Angle measurement data glove

Abstract

The invention provides an angle measurement data glove which comprises a glove body and a plurality of angle measurement devices, the glove body is worn on a hand and acts along with the hand, and the angle measurement devices are arranged on the glove body and correspond to the positions of fingers; the angle measuring device comprises a base and a measuring unit, the base is connected with the glove body and moves along with the glove body, the measuring unit is arranged on the base and corresponds to the phalanx and the knuckle, and when the base moves along with the glove body, the measuring unit on the base is used for measuring the bending angle of each part of the base or the included angle between the bases. According to the angle measurement data glove, measurement is accurate and comprehensive, wearing is comfortable, the angle measurement data glove can serve as a rehabilitation glove to be applied to mirror image training, the training effect is effectively improved, and precise rehabilitation is achieved.

Description

Technical Field

[0001] The invention belongs to the field of soft robots, and in particular relates to an angle measurement data glove. Background Art

[0002] Data gloves are sensor devices that can capture hand motion data. They are widely used in virtual reality, robot control, medical rehabilitation and other fields. The core technology is the sensor, which is used to capture the joint angle and motion trajectory of the fingers. At present, data gloves mainly use bending sensors and inertial sensors. The bending sensor senses the angle information by measuring the change in resistance when the finger is bent, while the inertial sensor senses the motion information by measuring acceleration and angular velocity. With the continuous development of sensor technology, the accuracy and stability of data gloves have been significantly improved, but they still face some challenges, among which the biggest challenge is recognition accuracy and stability. Due to the diversity and complexity of gestures and finger joint motion trajectories, how to improve recognition accuracy and stability is an urgent problem to be solved. In addition, the comfort and wearability of data gloves are also important factors affecting their application. How to design more comfortable, lightweight and easy-to-wear data gloves is one of the future research directions.

[0003] Currently, data gloves are widely used in the market, but most data gloves simply measure the overall bending angle data of the fingers, and cannot measure the bending angle data of each joint of the fingers, and cannot measure the opening angle between the fingers when the fingers are open. As a result, medical staff cannot adjust the rehabilitation strategy in time through analysis and evaluation of the training effect to achieve accurate rehabilitation. Summary of the invention

[0004] In view of the above shortcomings of the prior art, the purpose of the present invention is to provide a set of angle measurement data gloves, which can not only accurately measure the overall bending angle of the fingers, but also accurately measure the bending angle of each finger joint angle and the opening angle between each finger, so as to obtain more comprehensive and accurate hand movement data, which can be used for mirror training and can be adapted to a variety of rehabilitation strategies, effectively improve the rehabilitation effect, and achieve precise rehabilitation. The gloves have a simple structure, are light and comfortable, and are easy to wear.

[0005] To achieve the above-mentioned purpose and other related purposes, the present invention provides an angle measurement data glove, comprising:

[0006] Glove body;

[0007] A plurality of angle measuring devices are arranged on the glove body and corresponding to the positions of the fingers, and include:

[0008] A base, connected to the glove body and arranged corresponding to the positions of the fingers;

[0009] The measuring unit is arranged on the base, and each base is provided with a plurality of the measuring units, which are arranged corresponding to each finger joint and / or phalanx area and / or metacarpal area.

[0010] According to an embodiment provided by the present invention, the base comprises:

[0011] A fixing seat connected to the glove body;

[0012] A bending seat, wherein one bending seat is arranged between two adjacent fixing seats, and the bending seat is composed of a plurality of flexible hinges and vertical plates;

[0013] The measuring unit is arranged on the fixing seat and the bending seat, or on the fixing seat.

[0014] According to an embodiment provided by the present invention, a groove is formed on a side of the base close to the glove body and / or a side of the base away from the glove body, and the measuring unit is disposed in the groove.

[0015] According to an embodiment provided by the present invention, the base further includes a limiting member, the limiting member is connected to the fixing seat, and the measuring unit is located between the limiting member and the fixing seat.

[0016] According to an embodiment provided by the present invention, the measuring unit is a strain gauge, which is arranged in the groove of the base, and each group of strain gauges is arranged corresponding to a finger joint and its two side phalanges or a partial area of ​​the two side phalanges and metacarpal bones.

[0017] According to an embodiment provided by the present invention, each group of the measuring units includes one strain gauge, which is arranged corresponding to a finger joint and the phalanges on both sides thereof or a partial area of ​​the phalanges on both sides and the metacarpal bones, and is set in the groove on one side of the base.

[0018] According to an embodiment provided by the present invention, each group of the measuring units includes two strain gauges, which are arranged corresponding to a finger joint and the phalanges on both sides thereof or partial areas of the phalanges and metacarpal bones on both sides, and are set in the groove on one side of the base.

[0019] According to an embodiment provided by the present invention, each group of the measuring units includes four strain gauges, which are arranged corresponding to a finger joint and the phalanges on both sides thereof or partial areas of the phalanges and metacarpal bones on both sides, and are symmetrically arranged in the grooves on both sides of the base.

[0020] According to an embodiment provided by the present invention, the measuring unit is a posture sensor, and each group of the measuring units includes two posture sensors, which are respectively located in the phalanges on both sides of the finger joint or in the phalanges and metacarpal areas on both sides, and are connected to the fixing seat.

