a human hand includes at least one of the following: A human hand-shaped structure, used to hold or be held by a human hand; and A structure suitable for being worn by human hands.

3. The arm motion reproduction device according to claim 1, characterized in that: The structure capable of being combined with a human hand comprises a replaceable interface for replaceably connecting: A human hand-shaped structure, used to hold or be held by a human hand; or A structure suitable for being worn by human hands.

4. The arm motion reproduction device according to claim 3, characterized in that: The structure capable of being combined with a human hand can be adjusted according to the size of the human hand.

5. The arm motion reproduction device according to claim 4, characterized in that: The structure capable of being combined with a human hand includes at least one of the following: retractable knuckles; A palm that can be enlarged or reduced.

6. The arm motion reproduction device according to claim 5, characterized in that: The structure capable of being combined with a human hand can be switched between the left and right hands.

7. The arm motion reproduction device according to claim 6, characterized in that: The structure capable of being combined with a human hand includes a structure capable of being adjusted inside and outside.

8. The arm motion reproduction device according to claim 7, characterized in that: The robotic arm also includes a device suitable for being worn on at least one of a person's forearm and upper arm.

9. The arm motion reproduction device according to claim 8, characterized in that: The device suitable for being worn on at least one of a person's forearm and upper arm can be adjusted according to the length and / or thickness of at least one of the person's forearm and upper arm.

10. The arm motion reproduction device according to claim 8 or 9, characterized in that: The device suitable for being worn on at least one of a person's forearm and upper arm comprises at least one of the following: A first device capable of extending and retracting according to the length of at least one of the forearm and the upper arm of the person; A second device capable of being retracted and extended according to the thickness of at least one of the forearm and the upper arm of the person.

11. The arm motion reproduction device according to claim 10, characterized in that: The data source includes a communication device, the communication device is used to transmit data from a motion capture device, the motion capture device is used to capture the arm motion and output the data; The data includes the arm motion data.

12. The arm motion reproduction device according to claim 11, characterized in that: The data source includes a first memory and / or a cloud platform, and the first memory and / or the cloud platform is used to store the data.

13. The arm motion reproduction device according to claim 11 or 12, characterized in that: The arm motion data includes robot arm motion indication data; The robotic arm action indication data indicates at least one of the following robotic arm actions: the robotic arm holds a pen according to a predetermined pressure, the robotic arm writes according to a predetermined pressure, the robotic arm writes according to a predetermined trajectory, the robotic arm writes according to a predetermined speed, and the robotic arm writes according to a predetermined acceleration.

14. The arm motion reproduction device according to claim 13, characterized in that: The arm motion data also includes writing content indication data, which is used to indicate the specific characters, strokes or radicals written.

15. The arm motion reproduction device according to claim 14, characterized in that: The arm motion data also includes writing method indication data; The writing method indication data indicates at least one of the following writing methods: writing demonstration, the human hand-shaped structure holding a human hand to write, the human hand-shaped structure being held by a human hand to write, and a human hand wearing the structure suitable for human hand to write.

16. The arm motion reproduction device according to claim 15, characterized in that: The arm motion data also includes writing style indication data; The writing style indication data indicates at least one of the following writing styles: type of writing pen, writing direction, font, style, font size and language.

17. The arm motion reproduction device according to claim 16, characterized in that: The data source also includes: A data selector, used for selecting the arm motion data; The data selector includes a write data option switch; The writing data option switch includes at least one of the following options: robot arm movement, writing content, writing method and writing style.

18. The arm motion reproduction device according to claim 17, characterized in that: The data selector also includes an advanced writing data option switch; The advanced writing data option switch includes at least one of the following options: scaling a specified single word, a single stroke or a single radical to a specified ratio or to a specified size, and setting a writing time interval.

19. The arm motion reproduction device according to claim 17 or 18, characterized in that: The data selector also includes a sensing device; The data selector is also used to determine the arm motion data that can be selected by the data selector based on the structure that can be combined with a human hand sensed by the sensing device.

20. The arm motion reproduction device according to claim 19, characterized in that: The controller is configured to control the robotic arm to simulate the arm motion based on the data source according to the instruction received from the central console.

21. The arm motion reproduction device according to claim 20, characterized in that: The controller is also used to adjust the pen-holding posture of the structure that can be combined with a human hand according to the type, thickness and length of the pen.

