Hand gesture calculation glove based on nano-film sensor and its preparation method

Abstract

The present invention discloses a hand gesture calculation glove based on a nano-film sensor and a preparation method thereof. The hand gesture calculation glove includes: a hand posture sensing unit, where the hand posture sensing unit includes a bending sensor and a hand movement sensor, and both the bending sensor and the hand movement sensor are disposed on the hand. Among them, the bending sensor is a mixed-coordination metal carbon nano-conductive film sensor; a filtering and amplifying unit, which is connected to the hand posture sensing unit. A signal acquisition unit, and the signal transmission unit is connected to the filtering and amplifying unit. The mixed-coordination metal carbon nano-material in the mixed-coordination metal carbon nano-conductive film of the mixed-coordination metal carbon nano-conductive film sensor has the characteristic of extremely high mixed-coordination bond energy, enabling the bending sensor to have excellent electrical conductivity and mechanical properties, and greatly improving the bending measurement accuracy of the bending sensor.

Description

Technical Field

[0001] The present invention relates to the field of wearable motion capture devices, and particularly to a hand gesture calculation glove based on a nano-film sensor and a preparation method thereof. Background Art

[0002] Graphene is a two-dimensional material with an atomic layer thickness. Due to its excellent thermal conductivity, ultra-high electron mobility, not limited by its own size limit, and strong mechanical properties, etc., it has the potential to become the main material of a new generation of stretchable, flexible and bendable sensors. However, most of the current research on graphene mainly focuses on electrical properties, such as using graphene as an electronic device. And, because graphene has only an atomic layer thickness, the overall stability of the device is not high and the preparation and transfer are difficult. Therefore, to a large extent, it has hindered the development and practical application process of high-precision, high-sensitivity, flexible and stretchable sensors. And currently, the widely used wearable hand gesture calculation glove has problems of large measurement error and low detection accuracy for human hand activities.

[0003] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0004] In view of the above deficiencies of the existing technology, the purpose of the present invention is to provide a hand gesture calculation glove based on a nano-film sensor and a preparation method thereof, aiming to solve the problem of large measurement error of the existing wearable hand gesture calculation glove for hand gestures.

[0005] The technical solution of the present invention is as follows:

[0006] A hand gesture calculation glove based on a nano-film sensor, which includes:

[0007] A hand posture sensing unit, the hand posture sensing unit includes a bending sensor and a hand movement sensor, both the bending sensor and the hand movement sensor are arranged on the hand, wherein the bending sensor is a mixed coordination metal carbon nano-conductive film sensor;

[0008] A filtering and amplifying unit, the filtering and amplifying unit is connected to the hand posture sensing unit.

[0009] A signal acquisition unit, the signal acquisition unit is connected to the filtering and amplifying unit.

[0010] The hand gesture calculation glove as described above, wherein the bending sensor includes:

[0011] A flexible substrate;

[0012] A mixed coordination metal carbon nano-conductive film, the mixed coordination metal nano-conductive film is arranged on the flexible substrate;

[0013] A metal electrode, the metal electrode being connected to the mixed - coordinated metal carbon nano - thin film mixed - coordinated metal carbon nano - conductive thin film.

[0014] The hand gesture resolution glove as described above, wherein the average size of the metal carbon compound particles in the mixed - coordinated metal carbon nano - thin film mixed - coordinated metal carbon nano - conductive thin film sensor is less than 5 nm.

[0015] The hand gesture resolution glove as described above, wherein the metal electrode is a titanium alloy electrode.

[0016] The hand gesture resolution glove as described above, wherein the hand motion sensor includes a gyroscope and an accelerometer.

[0017] The hand gesture resolution glove as described above, wherein the filtering and amplifying unit includes:

[0018] A filtering circuit, the filtering circuit being connected to the hand gesture sensing unit,

[0019] A three - stage operational amplifier circuit, the three - stage operational amplifier circuit being connected to the filtering circuit;

[0020] An analog output circuit, the analog output circuit being connected to the three - stage operational amplifier circuit.