[0021] According to an embodiment provided by the present invention, at least two posture sensors are provided in the metacarpal area, which are located in the thumb metacarpal area and the middle finger metacarpal area respectively, and the posture sensors in the thumb metacarpal area and other areas perform angle measurement based on the posture sensor in the middle finger metacarpal area.

[0022] The angle measurement data gloves of the present invention fix the base on the glove body and move with the hand, and use the measuring unit on the base to measure the hand movement data. The structure is simple and easy to wear. The base is correspondingly located on each finger, and the measuring unit thereon is arranged corresponding to each joint and phalanx area of ​​each finger according to the measurement needs. By measuring the bending angle or position of the base, the bending data of the finger joint or other posture data such as the inter-finger angle can be obtained. The measurement range is more comprehensive and accurate hand posture data can be obtained. The strain gauge is arranged on the base, and the base has a certain hardness so that it can drive the strain gauge to bend with the hand to achieve measurement. The bending seat adopts a combination of a flexible hinge and a vertical plate, so that the bending range of the base is larger and the movement is more flexible. At the same time, the base can be appropriately extended when the hand moves to ensure the comfort of the hand movement. The strain gauge is connected to the base through a limiter. When the base is extended or retracted, it can slide along the base to a certain extent, so as to fit the base more closely and ensure the accuracy of the measurement; the setting of the posture sensor can accurately measure the posture of the hand at various positions in various activity states, so as to accurately evaluate the activity state of the hand; by using information feedback and adding a control device, the data glove can also be used for hand rehabilitation training, and the patient's enthusiasm for training can be improved through mirror training, so as to achieve better rehabilitation effect and realize precise rehabilitation; the present invention can realize accurate three-dimensional hand posture estimation, and can also be used in various fields such as robot control and virtual interaction, with a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0024] Figure 1 A three-dimensional structural diagram of an embodiment of the angle measurement data glove provided by the present invention;

[0025] Figure 2 An exploded view of an angle measuring device according to an embodiment of the present invention in which each group of measuring units in the angle measuring data glove includes a strain gauge;

[0026] Figure 3An exploded view of an angle measuring device according to another embodiment of the present invention, in which each group of measuring units in the angle measuring data glove includes a strain gauge;

[0027] Figure 4 An exploded view of an angle measurement device according to an embodiment of the present invention in which each group of measurement units in the angle measurement data glove includes two strain gauges;

[0028] Figure 5 An exploded view of an angle measuring device according to another embodiment of the present invention, in which each group of measuring units in the angle measuring data glove includes two strain gauges;

[0029] Figure 6 An exploded view of an angle measurement device according to an embodiment of the present invention in which each group of measurement units in the angle measurement data glove includes four strain gauges;

[0030] Figure 7 An exploded view of an angle measurement device in an embodiment of the angle measurement data glove provided by the present invention, in which the measurement unit is a posture sensor.

[0031] Description of labels:

[0032] 100. Glove body; 200. Angle measuring device;

[0033] 210, base; 220, measuring unit;

[0034] 211, fixed seat; 212, bending seat; 213, buckle;

[0035] 221, a first measuring unit; 222, a second measuring unit; 223, a third measuring unit. DETAILED DESCRIPTION

[0036] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0037] It should be noted that the illustrations provided in this embodiment are only used to illustrate the basic concept of the present invention in a schematic manner. Therefore, the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0038] Data gloves can measure hand motion data and have a wide range of applications. The core lies in the setting of sensors. How to set the sensors to accurately obtain effective motion information of each position during hand movement while ensuring the comfort and convenience of wearing the device is one of the research directions of data gloves.

[0039] See also Figures 1 to 7 The present invention provides an angle measurement data glove, which includes a glove body 100 and a plurality of angle measurement devices 200. The data glove is worn on the hand through the glove body 100 to achieve connection with the hand so as to measure the hand movement through the glove body 100; the angle measurement device 200 is arranged on the glove body 100 and is arranged corresponding to each finger position, and each finger is arranged corresponding to an angle measurement device 200 for data measurement. When the hand performs flexion and extension and other movements, the glove body 100 follows its movement and drives the angle measurement device 200 to move, thereby realizing the measurement of the hand movement data; the angle measurement device 200 can measure the bending angle of each joint of the hand and the opening angle between each finger, obtain accurate hand posture, evaluate the hand activity state and be applicable to a variety of rehabilitation training scenarios. It should be noted that the angle measurement device 200 corresponds to measuring each joint of the finger including the metacarpophalangeal joint, so one end of the angle measurement device 200 is located at the fingertip position, and the other end extends from the metacarpophalangeal joint to the metacarpal bone area, and its length should be greater than the length of the finger at the corresponding position, which can achieve more comprehensive and accurate measurement of hand movement.