22. The arm motion reproduction device according to claim 21, characterized in that: The controller further comprises a writing control mode selection device for selecting a writing control mode of the controller on the arm motion reproduction device; The writing control mode selection device includes a writing control mode option switch; The writing control mode option switch includes at least one of the following options: watching a writing demonstration, the human hand-shaped structure holding a human hand to write, the human hand-shaped structure being held by a human hand to write, and the human hand wearing the structure suitable for human hand to write.

23. The arm motion reproduction device according to claim 22, characterized in that: The writing control mode selection device further includes an advanced writing control mode option switch; The advanced writing control mode option switch includes at least one of the following options: a follow-the-robot-arm writing mode, and a free writing mode.

24. The arm motion reproduction device according to claim 1, characterized in that: The pressure sensor is also used to obtain the pressure direction between the human hand and the robotic arm; The data processing device is also used to, in a writing evaluation mode, judge the writing action to be excellent when the deviation angle of the pressure direction from the predetermined direction is less than a first angle threshold, judge the writing action to be good when the deviation angle is greater than or equal to the first angle threshold and less than a second angle threshold, and judge the writing action to be poor when the deviation angle is greater than or equal to the second angle threshold, wherein the first angle threshold is less than the second angle threshold.

25. The arm motion reproduction device according to claim 24, characterized in that: The data processing device is further configured to provide suggestions based on the evaluation of the writing action.

26. The arm motion reproduction device according to claim 25, characterized in that: It also includes a display screen and audio playback equipment.

27. The arm motion reproduction device according to claim 26, characterized in that: In the writing evaluation mode, the display screen is used to display in real time at least one of the following items: the pressure value, the deviation angle, the evaluation of the writing action by the data processing device, and the suggestion.

28. The arm motion reproduction device according to claim 26 or 27, characterized in that: In the writing evaluation mode, the audio playback device is used to play in real time at least one of the following items: the pressure value, the deviation angle, the evaluation of the writing action by the data processing device, and the suggestion.

29. The arm motion reproduction device according to claim 25, characterized in that: The writing evaluation device further includes a second memory for storing the writing content corresponding to the writing action, the evaluation of the writing action by the data processing device, and the suggestion.

30. The arm motion reproduction device according to claim 12, characterized in that: The controller further comprises a first control switch, which controls the arm motion reproduction device to start working when the first control switch is turned on, and controls the arm motion reproduction device to stop working when the first control switch is turned off; The controller further comprises a second control switch, which controls the arm motion reproduction device to suspend operation when the second control switch is turned on, and controls the arm motion reproduction device to continue operation when the second control switch is turned off; The controller further includes a third control switch, which controls the writing evaluation device to enter a writing evaluation mode when the third control switch is turned on, and controls the writing evaluation device to exit the writing evaluation mode when the third control switch is turned off.

31. The arm motion reproduction device according to claim 30, characterized in that: The first memory and / or cloud platform is also used to store the working progress of the arm motion reproduction device.

32. The arm motion reproduction device according to claim 11, characterized in that: The motion capture device also includes an audio acquisition device; The data also includes audio data.

33. A motion capture device, characterized in that: include: A robotic arm, used to capture arm movements and output data; A database, used to store the data; A controller, used for controlling the robotic arm to capture the arm motion; Wherein, the mechanical arm includes a structure capable of being combined with a human hand; the structure capable of being combined with a human hand is also used for holding a pen; The robotic arm further comprises a pressure sensor for obtaining the pen holding pressure of the robotic arm; The pressure sensor is also used to obtain the writing pressure calculated based on the pen holding pressure obtained by the robotic arm when capturing the arm movement.

34. The motion capture device according to claim 33, characterized in that The structure capable of being combined with a human hand includes at least one of the following: A human hand-shaped structure, used to hold or be held by a human hand; and A structure suitable for being worn by human hands.

35. The motion capture device according to claim 33, characterized in that The structure capable of being combined with a human hand comprises a replaceable interface for replaceably connecting: A human hand-shaped structure, used to hold or be held by a human hand; or A structure suitable for being worn by human hands.

36. The motion capture device according to claim 33, characterized in that The structure capable of being combined with a human hand can be adjusted according to the size of the human hand.

37. The motion capture device according to claim 33, characterized in that The structure capable of being combined with a human hand includes at least one of the following: retractable knuckles; A palm that can be enlarged or reduced.