[0021] The hand gesture resolution glove as described above, wherein the signal acquisition unit includes:

[0022] A digital - to - analog converter, the digital - to - analog converter being connected to the analog output circuit;

[0023] A hand gesture calculation device, the hand gesture calculation device being connected to the digital - to - analog converter;

[0024] A hand state index output device, the hand state index output device being connected to the hand gesture calculation device.

[0025] The hand gesture resolution glove as described above, wherein the hand state index output device is used to output hand state indexes, and the hand state indexes include: finger bending degree, hand pitch angle, hand heading angle, hand roll angle.

[0026] The hand gesture resolution glove as described above, wherein the bending angle of the bending sensor is 0° - 180°.

[0027] A preparation method of the hand gesture resolution glove based on a nano - thin film sensor as described above, wherein the preparation of the mixed - coordinated metal carbon nano - conductive thin film sensor includes the following steps:

[0028] Using a microwave plasma as the irradiation electron source, a mixed - coordinated metal carbon nano - film (mixed - coordinated metal carbon nano - conductive film) is grown on the surface of a silicon substrate by direct - current sputtering of a double - target material;

[0029] The mixed - coordinated metal carbon nano - film (mixed - coordinated metal carbon nano - conductive film) is peeled off from the silicon substrate, and the peeled - off mixed - coordinated metal carbon nano - film (mixed - coordinated metal carbon nano - conductive film) is ground to obtain mixed - coordinated metal carbon nano - powder;

[0030] A conductive polyaniline solution is prepared, and the mixed - coordinated metal carbon nano - powder is added to the conductive polyaniline solution and uniformly mixed to obtain a mixed - coordinated metal carbon nano - conductive liquid;

[0031] A mixed - coordinated metal carbon nano - conductive film is prepared on a flexible substrate using the mixed - coordinated metal carbon nano - conductive liquid to obtain a mixed - coordinated metal carbon nano - conductive film sensor.

[0032] Beneficial effects: The present invention provides a hand gesture calculation glove based on a nano - film sensor and its preparation method. The hand gesture calculation glove includes: a hand posture sensing unit, where the hand posture sensing unit includes a bending sensor and a hand movement sensor. Both the bending sensor and the hand movement sensor are disposed on the hand, and the hand movement sensor is disposed on the back of the hand. Among them, the bending sensor is a mixed - coordinated metal carbon nano - conductive film sensor; a filtering and amplifying unit, which is connected to the hand posture sensing unit; a signal acquisition unit, which is connected to the filtering and amplifying unit. The mixed - coordinated metal carbon nano - material in the mixed - coordinated metal carbon nano - conductive film of the mixed - coordinated metal carbon nano - conductive film sensor has the characteristic of extremely high mixed - coordinated bond energy, enabling the bending sensor to have excellent electrical conductivity and mechanical properties, and greatly improving the bending measurement accuracy of the bending sensor. Description of the Drawings

[0033] Figure 1 It is a structural schematic diagram of a hand gesture calculation glove based on a nano - film sensor of the present invention.

[0034] Figure 2 It is the digital signal output corresponding to the angles during the process of the index finger bending and then straightening.

[0035] Figure 3 It is the digital signal output corresponding to the angles during the process of the five fingers of the left hand bending and then straightening simultaneously.

[0036] Reference numerals: 11, bending sensor; 111, flexible substrate; 112, mixed - coordinated metal carbon nanotube conductive thin film; 113, metal electrode; 12, hand movement sensor; 121, gyroscope; 122, accelerometer; 20, filtering and amplifying unit; 21, filtering circuit; 22, three - stage operational amplifier circuit; 23, analog output circuit; 30, signal acquisition unit; 31, analog - to - digital converter; 32, hand gesture calculation device; 33, hand state index output device; 40, bonding conductive lead. Detailed implementation mode

