Finger and hand back single-degree-of-freedom flexion and extension angle resolving glove device and method

Abstract

The invention discloses a finger and hand back single-degree-of-freedom flexion and extension angle resolving glove device and method. The method comprises the following steps: acquiring original data by using a first inertial sensor and a second inertial sensor; preprocessing the original data to obtain preprocessed data; and carrying out calculation processing on the preprocessed data to obtain the flexion and extension angle between the finger and the hand back. According to the method, the single-degree-of-freedom flexion and extension angle calculation of the fingers and the hand back is realized, the problem of flexion and extension angle stability under single change is solved, and the control requirement of actual controlled equipment is met.

Description

Technical Field

[0001] The present invention belongs to the technical field of human-computer interaction, and in particular relates to a glove device and method for calculating the single-degree-of-freedom flexion and extension angles of fingers and the back of a hand. Background Art

[0002] With the development of human-computer interaction technology, the interaction between the virtual world and the real world is becoming closer and closer. Among them, gesture interaction is the most widely used technology in human-computer interaction. Existing gesture interaction is mainly based on machine vision. However, machine vision requires a huge image acquisition and processing platform as support and cannot be applied to devices with small platforms.

[0003] An inertial sensor (IMU) is a sensor that can measure the acceleration and angular velocity of an object, usually composed of an accelerometer and a gyroscope. By measuring and analyzing the motion state of an object, the IMU can achieve real-time monitoring and recognition of the object's posture and movement. IMU-based gesture interaction technology uses the data from these sensors and combines algorithms to recognize and analyze user gestures, thereby achieving interaction with computers or other devices. This interaction method has the advantages of high recognition accuracy, fast feedback speed, and easy use. It can meet users' needs for more intuitive and natural interaction methods and is suitable for a variety of application scenarios such as virtual reality, augmented reality, somatosensory interaction, and smart wearable devices.

[0004] However, the gesture interaction technology based on inertial sensors has a bottleneck of stability. When using inertial sensors to solve the flexion and extension angle problem in arbitrary postures, the existing algorithm cannot solve the problem of flexion and extension angle tracking between fingers and the back of the hand. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a glove device and method for calculating the single-degree-of-freedom flexion and extension angles of fingers and the back of the hand, which solves the problem of flexion and extension angle stability under a single change and meets the control requirements of the actual controlled equipment.

[0006] In order to solve the above technical problems, the first aspect of the embodiment of the present invention discloses a glove device for calculating the single-degree-of-freedom flexion and extension angles of fingers and the back of the hand, the device comprising:

[0007] A glove body, a first inertial sensor, a second inertial sensor, a data processing unit and a user interface; the first inertial sensor, the second inertial sensor, the data processing unit and the user interface are data connected;

[0008] The glove body is used to be worn on the user's hand and to fix the first inertial sensor, the second inertial sensor, the data processing unit and the user interface

[0009] The first inertial sensor is used to collect and send a first quaternion, a first acceleration and a first angular velocity to the data processing unit; the first inertial sensor is arranged on the back of the glove body;

[0010] The second inertial sensor is used to collect and send a second quaternion, a second acceleration and a second angular velocity to the data processing unit; the second inertial sensor is arranged on one of the little finger, the ring finger, the middle finger and the index finger of the glove body;

[0011] The data processing unit is used to receive and process the first quaternion, the first acceleration, the first angular velocity, the second quaternion, the second acceleration and the second angular velocity to obtain a single-degree-of-freedom flexion-extension angle between the finger and the back of the hand;

[0012] The user interface is used to provide visual user input.

[0013] The second aspect of the present invention discloses a method for calculating the single-degree-of-freedom flexion and extension angles of fingers and the back of the hand, which is applied to the finger and the back of the hand single-degree-of-freedom flexion and extension angle calculation glove device, and the method comprises:

[0014] S1, obtain original data;

[0015] The original data includes: a first quaternion, a first acceleration, a first angular velocity, a second quaternion, a second acceleration and a second angular velocity;

[0016] S2, preprocessing the original data to obtain preprocessed data;

[0017] The preprocessed data includes a first preprocessed acceleration, a first preprocessed angular velocity, a second preprocessed acceleration, and a second preprocessed angular velocity;

[0018] S3, calculating and processing the preprocessed data to obtain the flexion and extension angles between the fingers and the back of the hand.

[0019] As an optional implementation, in the second aspect of the embodiment of the present invention, the initializing the glove device to obtain raw data includes:

[0020] S11, initializing the glove device;

[0021] S12, using the first inertial sensor to collect and obtain the first quaternion, the first acceleration, and the first angular velocity;

[0022] S13: Using the second inertial sensor, collect and obtain the second quaternion, the second acceleration, and the second angular velocity.