[0040] See also Figure 1 According to an embodiment of the present invention, the glove body 100 serves as the base of the angle measuring device 200, and the angle measuring device 200 is connected to the hand so as to measure the bending angle of each joint and the angle between fingers. The glove body 100 can be made of elastic material, for example, so as to better fit the hand movements, achieve more accurate measurements, and ensure a comfortable fit; the glove body 100 can be provided with fixings such as Velcro to firmly wear the data glove on the hand; the angle measuring device 200 is connected to the glove body 100, and follows the glove body 100 to perform flexion, extension, opening and closing, and other movements, thereby measuring the bending angle of the fingers and the angle between the fingers, and the measurement has high sensitivity and accuracy.

[0041] See also Figures 1 to 7According to an embodiment provided by the present invention, the angle measuring device 200 is arranged on the glove body 100 and is located on the outside of the glove body 100. It includes a base 210 and a measuring unit 220. The base 210 is connected to the glove body 100 and is arranged corresponding to the position of each finger. Each base 210 corresponds to a finger and is arranged in the entire finger and the palm area close to the finger; the measuring unit 220 is arranged on the base 210. Each base 210 is provided with a plurality of measuring units 220, which are arranged corresponding to each finger joint and / or phalangeal area and / or metacarpal area of ​​the finger. When the hand moves, the glove body 100 can bend, stretch or open and close the fingers accordingly. The base 210 is fixed to the glove body 100 and moves with it. The measuring unit 220 on the base 210 can measure the bending angle of each part of the base 210, so as to obtain the bending data of the finger joints at the corresponding position, and the bending data of the entire finger can also be obtained; the measuring unit 220 on the base 210 corresponding to different fingers can measure the angle between the two bases 210, so as to obtain the angle data between the corresponding fingers.

[0042] See also Figures 1 to 7 According to an embodiment provided by the present invention, the base 210 includes a fixed seat 211, a bending seat 212 and a limiter. The fixed seat 211 is connected to the glove body 100, and a bending seat 212 is arranged between two adjacent fixed seats 211. The fixed seat 211 serves as a connecting component between the glove body 100 and the base 210, and also serves as a supporting component for the bending of the bending seat 212, so that the base 210 and the hand can fit well during exercise; the bending seat 212 is composed of a plurality of flexible hinges and vertical plates to realize the bending of the base 210 with the glove body 100; the measuring unit 220 is arranged on the fixed seat 211 and the bending seat 212, or on the fixed seat 211, the limiter is connected to the fixed seat 211, and the measuring unit 220 is located between the limiter and the fixed seat 211. Each base 210 moves with the corresponding finger, such as flexion and extension, opening and closing of the finger, etc. The bending angle data of the base 210 or the angle data between the bases 210 is measured by the measuring unit 220, so as to obtain the bending angle of the corresponding joint or the inter-finger angle data, and obtain accurate hand posture.

[0043] See also Figures 1 to 7 According to an embodiment of the present invention, the base 210 can be made of, for example, TPU material, which has a certain hardness, so that it can drive the measuring unit 220 to fit the movement of the finger. At the same time, it has a certain elasticity, and the bending seat 212 is composed of a flexible hinge and a vertical plate, so that the base 210 can be appropriately extended when bending with the finger, so as to better fit the movement of the finger, ensure accurate measurement, reduce the hindrance of the data glove to the movement of the hand, and improve the wearing comfort.

[0044] See also Figures 1 to 7 According to an embodiment of the present invention, a deformation groove is provided at the connection between the bending seat 212 and the fixing seat 211, so as to ensure that the base 210 as a whole can be flexibly bent together with the glove body; the bending seat 212 is composed of a plurality of flexible hinges and vertical plates, and the plurality of vertical plates are connected by flexible hinges, so as to be relatively bent. Each bending seat 212 is bent by a plurality of flexible hinges, and the motion sensitivity is high, so that the base 210 as a whole can achieve the same flexion and extension movement with the glove body 100, and better fit the movement of the finger joints. When the finger is bent, the bending seat 212 is bent together with the glove body 100 under the action of its force. Since the base 210 is attached to the hand through the glove body 100 and can be flexibly bent through the hinge on the bending seat 212, the bending angle of the pleated base 210 is consistent with that of the finger, so that the bending angle of the finger can be accurately measured by the measuring unit 220 on the base 210.

[0045] See also Figures 1 to 7 According to an embodiment of the present invention, the fixing seat 211 and the bending seat 212 are arranged corresponding to the finger joints and the phalanges or metacarpals, that is, the structure of the base 210 is adapted to the finger joints. Specifically, a bending seat 212 is arranged corresponding to each joint position, and the bending seat 212 bends along with the joint, driving the measuring unit 220 on the base 210 to move, thereby achieving accurate measurement of the joint bending angle and ensuring flexible and comfortable hand movements when wearing data gloves; when the finger joints are bent, the relative positions of the phalanges or metacarpals on both sides thereof change, and the relative positions of the fixing seats 211 thereon also change accordingly. It can be understood that the number of the bending seats 212 and the fixing seats 211 corresponding to each phalange region can be set differently according to different hand shapes.