[0037] The present invention provides a hand gesture calculation glove based on a nano - thin film sensor and a preparation method thereof. To make the objectives, technical solutions and effects of the present invention clearer and more definite, the present invention is further described in detail below. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0038] Please refer to Figure 1 , the present invention provides a hand gesture calculation glove based on a nano - thin film sensor, including: a hand gesture sensing unit, the hand gesture sensing unit includes a bending sensor 11 and a hand movement sensor 12, both the bending sensor 11 and the hand movement sensor 12 are arranged on the hand, wherein, the bending sensor 11 is a mixed - coordinated metal carbon nanotube conductive thin film sensor; a filtering and amplifying unit 20, the filtering and amplifying unit 20 is connected to the hand gesture sensing unit. A signal acquisition unit 30, the signal acquisition unit is connected to the filtering and amplifying unit 20.

[0039] Specifically, the hand gesture sensing unit is used to obtain hand gesture signals, the hand gesture signals include finger bending signals and hand movement signals, the bending sensor 11 is arranged on the finger and is used to obtain signals of the finger bending state, and the hand movement sensor 12 is arranged on the back of the hand and is used to obtain the movement signals of the whole hand. By using the filtering and amplifying unit 20 to amplify the hand movement gesture signals for the hand gesture signals of the hand, and then using the signal acquisition unit 30 to process and calculate the amplified hand gesture signals to obtain hand state indexes, and the hand state indexes reflect the hand gesture conditions.

[0040] The sensitive part of the mixed - coordinated metal carbon nanotube conductive thin - film 112 sensor is made of the mixed - coordinated metal carbon nanotube conductive thin - film 112. The mixed - coordinated metal carbon nanotube powder is dispersed in the mixed - coordinated metal carbon nanotube conductive thin - film 112. The mixed - coordinated metal carbon nanotube powder is a material in which the mixed - coordinated metal carbon nanotubes are chemically bonded to the edge - rich graphene nanocrystals. Under the external force generated by the bending of the human finger, the mixed - coordinated metal carbon nanotube conductive thin - film 112 sensor is stressed and strained, resulting in the dislocation of the bonding between the metal carbon nanoparticles and graphene in the mixed - coordinated metal carbon nanotube conductive thin - film 112, a reduction in the conductive path, an increase in the resistance of the sensor, and the generation of an electrical signal corresponding to the degree of bending. Since the change in the resistance of the sensor will cause a corresponding change in the voltage signal, it can reflect the degree of bending of the human finger. At the same time, the mixed - coordinated metal carbon nanotube material has the characteristic of extremely high mixed - coordinated bond energy, enabling the bending sensor 11 to have excellent electrical conductivity and mechanical properties, and greatly improving the bending measurement accuracy of the bending sensor 11.

[0041] Furthermore, using flexible printing technology, the hand - motion sensor 12, the filtering and amplifying unit 20, and the signal acquisition unit 30 are integrated on a flexible PCB board, and a lithium - ion battery is used as the power supply. The flexible PCB board is arranged on an external support structure, and the flexible PCB board is arranged on the back of the hand through the external support structure. The external support structure is made of ABS resin (acrylonitrile - butadiene - styrene copolymer). The bending sensor 11 is fixed on the finger by a ring - shaped elastic fabric, the flexible PCB circuit is carried on the back of the hand through the external support structure, and each unit is connected by a bonded conductive lead 40, thus obtaining a hand gesture calculation glove based on the nano - thin - film sensor.

[0042] In one embodiment, the effective bending angle of the bending sensor 11 is 0° - 180°.

[0043] In one embodiment, the bending sensor 11 includes:

[0044] A flexible substrate 111;

[0045] A mixed - coordinated metal carbon nanotube conductive thin - film 112, and the mixed - coordinated metal nanotube conductive thin - film is arranged on the flexible substrate 111;

[0046] A metal electrode 113, and the metal electrode 113 is connected to the mixed - coordinated metal carbon nanotube conductive thin - film of the mixed - coordinated metal carbon nanotube thin - film.