38. The motion capture device according to claim 33, characterized in that The structure capable of being combined with a human hand can be switched between the left and right hands.

39. The motion capture device according to claim 33, characterized in that The structure capable of being combined with a human hand includes a structure capable of being adjusted inside and outside.

40. The motion capture device according to claim 33, characterized in that The robotic arm also includes a device suitable for being worn on at least one of a person's forearm and upper arm.

41. The motion capture device according to claim 40, characterized in that The device is adjustable according to the length and / or thickness of at least one of the person's forearm and upper arm.

42. The motion capture device according to claim 40 or 41, characterized in that: The device comprises at least one of the following: A first device capable of extending and retracting according to the length of at least one of the forearm and the upper arm of the person; A second device capable of being retracted and extended according to the thickness of at least one of the forearm and the upper arm of the person.

43. The motion capture device according to claim 33, characterized in that The robotic arm further comprises at least one of the following sensors: A displacement sensor, used to obtain the movement trajectory of the robotic arm; A speed sensor, used to obtain the moving speed of the robotic arm; The acceleration sensor is used to obtain the movement acceleration of the robotic arm.

44. The motion capture device according to claim 33, characterized in that The database includes communication means for transmitting the data from the robotic arm; The data includes at least one of the following: robot arm motion data, writing content data, writing method data, and writing style data; The database includes an associative storage module for performing at least one of the following associative storage: associating storage of robotic arm motion data with robotic arm motion indication data, associating storage of writing content data with writing content indication data, associating storage of writing method data with writing method indication data, and associating storage of writing style data with writing style indication data.

45. The motion capture device according to claim 33, characterized in that The database also includes a sensing device; The database is also used to determine the storage of arm motion data as at least one of the following data categories based on the structure that can be combined with a human hand sensed by the sensing device: a human hand shape structure data category, or a structure data category suitable for human hand wear.

46. ​​The motion capture device according to claim 33, characterized in that The controller is configured to control the robotic arm to capture the arm motion according to the instruction received from the central console.

47. The motion capture device according to claim 33, characterized in that The controller is also used to adjust the pen-holding posture of the structure that can be combined with a human hand according to the type, thickness and length of the pen.

48. The motion capture device according to claim 34, characterized in that The controller further comprises an arm motion capture mode selection device, which is used to select the arm motion capture mode of the controller for the mechanical arm; The arm motion capture mode selection device comprises an arm motion capture mode option switch; The arm motion capture mode option switch includes at least one of the following options: capturing the arm motion of the human hand-shaped structure holding a human hand, capturing the arm motion of the human hand-shaped structure being held by a human hand, and capturing the arm motion of a human hand wearing the structure suitable for being worn by a human hand.

49. The motion capture device according to claim 33, characterized in that The controller further comprises a first control switch, which controls the robot arm to start capturing the arm motion when the first control switch is turned on, and controls the robot arm to stop capturing the arm motion when the first control switch is turned off; The controller also includes a second control switch, when the second control switch is turned on, controls the robot arm The capturing of the arm movement is paused, and when the second control switch is turned off, the robotic arm is controlled to continue capturing the arm movement.

50. The motion capture device according to claim 33, characterized in that Also includes: Audio acquisition equipment, and video acquisition equipment.

51. A center console, characterized in that include: An interactive device for receiving user settings and instructions; The host is configured to control at least one of the following devices according to the settings and instructions of the user received by the interactive device: at least one arm motion reproduction device described in one of claims 1-32, and at least one motion capture device described in one of claims 33-50.

52. The center console according to claim 51, characterized in that: The host is configured to control at least one designated arm motion reproduction device to synchronously receive user settings and instructions.

53. The center console according to claim 51, characterized in that: The host is configured to control at least one designated arm motion reproduction device to receive user settings and instructions respectively.

54. The center console according to any one of claims 51-53, characterized in that: The interactive device is also used to transmit data from the arm motion reproduction device and the motion capture device.

55. The center console according to claim 54, characterized in that: The user setting also includes setting the interactive device to preferentially transmit data from the arm motion reproduction device, or preferentially transmit data from the motion capture device.

56. An arm motion reproduction system, characterized in that: include: The arm motion reproduction device as described in one of claims 1-32, the motion capture device as described in one of claims 33-50, and the center console as described in one of claims 51-55.

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