[0046] See also Figures 1 to 7 According to an embodiment of the present invention, when the base 210 flexes and extends along with the glove body 100, the bending seat 212 bends, and the relative positions of the fixing seats 211 at both ends thereof change accordingly; the measuring unit 220 is disposed on the base 210, and can measure the bending angle of the bending seat 212 or the relative position change of the fixing seat 211, thereby realizing the measurement of the bending angle of the corresponding finger joints. When the hand is opening and closing, the base 210 does not bend, but the relative positions of the bases 210 change. The angles between the bases 210 are measured by the measuring unit 220, thereby obtaining the opening angle data between the fingers.

[0047] See also Figures 1 to 7According to an embodiment provided by the present invention, the stopper is connected to the base 210, and the measuring unit 220 is fixed on the base 210. The stopper may be, for example, a buckle 213. The buckle 213 may be, for example, a square structure with protrusions at its four corners. Correspondingly, there are notches on both sides of the fixing seat 211. The protrusions of the buckle 213 are engaged with the notches of the fixing seat 211 to install the measuring unit 220 in the groove of the base 210. The engagement between the protrusion of the buckle 213 and the notch of the fixing seat 211 is a detachable connection, which is convenient for installing and disassembling the measuring device. It can be understood that the shape and structure of the buckle 213 here are not limited, and it only needs to be able to accommodate the measuring unit 220 and engage it on the base 210.

[0048] See also Figures 1 to 7 According to an embodiment of the present invention, a groove is provided on a side of the base 210 close to the glove body 100 and / or on a side of the base 210 away from the glove body 100, and the measuring unit 220 is arranged in the groove. The base 210 can be bent in a large range to ensure the comfort of wearing and the flexibility of movement. The shape of the buckle 213 is adapted to the shape of the groove. The buckle 213 is arranged in the groove of the fixing seat 211 and is engaged with the fixing seat 211 to connect the measuring unit 220 to the base 210.

[0049] See also Figures 1 to 7 According to an embodiment provided by the present invention, each group of measuring units 220 is located in a finger joint and / or the phalanges or metacarpals on both sides thereof, and can measure the bending angle of the finger joint. It is understandable that when measuring the angle of the metacarpophalangeal joint, since the metacarpophalangeal joint is provided with the metacarpal bones and phalanges on both sides respectively, the measuring unit 220 is arranged in the metacarpophalangeal joint and the phalanges and metacarpals on both sides, or in the metacarpals and phalanges. When measuring the angles of other finger joints, the measuring unit 220 is arranged in the corresponding finger joint and the phalanges on both sides thereof, or in the phalanges on both sides of the corresponding finger joint. It is understandable that the distribution of the measuring unit 220 can be set differently according to different structures of fingers and different measurement requirements.

[0050] See also Figures 1 to 6According to an embodiment of the present invention, the measuring unit 220 is, for example, a strain gauge, and each group of measuring units 220 is located in a finger joint and its two side phalanges or two side phalanges and metacarpal region, and each group of measuring units 220 corresponds to at least one bending seat 212. When the bending seat 212 bends with the finger joint, the measuring unit 220 measures the bending angle of the bending seat 212, thereby realizing the measurement of the bending angle of the finger joint. Specifically, for example, the base 210 corresponding to the index finger is provided with a first measuring unit 221, a second measuring unit 222 and a third measuring unit 223, which respectively correspond to the bending data of the index finger metacarpophalangeal joint, the index finger proximal interphalangeal joint and the index finger distal interphalangeal joint; similarly, according to the phalangeal structure, the middle finger, the ring finger and the little finger can also be measured by three measuring units 220; when measuring the thumb, since the thumb only contains two finger joints, only two measuring units 220 need to be provided to measure the thumb metacarpophalangeal joint and the thumb joint respectively.

[0051] See also Figure 7 According to another embodiment provided by the present invention, the measuring unit 220 is, for example, a posture sensor, and each group of measuring units 220 is arranged on the phalanges on both sides of the finger joints or the phalanges and metacarpal areas on both sides. The measuring units 220 are used to measure the positions of the phalanges or metacarpals in space to obtain the angle between the two phalanges, that is, the bending angle of the corresponding interphalangeal joints. Each group of measuring units 220 can also measure the bending angle of a finger joint. It should be noted that at this time, the angle between each finger can also be measured in combination with the measuring units 220 on different fingers, and the corresponding measuring unit 220 can be selected for measurement according to the measurement needs.

[0052] See also Figures 1 to 6 According to an embodiment of the present invention, the measuring unit 220 is a strain gauge, which is arranged in a groove of the base 210, and each group of strain gauges is arranged corresponding to a finger joint and its two side phalanges or a part of the two side phalanges and metacarpal bones. The strain gauge is arranged on the base 210, and when the base 210 is bent with the glove body 100, the strain gauge thereon is bent accordingly, and the resistance of the strain gauge changes due to the deformation, and its voltage value also changes, so that the bending angle of each strain gauge can be accurately measured according to the change of the voltage value, and the deformation signal is converted into an electrical signal by using a conversion module, and the angle data of the corresponding finger joint is obtained after processing, and the bending data of the entire finger can also be obtained by combining the measurement data of multiple groups of strain gauges.