[0023] As an optional implementation manner, in the second aspect of the embodiment of the present invention, the preprocessing of the raw data to obtain a first preprocessed acceleration, a first preprocessed angular velocity, a second preprocessed acceleration, and a second preprocessed angular velocity includes:

[0024] S21, filtering the first acceleration, the first angular velocity, the second acceleration and the second angular velocity to obtain a first filtered acceleration, a first filtered angular velocity, a second filtered acceleration and a second filtered angular velocity;

[0025] S22, performing de-biasing processing on the first filtered acceleration, the first filtered angular velocity, the second filtered acceleration and the second filtered angular velocity to obtain a first preprocessed acceleration, a first preprocessed angular velocity, a second preprocessed acceleration and a second preprocessed angular velocity.

[0026] As an optional implementation manner, in a second aspect of the embodiment of the present invention, filtering the first acceleration, the first angular velocity, the second acceleration, and the second angular velocity to obtain a first filtered acceleration, a first filtered angular velocity, a second filtered acceleration, and a second filtered angular velocity includes:

[0027] S211, preprocessing the first acceleration and the first angular velocity by using a first data preprocessing model to obtain a first filtered acceleration and a first filtered angular velocity;

[0028] The first data preprocessing model expression is:

[0029]

[0030] in, represents the filtered angular velocity; ω represents the angular velocity test value; i represents the inertial sensor index; a represents the angular velocity correction coefficient; represents filtered acceleration; ρ represents the acceleration test value; b represents the acceleration correction coefficient; (x, y, z) represents the x-axis, y-axis and z-axis; M represents the number of sample points; j represents the sampling point index; tj represents sampling at the jth last moment; t represents the sampling time of the sample point;

[0031] S212: Preprocess the second acceleration and the second angular velocity by using the first data preprocessing model to obtain a second filtered acceleration and a second filtered angular velocity.

[0032] As an optional implementation, in the second aspect of the embodiment of the present invention, the

[0033] The step of performing a zero-bias removal process on the first filtered acceleration, the first filtered angular velocity, the second filtered acceleration, and the second filtered angular velocity to obtain a first preprocessed acceleration, a first preprocessed angular velocity, a second preprocessed acceleration, and a second preprocessed angular velocity includes:

[0034] S221, preprocessing the first filtered acceleration and the first filtered angular velocity using a second data preprocessing model to obtain a first preprocessed acceleration and a first preprocessed angular velocity;

[0035] The second data preprocessing model expression is:

[0036]

[0037] in, represents the filtered angular velocity; ω represents the angular velocity test value; m represents the inertial sensor index of the inertial sensor; a represents the angular velocity correction coefficient; b represents the acceleration correction coefficient; represents the filtered acceleration; ρ represents the acceleration test value; (x, y, z) represents the x-axis, y-axis and z-axis; N represents the number of samples; j represents the sampling point index; tj represents sampling at the jth last moment; t represents the sampling time of the sample point;

[0038] S222: Preprocess the second filtered acceleration and the second filtered angular velocity by using the second data preprocessing model to obtain a second preprocessed acceleration and a second preprocessed angular velocity.

[0039] As an optional implementation, in the second aspect of the embodiment of the present invention, the calculating and processing the preprocessed data to obtain the flexion and extension angle between the finger and the back of the hand includes:

[0040] S31, normalizing the first quaternion and the second quaternion to obtain a first normalized quaternion and a second normalized quaternion;

[0041] S32, performing bias calculation on the first normalized quaternion and the second normalized quaternion to obtain a biased quaternion;

[0042] S33, using an angle solution model to calculate and process the biased quaternion to obtain an angle;

[0043] S34, using an angular velocity difference calculation model, calculating and processing the first preprocessed angular velocity and the second preprocessed angular velocity to obtain an angular velocity difference;

[0044] S35, processing the first preprocessed angular velocity, the second preprocessed angular velocity, the included angle and the angular velocity difference to obtain a flexion and extension angle between the finger and the back of the hand.

[0045] As an optional implementation, in the second aspect of the embodiment of the present invention,

[0046] The normalization expression is:

[0047]

[0048] Wherein, i represents the index of the inertial sensor; j represents the index of the finger wearing the inertial sensor; represents the jth component of the normalized quaternion of the i-th inertial sensor; μ i,j represents the jth component of the quaternion of the i-th inertial sensor; β i represents the correction coefficient of the i-th inertial sensor; μ i,0 Represents the first component of the quaternion of the i-th inertial sensor; μ i,1 Represents the second component of the quaternion of the i-th inertial sensor; μ i,2 Represents the third component of the quaternion of the i-th inertial sensor; μ i,3 Represents the fourth component of the quaternion of the i-th inertial sensor;

[0049] The expression for the bias calculation is:

[0050]

[0051] Wherein, t represents the sampling time of the sample point; The first normalized quaternion representing the time t; A second normalized quaternion representing the time t; Indicates the The inverse operation of

[0052] The angle solution model expression is:

[0053]