[0047] Specifically, a mixed-ligand metal carbon nanocomposite thin film and a mixed-ligand metal carbon nanocomposite conductive thin film are deposited on a silicon plate by using microwave plasma dual-target magnetron sputtering technology. Using microwave plasma as the irradiation electron source, a mixed-ligand metal carbon nanocomposite thin film and a mixed-ligand metal carbon nanocomposite conductive thin film are grown on the surface of the silicon substrate by direct current sputtering of dual targets (carbon target and metal target), and a mixed-ligand metal carbon nanocomposite thin film and a mixed-ligand metal carbon nanocomposite conductive thin film are obtained; the obtained mixed-ligand metal carbon nanocomposite thin film and a mixed-ligand metal carbon nanocomposite conductive thin film are peeled off from the silicon plate and ground to obtain mixed-ligand metal carbon nanocomposite powder; the mixed-ligand metal carbon nanocomposite powder is mixed with conductive polyaniline in an organic solvent (such as ethanol), and a mixed-ligand metal carbon nanocomposite conductive thin film 112 is formed on the flexible substrate 111 by spin coating, thereby obtaining a mixed-ligand metal nanocomposite conductive thin film sensor. The flexible substrate 111 includes but is not limited to a PDMS flexible substrate 111 and a fabric substrate. The metal electrodes 113 include a metal positive electrode and a metal negative electrode. A metal positive electrode is plated at one end of the mixed-ligand metal nanocomposite conductive thin film by using magnetron sputtering technology and ultraviolet lithography technology, and a metal negative electrode is plated at the other end of the mixed-ligand metal nanocomposite conductive thin film. The metal positive electrode and the metal negative electrode are then connected to the filtering and amplifying unit 20 through bonding conductive leads. Preferably, the metal electrodes 113 can be but are not limited to titanium alloy electrodes. The width of the titanium alloy electrodes is 0.5 mm, the thickness is 70 nm, and the spacing is 60 μm.

[0048] In one embodiment, the average size of the metal carbon compound particles in the mixed-ligand metal carbon nanocomposite thin film and a mixed-ligand metal carbon nanocomposite conductive thin film sensor is less than 5 nm.

[0049] In one embodiment, the hand motion sensor 12 includes a gyroscope 121 and an accelerometer 122.

[0050] Specifically, the hand motion sensor 12 is disposed on the back of the hand. The gyroscope 121 and the accelerometer 122 are used to measure the overall movement and tilt of the hand. A gyroscope 121 signal is obtained through the gyroscope 121, and an accelerometer 122 signal is obtained through the accelerometer 122. According to the gyroscope 121 signal and the accelerometer 122 signal, the linear motion and rotational motion of the wrist are obtained.

[0051] In one embodiment, the filtering and amplifying unit 20 includes:

[0052] A filtering circuit 21, which is connected to the hand gesture sensing unit,

[0053] A three-stage operational amplifier circuit 22, which is connected to the filtering circuit 21;

[0054] An analog output circuit 23, which is connected to the three-stage operational amplifier circuit 22.

[0055] Specifically, a coupling capacitor is used to form a filter circuit 21 to eliminate the DC components in the finger bending signal and the hand movement signal. A three-stage operational amplifier is used to amplify the finger bending signal caused by finger bending and the hand movement signal detected by the hand movement sensor 12. The analog output circuit 23 outputs the amplified finger bending signal and hand movement signal to the signal acquisition unit 30.

[0056] In one embodiment, the signal acquisition unit 30 includes:

[0057] An analog-to-digital converter 31, which is connected to the analog output circuit 23;

[0058] A hand posture calculation device 32, which is connected to the analog-to-digital converter 31;

[0059] A hand state index output device 33, which is connected to the hand posture calculation device 32.

[0060] Specifically, the analog output circuit 23 outputs the amplified signal to the analog-to-digital converter 31. The analog-to-digital converter 31 converts the amplified signal into a digital signal and transmits the digital signal to the hand posture calculation device 32. The hand posture calculation device 32 calculates and saves the hand posture index based on the digital signal. The hand state index output device 33 outputs the hand posture index to the terminal.