[0053] See also Figures 1 to 6It should be noted that the strain gauge is arranged on the base 210 and bends with the base 210, so as to measure the bending data of the hand. It is necessary to ensure that the strain gauge and the base 210 are consistent with the bending movement of the hand. Since the strain gauge has a large hardness, when the hardness of the base 210 is insufficient, it cannot drive the strain gauge to bend with the hand, which will affect the accuracy of the measurement. When the hardness of the base 210 is too high, it cannot bend and stretch with the hand movement. Therefore, the base 210 can be made of a material with a certain hardness, such as TPU material, and at the same time, a combination of a flexible hinge and a vertical plate is used to enable the base 210 to bend and stretch in accordance with the hand movement and drive the strain gauge to bend in accordance with the same. Since the strain gauge is connected to the base 210 through the buckle 213, its two ends have a certain sliding relative to the base 210, so that it can be more closely fitted to the base 210, avoiding affecting the expansion and contraction of the base 210 while reducing the additional stress on the strain gauge, and ensuring the accuracy of the measurement.

[0054] See also Figures 1 to 6 Specifically, for example, when measuring the index finger, the corresponding base 210 is provided with a first measuring unit 221, a second measuring unit 222 and a third measuring unit 223. Each group of measuring units 220 includes a plurality of strain gauges, which correspond to at least one bending seat 212 and are bent and deformed accordingly. The strain gauge of the first measuring unit 221 is arranged in the metacarpophalangeal joint and the area of ​​the metacarpal bone and the proximal phalanx close to the metacarpophalangeal joint, and the bending data of the metacarpophalangeal joint is measured; the strain gauge of the second measuring unit 222 is arranged in the proximal finger joint and the area of ​​the proximal phalanx and the middle phalanx close to the proximal finger joint, and the bending data of the proximal finger joint is measured; the strain gauge of the third measuring unit 223 is arranged in the distal finger joint and the area of ​​the middle phalanx and the distal phalanx close to the distal finger joint, and the bending data of the distal finger joint is measured. In other embodiments, the setting of the strain gauge may vary according to different finger structures.

[0055] See also Figures 1 to 6According to an embodiment of the present invention, each group of strain gauges corresponds to at least one bending seat 212, and the strain gauges cover the entire bending seat 212 and are connected to the fixing seat 211 at both ends through buckles 213, so that the strain gauges are stably connected and their deformation conforms to the bending posture of the finger to achieve accurate measurement. Specifically, for example, the strain gauge of the first measuring unit 221 covers three bending seats 212 and extends to the fixed seats 211 at both ends thereof, the strain gauge of the second measuring unit 222 covers two bending seats 212 and extends to the fixed seats 211 at both ends thereof, and the strain gauge of the third measuring unit 223 covers two bending seats 212 and extends to the fixed seats 211 at both ends thereof; one end of the first measuring unit 221 is snap-fitted to the fixed seat 211 at one end of the base, and the other end is located on the same fixed seat 211 as the second measuring unit 222 and is snap-fitted through a bayonet, the end of the second measuring unit 222 away from the first measuring unit 221 is located on the same fixed seat 211 as the third measuring unit 223 and is snap-fitted through a snap, and the other end of the third measuring unit 223 is snap-fitted to the fixed seat 211 at the other end of the base through a snap. It can be understood that the number of snaps on each fixed seat is not limited. In other embodiments, according to different hand shapes, the distribution of the bending seat 212 and the fixing seat 211 corresponding to each measuring unit 220 may be set differently, that is, the number of the bending seat 212 and the fixing seat 211 corresponding to each phalanx is different.

[0056] See also Figures 1 to 6 According to an embodiment of the present invention, when the measuring unit 220 is a strain gauge, the hardness of the pleated base 210 is equivalent to that of the strain gauge, so that the pleated base 210 can drive the strain gauge to move in the same manner when it is bent or stretched. The pleated base 210 can be appropriately bent and stretched at each joint position along with the finger. The middle part of each strain gauge is fixed to the pleated base 210 to ensure that its position is relatively fixed. Its two ends are constrained by the engagement of the buckle 213 with the fixing seat 211. When the base 210 is bent or stretched along with the glove body 100, the two ends of the strain gauge can have a slight relative sliding in the buckle 213. While ensuring the stable connection of the strain gauge, its two ends have a certain degree of freedom during measurement, so that the strain gauge can better fit the base 210, reduce the constraints on the action, more accurately measure the bending angle of each joint of the finger, and ensure the stability of the measurement.

[0057] See also Figures 1 to 3According to an embodiment of the present invention, each group of measuring units 220 includes a strain gauge, which is arranged corresponding to a finger joint and its two side phalanges or a part of the two side phalanges and metacarpal bones, and is set in a groove on one side of the base 210. The measuring range of each strain gauge includes a finger joint. When the finger joint is bent, the bending seat 212 at the corresponding position is bent, and the strain gauge is bent and deformed accordingly, so that the bending angle can be measured. At this time, the measuring unit 220 has a simple structure, but the measurement sensitivity, measurement range and measurement accuracy are poor.