[0054] Wherein, θ(t) represents the angle; atan represents the calculation of the inverse tangent trigonometric function; i represents the index of the finger wearing the inertial sensor; (Q i0 (t), Q i1 (t), Q i2 (t), Q i Represents the four element components of the bias quaternion corresponding to the finger; Q i0 (t) represents the first component of the bias quaternion corresponding to the finger; Q i1 (t) represents the second component of the bias quaternion corresponding to the finger; Q i2 (t) represents the third component of the bias quaternion corresponding to the finger; Q i3(t) represents the fourth element component of the bias quaternion corresponding to the finger; σ represents the first conversion coefficient; ε represents the second conversion coefficient; γ represents the third conversion coefficient; t represents the sampling time of the sample point;

[0055] The angular velocity difference calculation model expression is:

[0056]

[0057] Among them, w i (t) represents the angular velocity difference at time t; i represents the inertial sensor index;

[0058] represents the x-axis square root of the first angular velocity at time t; represents the y-axis square root of the first angular velocity at time t; represents the z-axis square root of the first angular velocity at time t;

[0059] represents the x-axis square root of the second angular velocity at time t; represents the y-axis square root of the second angular velocity at time t; represents the z-axis square root of the second angular velocity at time t.

[0060] As an optional implementation, in the second aspect of the embodiment of the present invention, the

[0061] Processing the first preprocessed angular velocity, the second preprocessed angular velocity, the included angle, and the angular velocity difference to obtain a flexion and extension angle between the finger and the back of the hand, including:

[0062] S351, analyzing the first preprocessed acceleration to obtain a first Z-axis preprocessed acceleration;

[0063] S352, determining whether the first Z-axis preprocessing acceleration is greater than or equal to a first threshold, and obtaining a first inclination determination result;

[0064] When the first inclination determination result is yes, executing S353;

[0065] When the first inclination determination result is negative, executing S354;

[0066] S353, the included angle is the flexion and extension angle between the finger and the back of the hand, and S1 is executed;

[0067] S354, determining whether the angular velocity difference is greater than or equal to a second threshold, and obtaining a second inclination determination result;

[0068] When the second inclination determination result is yes, executing S355;

[0069] When the second inclination determination result is no, executing S1;

[0070] S355: Based on the angle increment calculation model, the first quaternion, the second quaternion and the angular velocity difference are processed to obtain the flexion and extension angle between the finger and the back of the hand.

[0071] As an optional implementation, in the second aspect of the embodiment of the present invention,

[0072] The angle increment model expression is:

[0073]

[0074] in, represents the flexion and extension angle between the finger and the back of the hand; D represents the calculation of the inverse tangent trigonometric function; i represents the inertial sensor index; j represents the index of the finger wearing the inertial sensor; Q ij represents the bias quaternion when the i-th sensor is worn on the j-th finger; w i (t) represents the angular velocity difference at time t; μ 1,j represents the first quaternion obtained by wearing the first sensor; μ 2,j represents the first quaternion obtained by the first sensor worn on the jth finger; β1 represents the correction coefficient of the first inertial sensor; β2 represents the correction coefficient of the second inertial sensor; m represents the index of the first quaternion component; μ 1,m represents the mth element component of the first quaternion; l represents the element component index of the second quaternion; μ 2,l represents the lth element component of the second quaternion; σ represents the first conversion coefficient; ε represents the second conversion coefficient; γ represents the third conversion coefficient; t represents the sampling time of the sample point.

[0075] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0076] In the embodiment of the present invention, the finger and hand single-degree-of-freedom flexion and extension angle calculation glove device and method are applied to achieve accurate measurement of the flexion and extension angle between the finger and the hand under any gesture, and can be applied to remote control, wearable human-computer interaction and other fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0078] Figure 1 It is a schematic diagram of the composition of a finger and hand back single-degree-of-freedom flexion and extension angle calculation glove device disclosed in an embodiment of the present invention;

[0079] Figure 2 It is a schematic diagram of the positions of the first sensor and the second sensor of the finger and hand back single-degree-of-freedom flexion and extension angle calculation glove device disclosed in an embodiment of the present invention;

[0080] Figure 3 It is a flow chart of a method for calculating the single-degree-of-freedom flexion and extension angles of fingers and the back of the hand disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0081] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0082] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, device, product or equipment that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or equipment.

[0083] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0084] The present invention discloses a glove device and method for calculating the single-degree-of-freedom flexion and extension angle of fingers and the back of the hand, which solves the problem of stabilizing the flexion and extension angle under a single change and meets the control requirements of the actual controlled equipment. The following are detailed descriptions.

[0085] Embodiment 1

[0086] See also Figure 1 , Figure 1Schematic diagram of the composition of the finger and hand back single-degree-of-freedom flexion and extension angle calculation glove device disclosed in an embodiment of the present invention. Figure 1 The described finger and hand back single-degree-of-freedom flexion and extension angle calculation glove device is applied to a wearable human-computer interaction system, such as a local server or cloud server for human-computer interaction management, and the embodiments of the present invention are not limited thereto.