[0061] Furthermore, the hand state index output device is used to output hand state indexes, and the hand state indexes include: finger bending degree, hand pitch angle, hand yaw angle, hand roll angle. The finger bending degree is obtained by the bending sensor 11. The resistance change value of the bending sensor 11 is obtained through analog-to-digital conversion, and the finger bending degree (CUR) is obtained based on the resistance change value. The calculation method is:

[0062]

[0063] where R is the resistance value of the hybrid coordination metal carbon nanotube conductive film 112 sensor. The hand roll angle (ROL), hand pitch angle (PIT), and hand yaw angle (YAW) are obtained by the hand movement sensor 12. The calculation methods are:

[0064]

[0065] where , , are all Euler angles, is the angle of rotation, is the precession angle. is the nutation angle, with the unit of degree; , , are respectively the hand roll angle, hand pitch angle, and hand yaw angle calculated in the previous calculation cycle.

[0066] In one embodiment, the present invention also provides a preparation method of a hand gesture solution glove based on a nano-film sensor. Among them, the preparation of the mixed coordination metal carbon nano-conductive film 112 sensor includes the following steps:

[0067] S10: Using microwave plasma as the irradiation electron source, grow a mixed coordination metal carbon nano-film and a mixed coordination metal carbon nano-conductive film on the surface of the silicon substrate by direct current sputtering of a dual target.

[0068] S20: Peel the mixed coordination metal carbon nano-film and the mixed coordination metal carbon nano-conductive film from the silicon substrate, and grind the peeled mixed coordination metal carbon nano-film and the mixed coordination metal carbon nano-conductive film to obtain mixed coordination metal carbon nano-powder.

[0069] S30: Prepare a conductive polyaniline solution, add the mixed coordination metal carbon nano-powder to the conductive polyaniline solution and mix evenly to obtain a mixed coordination metal carbon nano-conductive liquid.

[0070] S40: Use the mixed coordination metal carbon nano-conductive liquid on the flexible substrate 111 to prepare a mixed coordination metal carbon nano-conductive film 112, and obtain a mixed coordination metal carbon nano-conductive film 112 sensor.

[0071] Specifically, the present invention utilizes the microwave plasma dual-target magnetron sputtering technology. Through the dual-target sputtering of microwave sputtering with microwave plasma as the irradiation electron source and direct current magnetron sputtering, a mixed coordination metal carbon nano-film and a mixed coordination metal carbon nano-conductive film are grown on the surface of the silicon substrate. Control the electron density in the vacuum chamber, the substrate bias voltage is between +0~80V, the ultra-high current density is 100 mA / cm 2 , the ultra-high electron flux (the amount of electrons passing through per unit time) is 1.25*1021mm -2 s -1 . The ultra-high electron flux induces the growth of a large number of graphene nanocrystals rich in edge states and metal carbon compound particles with mixed coordination chemical bonding, forming a unique surface super-smooth mixed coordination metal carbon nano-film and mixed coordination metal carbon nano-conductive film. The average size of the metal carbon compound particles in the mixed coordination metal carbon nano-film and mixed coordination metal carbon nano-conductive film is less than 5nm. This film is extremely smooth, with a roughness less than 2nm, and the metal carbon compound particles and the graphene nanocrystals are linked by chemical bonding rather than ordinary doping.

[0072] Then, an electric engraving knife is used to peel the mixed coordination metal carbon nanofilms and the mixed coordination metal carbon nanoconductive films from the silicon substrate, and they are ground into uniform mixed coordination metal carbon nanometer powders by a grinding tool.