[0058] See also Figure 1 , Figure 4 and Figure 5 According to an embodiment of the present invention, each group of measuring units 220 includes two strain gauges, which are arranged corresponding to a finger joint and the phalanges on both sides thereof or partial areas of the phalanges and metacarpal bones on both sides, and are arranged in a groove on one side of the base 210. Each finger joint corresponds to two strain gauges, and the two strain gauges are arranged in the groove on the same side of the base 210. The measurement range includes the entire finger joint. The two strain gauges are very close to each other and share the bending of the corresponding finger joints to form a half-bridge circuit for measurement. The measurement range of a single strain gauge is limited. The use of two strain gauges can expand the measurement range and is easy to arrange. The bending data of the corresponding finger joint can be obtained by adding the angle data measured by the two strain gauges. The setting of dual strain gauges can increase the measurement range and improve the sensitivity and accuracy of the measurement, and the structure is relatively simple.

[0059] See also Figure 1 and Figure 6 According to an embodiment of the present invention, each group of measuring units 220 includes four strain gauges, which are arranged corresponding to a finger joint and its two side phalanges or part of the two side phalanges and metacarpal bones, and are symmetrically arranged in the grooves on both sides of the base 210. Each finger joint corresponds to four strain gauges, which are respectively arranged in the grooves on the upper and lower sides of the base 210. Its measurement range includes the entire finger joint. The two strain gauges on each side are very close to each other, and they share the bending of the corresponding finger joint. The symmetrical strain gauges on the upper and lower sides can effectively eliminate the influence of tensile stress on the measurement. The four strain gauges form a full-bridge circuit, which has good measurement performance, higher measurement sensitivity, large measurement range and high accuracy, but the connection wiring of the strain gauges of this structure is relatively complicated.

[0060] See also Figure 1 and Figure 7According to an embodiment of the present invention, the measuring unit 220 is a posture sensor, and each group of measuring units 220 includes two posture sensors, which are respectively located in the phalanges on both sides of the finger joints or in the phalanges and metacarpal regions on both sides, and are connected to the fixing seat 211. Through each posture sensor on the same finger, the bending angle of each joint of the finger and the bending angle of the entire finger can be measured; when the fingers are opened, the opening angles between the fingers can be measured through each posture sensor on different fingers.

[0061] See also Figure 1 and Figure 7 Specifically, for example, the posture sensor is engaged with the fixing seat 211 through the buckle 213. When the pleated base 210 is bent or stretched, only the spatial posture of the fixing seat 211 changes, and its structural form does not change. Two posture sensors are respectively arranged on the fixing seats 211 corresponding to the phalanges or metacarpal regions on both sides of the joint, forming a measuring unit 220. When the glove body 100 drives the angle measuring device 200 to bend, due to the bending of the finger joint, the relative positions of the phalanges on both sides and the fixing seat 211 thereon change. The two posture sensors respectively measure the posture state of the corresponding fixing seat 211 in three-dimensional space, so that the bending angle between the two fixing seats 211 can be measured, which corresponds to the bending angle between the phalanges, so as to obtain the bending data of the corresponding finger joints; when the fingers are clenched or opened, the relative position changes of the posture sensors on the two fingers can also be used to measure the opening angle between the fingers and the angle between the metacarpal bones when clenching a fist, so as to obtain more hand posture data.

[0062] See also Figure 1 and Figure 7 According to an embodiment provided by the present invention, at least two posture sensors are provided in the metacarpal region, which are located in the thumb metacarpal region and the middle finger metacarpal region respectively. The posture sensors in the thumb metacarpal region and other regions measure angles based on the posture sensor in the middle finger metacarpal region. Since the posture sensor measures angles through the change of relative position, and the position of the middle finger metacarpal region hardly changes during the fist-making action, and during the action, except for the large change in the metacarpal angle of the thumb, the metacarpal angles of the index finger, middle finger, ring finger and little finger change relatively little, and they can share one posture sensor. Therefore, the posture sensor in the metacarpal region of the middle finger is used as a reference, and the posture sensors in the other phalanges and the metacarpal region of the thumb can be combined to measure the bending angles of each finger joint and the metacarpal bone of the thumb, that is, the metacarpal regions corresponding to the other three fingers do not need to be provided with additional posture sensors, and the metacarpal regions share one posture sensor, which has a simpler structure and does not affect the measurement accuracy. When measuring the opening angles between the fingers when the palm is open, the posture sensor in the proximal phalanx region of the middle finger is used as a reference, and the relative positions of the other proximal phalanxes are measured to obtain the corresponding inter-finger opening angle data.

[0063] See also Figure 1 and Figure 7 According to another embodiment provided by the present invention, a posture sensor is provided in the metacarpal region corresponding to each finger. When measuring the bending angle of each finger joint, the posture sensor in the metacarpal region of each finger is used as a reference, and the bending data of each finger joint is obtained by measuring the relative position of each phalanx. When measuring the opening angle between each finger when the palm is open, the posture sensor in the proximal phalanx region of the middle finger is used as a reference, and the relative positions of other proximal phalanxes are measured to obtain the corresponding inter-digital angle data.

[0064] Please note that Figure 1 and Figure 7 When measuring the angles between the metacarpal bones when the hand is clenched into a fist, since the angles between the four metacarpal bones change little, the angle change of the thumb metacarpal bone is mainly measured. Therefore, at least two posture sensors are set in the metacarpal area, located in the middle finger metacarpal area and the thumb metacarpal area respectively. With the posture sensor in the middle finger metacarpal area as a reference, the position of the thumb metacarpal area is measured to obtain the corresponding thumb metacarpal position data.