[0087] In order to solve the above technical problems, the first aspect of the embodiment of the present invention discloses a glove device for calculating the single-degree-of-freedom flexion and extension angle of fingers and back of hand, the device comprising: a glove body, a first inertial sensor 101, a second inertial sensor 102, a data processing unit 103 and a user interface 104; the first inertial sensor 101, the second inertial sensor 102, the data processing unit 103 and the user interface 104 are data connected;

[0088] It should be noted that the glove body Figure 1 Not shown in;

[0089] The glove body is used to be worn on the user's hand and to fix the first inertial sensor 101, the second inertial sensor 102, the data processing unit 103 and the user interface 104;

[0090] The first inertial sensor 101 is used to collect and send a first quaternion, a first acceleration and a first angular velocity to the processor 103; Figure 2 As shown, the first inertial sensor 101 is disposed on the back of the glove body;

[0091] The second inertial sensor 102 is used to collect and send a second quaternion, a second acceleration and a second angular velocity to the data processing unit 103; Figure 2 As shown, the second inertial sensor 102 is disposed on one of the little finger, ring finger, middle finger and index finger of the glove body;

[0092] The user interface 104 is used to provide visual user input;

[0093] It should be noted that the user interface 104 may be a display screen, a keyboard, a standard wireless Bluetooth, WiFi device, etc., and the present invention is not limited thereto;

[0094] The data processing unit 103 is used to receive and process the first quaternion, the first acceleration, the first angular velocity, the second quaternion, the second acceleration and the second angular velocity to obtain a single-degree-of-freedom flexion and extension angle between the finger and the back of the hand.

[0095] It can be seen that the single-degree-of-freedom flexion and extension angle calculation glove device for fingers and the back of the hand described in the embodiment of the present invention solves the problem of flexion and extension angle stability under a single change and meets the control requirements of the actual controlled equipment.

[0096] Embodiment 2

[0097] See also Figure 3 , Figure 3 1 is a flow chart of a method for calculating the single-degree-of-freedom flexion and extension angle of fingers and the back of the hand disclosed in an embodiment of the present invention. Figure 1 The described method for calculating the single-degree-of-freedom flexion and extension angles of fingers and the back of the hand is applied to the single-degree-of-freedom flexion and extension angle calculation glove device for fingers and the back of the hand described in Example 1, and the embodiment of the present invention does not limit this.

[0098] like Figure 3 As shown, the method for calculating the single-degree-of-freedom flexion and extension angles of fingers and the back of the hand may include the following operations:

[0099] S1, obtain original data;

[0100] It should be noted that the original data includes: a first quaternion, a first acceleration, a first angular velocity, a second quaternion, a second acceleration and a second angular velocity;

[0101] S2, preprocessing the original data to obtain preprocessed data;

[0102] It should be noted that the preprocessed data includes a first preprocessed acceleration, a first preprocessed angular velocity, a second preprocessed acceleration, and a second preprocessed angular velocity;

[0103] S3, calculating and processing the preprocessed data to obtain the flexion and extension angles between the fingers and the back of the hand.

[0104] It can be seen that the single-degree-of-freedom flexion and extension angle calculation glove device for fingers and the back of the hand described in the embodiment of the present invention solves the problem of flexion and extension angle stability under a single change and meets the control requirements of the actual controlled equipment.

[0105] In an optional embodiment, in the above step S1, obtaining the original data includes:

[0106] S101, initializing the glove device;

[0107] It should be noted that the initialization of turning on the glove device includes turning on the glove device, with the palm facing downward and the back of the hand perpendicular to the ground, and the static gesture can be a "clenched fist" or "fully extended fingers" state maintained for 5-10 seconds;

[0108] S102, using the first inertial sensor, collecting and obtaining the first quaternion, the first acceleration, and the first angular velocity;

[0109] It should be noted that the first inertial sensor is worn on the i-th finger other than the thumb (when i=1, it means worn on the little finger; when i=2, it means worn on the ring finger; when i=3, it means worn on the middle finger; when i=4, it means worn on the index finger); and is used to collect the first quaternion, the first acceleration and the first angular velocity of the i-th finger other than the thumb;

[0110] It should be noted that the first acceleration is a three-axis acceleration; the first angular velocity is a three-axis angular velocity;

[0111] It should be noted that the first quaternion includes four element components;

[0112] S103, using the second inertial sensor to collect and obtain the second quaternion, the second acceleration, and the second angular velocity;

[0113] It should be noted that the second inertial sensor is worn on the back of the hand and is used to collect and obtain the second quaternion, the second acceleration and the second angular velocity;

[0114] It should be noted that the second acceleration is a three-axis acceleration; the second angular velocity is a three-axis angular velocity;

[0115] It should be noted that the second quaternion includes four element components.

[0116] It can be seen that the method for calculating the single-degree-of-freedom flexion and extension angles of fingers and the back of the hand described in the embodiment of the present invention solves the problem of flexion and extension angle stability under a single change and meets the control requirements of the actual controlled equipment.