[0073] An organic solution (such as ethanol) is used to disperse conductive polyaniline to obtain a conductive polyaniline solution. The mixed coordination metal carbon nanometer powders and the conductive polyaniline solution are uniformly mixed, and an appropriate amount of liquid silicone rubber and a surfactant (such as sodium dodecyl sulfonate) are added to obtain a mixed coordination metal carbon nanoconductive liquid. The tensile properties of the mixed coordination metal carbon nanoconductive film sensor and the adsorption property of the mixed coordination metal carbon nanometer powders are controlled by changing the dosage of the silicone rubber; the conductive property of the mixed coordination metal carbon nanofilms and the mixed coordination metal carbon nanoconductive film sensor is controlled by changing the dosage of the surfactant. Preferably, the mass ratio of the mixed coordination metal carbon nanometer powders, conductive polyaniline, liquid silicone rubber, and surfactant is 1:0.4 - 0.6:0.3 - 0.7:0.05 - 0.1. More preferably, the mass ratio of the mixed coordination metal carbon nanometer powders, conductive polyaniline, liquid silicone rubber, and surfactant is 1:0.43:0.43:0.1. Further, an appropriate amount of nano silver flakes can be added to the mixed coordination metal carbon nanoconductive liquid to improve the conductive property of the sensor.

[0074] Then, the mixed coordination metal carbon nanoconductive liquid is deposited on the flexible substrate 111 by spin coating, and heat curing is carried out to prepare the mixed coordination metal carbon nanoconductive film 112, thereby obtaining the mixed coordination metal carbon nanoconductive film 112 sensor.

[0075] The mixed coordination metal carbide particles in the mixed coordination metal carbon nanometer powders and the graphene nanocrystals can form a conductive network in the silicone rubber grid. When the finger bends, the mixed coordination metal carbon nanoconductive film 112 sensor is stressed to generate strain, resulting in the dislocation of the bonding between the metal carbon nanoparticles and the graphene nanocrystals in the mixed coordination metal carbon nanoconductive film 112, leading to the mixed coordination entropy increase effect, causing the overall resistance value of the conductive network to change. By detecting the resistance value of the mixed coordination metal carbon nanoconductive film 112 sensor, the bending angle of the mixed coordination metal carbon nanoconductive film 112 sensor at different resistance values can be obtained, thereby reflecting the degree of human finger bending. The mixed coordination metal carbon nanometer powders in the mixed coordination metal carbon nanoconductive film 112 have the characteristic of extremely high mixed coordination bond energy, enabling the bending sensor 11 to have excellent conductive and mechanical properties, greatly improving the bending measurement accuracy of the bending sensor 11.

[0076] The output of the human finger bending signal of the present invention is as Figure 2 and Figure 3 shown, Figure 2 which is the digital signal output corresponding to the angle during the process of the index finger bending and then straightening, Figure 3It is the digital signal output corresponding to the angles during the simultaneous bending and straightening of the 5 fingers of the left hand. Table 1 shows the bending ranges of each finger of the human body. It can be seen that during continuous bending and straightening, within the maximum bending range of the human fingers, the hand gesture calculation glove device of the mixed-ligand metal carbon nanotube thin film and the mixed-ligand metal carbon nanotube conductive thin film conductive sensor has measured stable and accurate bending signals.

[0077] Table 1 Bending ranges of each finger of the human body

[0078]

[0079] In summary, the present invention provides a hand gesture calculation glove based on a nano-thin film sensor and a preparation method thereof. The hand gesture calculation glove includes: a hand posture sensing unit, the hand posture sensing unit includes a bending sensor and a hand movement sensor, the bending sensor is arranged on the finger, and the hand movement sensor is arranged on the back of the hand. Among them, the bending sensor is a mixed-ligand metal carbon nanotube conductive thin film sensor; a filtering and amplifying unit, the filtering and amplifying unit is connected to the hand posture sensing unit. A signal acquisition unit, the signal acquisition unit is connected to the filtering and amplifying unit. The mixed-ligand metal carbon nanotube material in the mixed-ligand metal carbon nanotube conductive thin film of the mixed-ligand metal carbon nanotube conductive thin film sensor has the characteristic of extremely high mixed-ligand bond energy, so that the bending sensor has excellent conductive performance and mechanical properties, greatly improving the bending measurement accuracy of the bending sensor.

[0080] It should be understood that the application of the present invention is not limited to the above examples. For those of ordinary skill in the art, improvements or transformations can be made according to the above description. All such improvements and transformations should fall within the protection scope of the appended claims of the present invention.