[0065] See also Figure 1 and Figure 7 According to an embodiment provided by the present invention, for example, three measuring units 220 are arranged on the base 210 distributed at the position of the index finger, corresponding to the three finger joints, which may include four posture sensors, which are arranged on the base 210 respectively, and correspond to the metacarpal bone, proximal phalanx, middle phalanx and distal phalanx regions, and can be measured by combining two adjacent posture sensors, that is, each posture sensor corresponds to at least one measuring unit 220. The posture sensors in the metacarpal region and the proximal phalanx region serve as the first measuring unit 221, which is used to measure the bending data of the metacarpophalangeal joint; the posture sensors in the proximal phalanx and middle phalanx regions serve as the second measuring unit 222, which is used to measure the bending data of the proximal finger joint; the posture sensors in the middle phalanx and distal phalanx regions serve as the third measuring unit 223, which is used to measure the bending data of the distal finger joint. The measurement data of each two posture sensors can be combined to obtain the bending data of the corresponding finger joint, and the angle data of each finger joint measured can be added to obtain the bending data of the entire finger. The arrangement of the measuring unit 220 is simpler and can better adapt to various hand shapes.

[0066] Understandably, see Figure 1 and Figure 7For the middle finger, ring finger and little finger, the joint structure is similar to that of the index finger, and the setting of the posture sensor on the measurement unit 220 and the measurement method are also the same as those in the above embodiment; for the thumb structure, since the thumb only includes the metacarpophalangeal joint and the interphalangeal joint, corresponding to the two measurement units 220, only three posture sensors need to be set, which are respectively located in the metacarpal area, the proximal phalanx area and the distal phalanx area, and the adjacent posture sensors are combined in pairs to measure the bending data of the two finger joints.

[0067] Please note that Figure 1 and Figure 7 The posture sensor can also be used to measure the angle between the thumb metacarpal bone and the four finger metacarpal bones, as well as the angle between each finger, to obtain the hand posture data when the hand is clenched into a fist or the fingers are open. Specifically, for example, when the palm is open, the posture sensors on the proximal phalanx of the index finger and the proximal phalanx of the middle finger are selected to measure their position data, and the angle between the index finger and the middle finger can be obtained. Similarly, the corresponding posture sensors on other fingers can be selected to measure the angle between each finger, so as to accurately obtain the posture data of each part of the palm when it is open.

[0068] It should be noted that due to the different lengths of fingers and the different sizes of each person's hands, the relative positions of the corresponding finger joints and finger phalanges will also be different. For different hand structures, the length of the pleated base 210 in the angle measurement device 200 is set differently, and the arrangement of the strain gauges and posture sensors thereon also changes accordingly to ensure that the bending angles of each finger joint can be accurately measured.

[0069] See also Figures 1 to 7 When the user performs actions such as finger flexion and extension, fisting or stretching, the glove body 100 fits the hand and can perform the same actions as the hand, and drive the angle measuring device 200 thereon to move together. When the fingers flex and extend, the base 210 can flexibly bend with the fingers and drive the measuring unit 220 to move. The measuring unit 220 measures the bending angle of the bending seat 212 at the joint or measures the relative position of the fixing seat 211 in the phalange or metacarpal region, so as to obtain the bending angle of the corresponding finger joint, thereby analyzing and obtaining accurate and detailed posture data of each finger; when the hand is clenched into a fist, in addition to the bending angle data of each joint, the relative position between the thumb and the four fingers can be measured through the posture sensors at each metacarpal bone, thereby analyzing and obtaining the overall posture data of the thumb and the four fingers; when the five fingers are opened, the opening angle between each finger can be obtained in combination with the posture sensors on each proximal phalanx, thereby analyzing and obtaining accurate and detailed posture data of each finger. By utilizing the measurement function of the data glove, the posture of each part of the hand when performing various movements can be measured and analyzed, and the health status of the hand, such as the flexibility of the fingers, can be accurately evaluated.

[0070] See also Figures 1 to 7 The angle measurement data glove of the present invention can also be used as a rehabilitation glove for rehabilitation training. Its external control device is used to drive the hand to perform various movements. Combined with the feedback of the measurement information of each part, the rehabilitation glove is controlled to realize the preset hand movements, which can meet the needs of different groups of people. The training plan can also be adjusted according to the feedback to improve the flexibility of the fingers. It can also be used for mirror training. The glove worn on the healthy hand is used as a data glove, and the glove worn on the affected hand is used as a rehabilitation glove. The posture data of each part of the healthy hand during the activity, such as the finger bending angle, is measured through the data glove, and transmitted to the computer. The computer drives the rehabilitation glove through the control device to drive the affected hand to make the same movement to reach the same angle, etc., so as to achieve the effect of rehabilitation treatment. During the training process, the plan can be continuously adjusted according to the feedback. The use of mirror training can effectively improve the enthusiasm and self-confidence of patients in rehabilitation training, obtain the best rehabilitation effect, and achieve precise rehabilitation.