[0117] In another optional embodiment, in the above step S1, the obtaining of raw data includes:

[0118] S111, using the first inertial sensor to collect and obtain a first three-axis angular velocity at time t;

[0119] Using the second inertial sensor, collecting and obtaining a second three-axis angular velocity at time t;

[0120] S112, calculating and processing the first three-axis angular velocity based on the angular velocity calculation model to obtain the finger angular velocity;

[0121] Calculating and processing the second three-axis angular velocity to obtain the hand back angular velocity;

[0122] The calculation model expression of the combined angular velocity is:

[0123]

[0124] Among them, g i (t) is the angular velocity, when i=1, it is expressed as the angular velocity of the finger, when i=2, it is expressed as the angular velocity of the back of the hand; g ij (t) represents the component of the three-axis angular velocity data, when i=1 and j=1, it represents the x-axis angular velocity of the first three-axis angular velocity, when i=1 and j=2, it represents the y-axis angular velocity of the first three-axis angular velocity, when i=1 and j=3, it represents the z-axis angular velocity of the first three-axis angular velocity, when i=2 and j=1, it represents the x-axis angular velocity of the second three-axis angular velocity, when i=2 and j=2, it represents the y-axis angular velocity of the second three-axis angular velocity, when i=2 and j=3, it represents the z-axis angular velocity of the second three-axis angular velocity; t represents the sampling time of the sample point;

[0125] S113, determining whether the finger angular velocity and the hand back angular velocity are both less than an angular velocity threshold, and obtaining an angular velocity determination result;

[0126] S114, when the result of the angular velocity determination is yes, executing S15 to S16;

[0127] When the result of the angular velocity determination is negative, executing S11;

[0128] S115, using the first inertial sensor, collecting and obtaining the first quaternion, the first acceleration, and the first angular velocity;

[0129] It should be noted that the first inertial sensor is worn on the i-th finger other than the thumb (when i=1, it means worn on the little finger; when i=2, it means worn on the ring finger; when i=3, it means worn on the middle finger; when i=4, it means worn on the index finger); and is used to collect the first quaternion, the first acceleration and the first angular velocity of the i-th finger other than the thumb;

[0130] It should be noted that the first acceleration is a three-axis acceleration; the first angular velocity is a three-axis angular velocity;

[0131] S116, using the second inertial sensor, collecting and obtaining the second quaternion, the second acceleration, and the second angular velocity;

[0132] It should be noted that the second inertial sensor is worn on the back of the hand and is used to collect and obtain the second quaternion, the second acceleration and the second angular velocity;

[0133] It should be noted that the second acceleration is a three-axis acceleration; and the second angular velocity is a three-axis angular velocity.

[0134] It can be seen that the method for calculating the single-degree-of-freedom flexion and extension angles of fingers and the back of the hand described in the embodiment of the present invention solves the problem of flexion and extension angle stability under a single change and meets the control requirements of the actual controlled equipment.

[0135] In another optional embodiment, in the above step S2, the

[0136] The preprocessing of the raw data to obtain a first preprocessed acceleration, a first preprocessed angular velocity, a second preprocessed acceleration and a second preprocessed angular velocity includes:

[0137] S21, filtering the first acceleration, the first angular velocity, the second acceleration and the second angular velocity to obtain a first filtered acceleration, a first filtered angular velocity, a second filtered acceleration and a second filtered angular velocity;

[0138] S22, performing de-biasing processing on the first filtered acceleration, the first filtered angular velocity, the second filtered acceleration and the second filtered angular velocity to obtain a first preprocessed acceleration, a first preprocessed angular velocity, a second preprocessed acceleration and a second preprocessed angular velocity.

[0139] It can be seen that the method for calculating the single-degree-of-freedom flexion and extension angles of fingers and the back of the hand described in the embodiment of the present invention solves the problem of flexion and extension angle stability under a single change and meets the control requirements of the actual controlled equipment.

[0140] In another optional embodiment, in the above step S21, filtering the first acceleration, the first angular velocity, the second acceleration and the second angular velocity to obtain a first filtered acceleration, a first filtered angular velocity, a second filtered acceleration and a second filtered angular velocity includes:

[0141] S211, preprocessing the first acceleration and the first angular velocity by using a first data preprocessing model to obtain a first filtered acceleration and a first filtered angular velocity;

[0142] The first data preprocessing model expression is:

[0143]

[0144] in, represents the filtered angular velocity; ω represents the angular velocity test value; i represents the inertial sensor index; a represents the angular velocity correction coefficient; represents filtered acceleration; ρ represents the acceleration test value; b represents the acceleration correction coefficient; (x, y, z) represents the x-axis, y-axis and z-axis; M represents the number of sample points; j represents the sampling point index; tj represents sampling at the jth last moment; t represents the sampling time of the sample point;

[0145] It should be noted that when i=1, it indicates the first inertial sensor, and when i=2, it indicates the second inertial sensor;

[0146] S212: Preprocess the second acceleration and the second angular velocity by using the first data preprocessing model to obtain a second filtered acceleration and a second filtered angular velocity.