Claims

1. A hand gesture calculation glove based on a nano-film sensor, characterized in that, it includes: A hand posture sensing unit, the hand posture sensing unit includes a bending sensor and a hand movement sensor, both the bending sensor and the hand movement sensor are arranged on the hand, wherein, the bending sensor is a mixed-coordination metal carbon nano-conductive film sensor; A filtering and amplifying unit, the filtering and amplifying unit is connected to the hand posture sensing unit; A signal acquisition unit, the signal acquisition unit is connected to the filtering and amplifying unit; The sensitive part of the mixed-coordination metal carbon nano-conductive film sensor is made of a mixed-coordination metal carbon nano-conductive film, and mixed-coordination metal carbon nano-powders are dispersed in the mixed-coordination metal carbon nano-conductive film. The mixed-coordination metal carbon nano-powders are materials in which mixed-coordination metal carbon nano and edge-rich graphene nanocrystals are chemically bonded.

2. The hand gesture calculation glove according to claim 1, characterized in that, The bending sensor includes: A flexible substrate; A mixed-coordination metal carbon nano-conductive film, the mixed-coordination metal nano-conductive film is arranged on the flexible substrate; A metal electrode, the metal electrode is connected to the mixed-coordination metal carbon nano-film and the mixed-coordination metal carbon nano-conductive film.

3. The hand gesture calculation glove according to claim 2, characterized in that, The average size of the metal carbon compound particles in the mixed-coordination metal carbon nano-film and the mixed-coordination metal carbon nano-conductive film sensor is less than 5 nm.

4. The hand gesture calculation glove according to claim 2, characterized in that, The metal electrode is a titanium alloy electrode.

5. The hand gesture calculation glove according to claim 1, characterized in that, The hand movement sensor includes a gyroscope and an accelerometer.

6. The hand gesture calculation glove according to claim 1, characterized in that, The filtering and amplifying unit includes: A filtering circuit, the filtering circuit is connected to the hand posture sensing unit, A three-stage operational amplifier circuit, the three-stage operational amplifier circuit is connected to the filtering circuit; An analog output circuit, the analog output circuit is connected to the three-stage operational amplifier circuit.

7. The hand gesture calculation glove according to claim 6, characterized in that, The signal acquisition unit includes: A digital-to-analog converter, the digital-to-analog converter is connected to the analog output circuit; A hand gesture calculation device, the hand gesture calculation device is connected to the digital-to-analog converter; A hand state index output device, the hand state index output device is connected to the hand gesture calculation device.

8. The hand gesture calculation glove according to claim 7, characterized in that, The hand state index output device is used to output hand state indexes, and the hand state indexes include: finger bending degree, hand pitch angle, hand heading angle, hand roll angle.

9. The hand gesture calculation glove according to claim 1, characterized in that, The bending angle of the bending sensor is 0° to 180°.

10. A preparation method of the hand gesture calculation glove based on a nano-film sensor according to any one of claims 1-9, characterized in that, The preparation of the mixed-ligand metal carbon nanocomposite conductive thin film sensor comprises the following steps: Using microwave plasma as the irradiation electron source, a mixed-ligand metal carbon nanocomposite conductive thin film is grown on the surface of a silicon substrate by direct current sputtering of a dual target; The mixed-ligand metal carbon nanocomposite conductive thin film is peeled off from the silicon substrate, and the peeled-off mixed-ligand metal carbon nanocomposite conductive thin film is ground to obtain mixed-ligand metal carbon nanocomposite powder; A conductive polyaniline solution is prepared, and the mixed-ligand metal carbon nanocomposite powder is added to the conductive polyaniline solution and uniformly mixed to obtain a mixed-ligand metal carbon nanocomposite conductive liquid; The mixed-ligand metal carbon nanocomposite conductive liquid is used to prepare a mixed-ligand metal carbon nanocomposite conductive thin film on a flexible substrate to obtain a mixed-ligand metal carbon nanocomposite conductive thin film sensor.

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