[0071] The present invention can also be used in the field of robot control, and can be used to assist in accurate three-dimensional hand posture estimation, so that the robot hand posture is more in line with biomechanical characteristics; in addition, it can also be applied to virtual interactive scenes, and can perform actions such as clenching fists, stretching, and various gestures in the virtual scene. Utilizing its multimodality, it can be used as a tool to control scene roaming, and with the help of the angle feedback function of the data gloves, the human hand posture can be accurately and real-time transmitted to the virtual environment. Through the data gloves, users can achieve natural gesture interaction in the virtual environment, enhancing the realism and immersion of the virtual environment; at the same time, the data gloves also provide a convenient way of communication for people with disabilities, helping them to better integrate into society.

[0072] In summary, in the angle measurement data glove of the present invention, the angle measurement device 200 is connected to the hand through the glove body 100 for measurement. A strain gauge is arranged on at least one side of the pleated base 210 and is correspondingly distributed at each joint position. The base 210 has a hardness equivalent to that of the strain gauge so that the strain gauge can be driven to bend together to achieve measurement. The base 210 can be stretched and retracted to a certain extent when the hand is bent, and is more in line with the hand movement. The strain gauge is connected to the base 210 through the buckle 213. When the base 210 is bent and stretched, its two ends can slide to a certain extent, so as to be more in line with the base 210, and will not hinder the hand movement, thereby ensuring the comfort of wearing and the measurement. The measurement is accurate; when the posture sensor is set on the fixing seat 211 in each phalanx area, the bending angle of each finger joint is measured by measuring the position of each fixing seat 211 in three-dimensional space, and the hand posture data under various motion states such as the opening angle between each finger can also be measured; the whole device has a simple structure, and can accurately measure the bending data of each finger joint and the opening angle between the fingers, so as to obtain detailed and accurate hand posture data, which can be used to evaluate hand activities and can be combined with data feedback to assist in mirror training, etc., so as to effectively improve the rehabilitation effect and realize precise rehabilitation; in addition, it can also be applied to many other fields and has a wide range of applications.

[0073] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

[0074] Except for the technical features described in the specification, the remaining technical features are known technologies to those skilled in the art. In order to highlight the innovative features of the present invention, the remaining technical features will not be described here in detail.

Claims

1. An angle measurement data glove, characterized in that: include: Glove body; A plurality of angle measuring devices are arranged on the glove body and corresponding to the positions of the fingers, and include: A base, connected to the glove body and arranged corresponding to the positions of the fingers; The measuring unit is arranged on the base, and each base is provided with a plurality of the measuring units, which are arranged corresponding to each finger joint and / or phalanx area and / or metacarpal area.

2. The angle measurement data glove according to claim 1, characterized in that: The base comprises: A fixing seat connected to the glove body; A bending seat, wherein one bending seat is arranged between two adjacent fixing seats, and the bending seat is composed of a plurality of flexible hinges and vertical plates; The measuring unit is arranged on the fixing seat and the bending seat, or on the fixing seat.

3. The angle measurement data glove according to claim 2, characterized in that: A groove is formed on a side of the base close to the glove body and / or a side of the base away from the glove body, and the measuring unit is arranged in the groove.

4. The angle measurement data glove according to claim 2, characterized in that: The base further includes a limiting member, the limiting member is connected to the fixing seat, and the measuring unit is located between the limiting member and the fixing seat.

5. The angle measurement data glove according to claim 3, characterized in that: The measuring unit is a strain gauge, which is arranged in the groove of the base, and each group of strain gauges is arranged corresponding to a finger joint and the phalanges on both sides thereof or a partial area of ​​the phalanges and metacarpal bones on both sides.

6. The angle measurement data glove according to claim 5, characterized in that: Each group of the measuring units includes a strain gauge, which is arranged corresponding to a finger joint and the phalanges on both sides thereof or a partial area of ​​the phalanges on both sides and the metacarpal bones, and is set in the groove on one side of the base.

7. The angle measurement data glove according to claim 5, characterized in that: Each group of the measuring units includes two strain gauges, which are arranged corresponding to a finger joint and the phalanges on both sides thereof or a partial area of ​​the phalanges and metacarpal bones on both sides, and are set in the groove on one side of the base.

8. The angle measurement data glove according to claim 5, characterized in that: Each group of the measuring units includes four strain gauges, which are arranged corresponding to a finger joint and the phalanges on both sides thereof or partial areas of the phalanges and metacarpal bones on both sides, and are symmetrically arranged in the grooves on both sides of the base.

9. The angle measurement data glove according to claim 2, characterized in that: The measuring units are posture sensors, and each group of the measuring units includes two posture sensors, which are respectively located in the phalanges on both sides of the finger joints or in the phalanges and metacarpal regions on both sides, and are connected to the fixing seat.

10. The angle measurement data glove according to claim 9, characterized in that: At least two posture sensors are provided in the metacarpal region, which are located in the thumb metacarpal region and the middle finger metacarpal region respectively. The posture sensors in the thumb metacarpal region and other regions measure angles based on the posture sensor in the middle finger metacarpal region.

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