[0147] It can be seen that the method for calculating the single-degree-of-freedom flexion and extension angles of fingers and the back of the hand described in the embodiment of the present invention solves the problem of flexion and extension angle stability under a single change and meets the control requirements of the actual controlled equipment.

[0148] In another optional embodiment, in the above step S22, the first filtered acceleration, the first filtered angular velocity, the second filtered acceleration and the second filtered angular velocity are subjected to zero bias removal processing to obtain a first preprocessed acceleration, a first preprocessed angular velocity, a second preprocessed acceleration and a second preprocessed angular velocity, including:

[0149] S221, preprocessing the first filtered acceleration and the first filtered angular velocity using a second data preprocessing model to obtain a first preprocessed acceleration and a first preprocessed angular velocity;

[0150] The second data preprocessing model expression is:

[0151]

[0152] in, represents the filtered angular velocity; ω represents the angular velocity test value; m represents the inertial sensor index of the inertial sensor; a represents the angular velocity correction coefficient; b represents the acceleration correction coefficient; represents the filtered acceleration; ρ represents the acceleration test value; (x, y, z) represents the x-axis, y-axis and z-axis; N represents the number of samples; j represents the sampling point index; tj represents sampling at the jth last moment; t represents the sampling time of the sample point;

[0153] It should be noted that when i=1, it indicates the first inertial sensor, and when i=2, it indicates the second inertial sensor;

[0154] It should be noted that N is set to 200, which means that the glove device takes 200 sampling points continuously from the moment of startup or stop to obtain the average value as its deviation;

[0155] S222: Preprocess the second filtered acceleration and the second filtered angular velocity by using the second data preprocessing model to obtain a second preprocessed acceleration and a second preprocessed angular velocity.

[0156] It can be seen that the method for calculating the single-degree-of-freedom flexion and extension angles of fingers and the back of the hand described in the embodiment of the present invention solves the problem of flexion and extension angle stability under a single change and meets the control requirements of the actual controlled equipment.

[0157] In another optional embodiment, in the above step S3, the calculating and processing the pre-processed data to obtain the flexion and extension angle between the finger and the back of the hand includes:

[0158] S31, normalizing the first quaternion and the second quaternion to obtain a first normalized quaternion and a second normalized quaternion;

[0159] S32, performing bias calculation on the first normalized quaternion and the second normalized quaternion to obtain a biased quaternion;

[0160] S33, using an angle solution model to calculate and process the biased quaternion to obtain an angle;

[0161] S34, using an angular velocity difference calculation model, calculating and processing the first preprocessed angular velocity and the second preprocessed angular velocity to obtain an angular velocity difference;

[0162] S35, processing the first preprocessed angular velocity, the second preprocessed angular velocity and the angular velocity difference to obtain a flexion and extension angle between the finger and the back of the hand.

[0163] It can be seen that the method for calculating the single-degree-of-freedom flexion and extension angles of fingers and the back of the hand described in the embodiment of the present invention solves the problem of flexion and extension angle stability under a single change and meets the control requirements of the actual controlled equipment.

[0164] In another optional embodiment, in the above step S31,

[0165] The normalization expression is:

[0166]

[0167] Wherein, i represents the index of the inertial sensor; j represents the index of the finger wearing the inertial sensor; represents the jth component of the normalized quaternion of the i-th inertial sensor; μ i,j represents the jth component of the quaternion of the i-th inertial sensor; β i represents the correction coefficient of the i-th inertial sensor; μ i,0Represents the first component of the quaternion of the i-th inertial sensor; μ i,1 Represents the second component of the quaternion of the i-th inertial sensor; μ i,2 Represents the third component of the quaternion of the i-th inertial sensor; μ i,3 Represents the fourth component of the quaternion of the i-th inertial sensor;

[0168] It should be noted that when i=1, it corresponds to the first inertial sensor, and when i=2, it corresponds to the second inertial sensor;

[0169] In the above step S32, the expression for the offset calculation is:

[0170]

[0171] Wherein, t represents the sampling time of the sample point; The first normalized quaternion representing the time t; A second normalized quaternion representing the time t; Indicates the The inverse operation of

[0172] In the above step S33, the angle solution model expression is:

[0173]

[0174] Wherein, θ(t) represents the angle; atan represents the calculation of the inverse tangent trigonometric function; i represents the index of the finger wearing the inertial sensor; (Q i0 (t), Q i1 (t), Q i2 (t), Q i Represents the four element components of the bias quaternion corresponding to the finger; Q i0 (t) represents the first component of the bias quaternion corresponding to the finger; Q i1 (t) represents the second component of the bias quaternion corresponding to the finger; Q i2 (t) represents the third component of the bias quaternion corresponding to the finger; Q i3 (t) represents the fourth element component of the bias quaternion corresponding to the finger; σ represents the first conversion coefficient; ε represents the second conversion coefficient; γ represents the third conversion coefficient; t represents the sampling time of the sample point;

[0175] It should be noted that, in this embodiment, σ=2; ε=2;

[0176] It should be noted that when i=1, it represents the little finger; when i=2, it represents the ring finger; when i=3, it represents the middle finger; when i=4, it represents the index finger;

[0177] In the above step S34, the angular velocity difference calculation model expression is:

[0178]

[0179] Among them, w i (t) represents the angular velocity difference at time t; i represents the index of the first inertial sensor and the second inertial sensor; represents the x-axis square root of the first angular velocity at time t; represents the y-axis square root of the first angular velocity at time t; represents the z-axis square root of the first angular velocity at time t; represents the x-axis square root of the second angular velocity at time t; represents the y-axis square root of the second angular velocity at time t; represents the z-axis square root of the second angular velocity at time t;

[0180] It can be seen that the method for calculating the single-degree-of-freedom flexion and extension angles of fingers and the back of the hand described in the embodiment of the present invention solves the problem of flexion and extension angle stability under a single change and meets the control requirements of the actual controlled equipment.

[0181] In another optional embodiment, in the above step S35, the processing of the first preprocessed angular velocity, the second preprocessed angular velocity and the angular velocity difference to obtain the flexion and extension angle between the finger and the back of the hand includes:

[0182] S351, analyzing the first preprocessed acceleration to obtain a first Z-axis preprocessed acceleration;

[0183] It should be noted that the first pre-processed acceleration is a three-axis acceleration;

[0184] S352, determining whether the first Z-axis preprocessing acceleration is greater than or equal to a first threshold, and obtaining a first inclination determination result;

[0185] When the inclination determination result is yes, executing S353;

[0186] When the inclination determination result is no, executing S354;

[0187] S353, using the angle solving model to obtain the angle, where the angle is the flexion and extension angle between the finger and the back of the hand;

[0188] S354, determining whether the angular velocity difference is greater than or equal to a second threshold, and obtaining a second inclination determination result;

[0189] When the second inclination determination result is yes, executing S355;

[0190] When the second inclination determination result is no, executing S351;

[0191] S355: Based on the angle increment calculation model, the first quaternion and the second quaternion are processed to obtain the flexion and extension angle between the finger and the back of the hand.

[0192] It can be seen that the method for calculating the single-degree-of-freedom flexion and extension angles of fingers and the back of the hand described in the embodiment of the present invention solves the problem of flexion and extension angle stability under a single change and meets the control requirements of the actual controlled equipment.

[0193] In another optional embodiment, in the above step S355, the angle increment model expression is:

[0194]

[0195] in, represents the flexion and extension angle between the finger and the back of the hand; D represents the calculation of the inverse tangent trigonometric function; i represents the inertial sensor index; j represents the index of the finger wearing the inertial sensor; Q ij represents the bias quaternion when the i-th sensor is worn on the j-th finger; w i (t) represents the angular velocity difference at time t; μ 1,j represents the first quaternion obtained by wearing the first sensor; μ 2,j represents the first quaternion obtained by the first sensor worn on the jth finger; β1 represents the correction coefficient of the first inertial sensor; β2 represents the correction coefficient of the second inertial sensor; m represents the index of the first quaternion component; μ 1,m represents the mth element component of the first quaternion; l represents the element component index of the second quaternion; μ 2,l represents the lth element component of the second quaternion; σ represents the first conversion coefficient; ε represents the second conversion coefficient; γ represents the third conversion coefficient; t represents the sampling time of the sample point.

[0196] It can be seen that the method for calculating the single-degree-of-freedom flexion and extension angles of fingers and the back of the hand described in the embodiment of the present invention solves the problem of flexion and extension angle stability under a single change and meets the control requirements of the actual controlled equipment.

[0197] The device embodiments described above are only illustrative, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, i.e., they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative work.

[0198] Through the specific description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution can be essentially or partly contributed to the prior art in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0199] Finally, it should be noted that the finger and hand back single-degree-of-freedom flexion and extension angle calculation glove device and method disclosed in the embodiment of the present invention only disclose the preferred embodiments of the present invention, which are only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A glove device for calculating the single-degree-of-freedom flexion and extension angles of fingers and back of hand, characterized in that: The glove device comprises: a glove body, a first inertial sensor, a second inertial sensor, a data processing unit and a user interface; the first inertial sensor, the second inertial sensor, the data processing unit and the user interface are data connected; The glove body is used to be worn on the user's hand and to fix the first inertial sensor, the second inertial sensor, the data processing unit and the user interface The first inertial sensor is used to collect and send a first quaternion, a first acceleration and a first angular velocity to the data processing unit; the first inertial sensor is arranged on the back of the glove body; The second inertial sensor is used to collect and send a second quaternion, a second acceleration and a second angular velocity to the data processing unit; the second inertial sensor is arranged on one of the little finger, the ring finger, the middle finger and the index finger of the glove body; The data processing unit is used to receive and process the first quaternion, the first acceleration, the first angular velocity, the second quaternion, the second acceleration and the second angular velocity to obtain a single-degree-of-freedom flexion-extension angle between the finger and the back of the hand; The user interface is used to provide visual user input.

2. A method for calculating the single-degree-of-freedom flexion and extension angle of fingers and back of hand, characterized in that: The method applied to the finger and hand back single-degree-of-freedom flexion and extension angle calculation glove device according to claim 1 comprises: S1, obtain original data; The original data includes: a first quaternion, a first acceleration, a first angular velocity, a second quaternion, a second acceleration and a second angular velocity; S2, preprocessing the original data to obtain preprocessed data; The preprocessed data includes a first preprocessed acceleration, a first preprocessed angular velocity, a second preprocessed acceleration, and a second preprocessed angular velocity; S3, calculating and processing the preprocessed data to obtain the flexion and extension angles between the fingers and the back of the hand.

3. The method for calculating the single-degree-of-freedom flexion and extension angles of fingers and hand back according to claim 2, characterized in that: The obtaining of original data comprises: S11, initializing the glove device; S12, using the first inertial sensor to collect and obtain the first quaternion, the first acceleration, and the first angular velocity; S13: Utilize the second inertial sensor to collect and obtain the second quaternion, the second acceleration, and the second angular velocity.

4. The method for calculating the single-degree-of-freedom flexion and extension angles of fingers and hand back according to claim 2, characterized in that: The preprocessing of the raw data to obtain a first preprocessed acceleration, a first preprocessed angular velocity, a second preprocessed acceleration and a second preprocessed angular velocity includes: S21, filtering the first acceleration, the first angular velocity, the second acceleration and the second angular velocity to obtain a first filtered acceleration, a first filtered angular velocity, a second filtered acceleration and a second filtered angular velocity; S22, performing de-biasing processing on the first filtered acceleration, the first filtered angular velocity, the second filtered acceleration and the second filtered angular velocity to obtain a first preprocessed acceleration, a first preprocessed angular velocity, a second preprocessed acceleration and a second preprocessed angular velocity.

5. The method for calculating the single-degree-of-freedom flexion and extension angles of fingers and hand back according to claim 4, characterized in that: The filtering the first acceleration, the first angular velocity, the second acceleration and the second angular velocity to obtain a first filtered acceleration, a first filtered angular velocity, a second filtered acceleration and a second filtered angular velocity comprises: S211, preprocessing the first acceleration and the first angular velocity by using a first data preprocessing model to obtain a first filtered acceleration and a first filtered angular velocity; The first data preprocessing model expression is: in, represents the filtered angular velocity; ω represents the angular velocity test value; i represents the inertial sensor index; a represents the angular velocity correction coefficient; represents filtered acceleration; ρ represents the acceleration test value; b represents the acceleration correction coefficient; (x, y, z) represents the x-axis, y-axis and z-axis; M represents the number of sample points; j represents the sampling point index; tj represents sampling at the jth last moment; t represents the sampling time of the sample point; S212: Preprocess the second acceleration and the second angular velocity by using the first data preprocessing model to obtain a second filtered acceleration and a second filtered angular velocity.

6. The method for calculating the single-degree-of-freedom flexion and extension angles of fingers and hand back according to claim 4, characterized in that: The step of performing a zero-bias removal process on the first filtered acceleration, the first filtered angular velocity, the second filtered acceleration, and the second filtered angular velocity to obtain a first preprocessed acceleration, a first preprocessed angular velocity, a second preprocessed acceleration, and a second preprocessed angular velocity includes: S221, preprocessing the first filtered acceleration and the first filtered angular velocity using a second data preprocessing model to obtain a first preprocessed acceleration and a first preprocessed angular velocity; The second data preprocessing model expression is: in, represents the filtered angular velocity; ω represents the angular velocity test value; m represents the inertial sensor index of the inertial sensor; a represents the angular velocity correction coefficient; b represents the acceleration correction coefficient; represents the filtered acceleration; ρ represents the acceleration test value; (x, y, z) represents the x-axis, y-axis and z-axis; N represents the number of samples; j represents the sampling point index; tj represents sampling at the jth last moment; t represents the sampling time of the sample point; S222: Preprocess the second filtered acceleration and the second filtered angular velocity by using the second data preprocessing model to obtain a second preprocessed acceleration and a second preprocessed angular velocity.

7. The method for calculating the single-degree-of-freedom flexion and extension angles of fingers and hand back according to claim 2, characterized in that: The calculating and processing the preprocessed data to obtain the flexion and extension angle between the finger and the back of the hand includes: S31, normalizing the first quaternion and the second quaternion to obtain a first normalized quaternion and a second normalized quaternion; S32, performing bias calculation on the first normalized quaternion and the second normalized quaternion to obtain a biased quaternion; S33, using an angle solution model to calculate and process the biased quaternion to obtain an angle; S34, using an angular velocity difference calculation model, calculating and processing the first preprocessed angular velocity and the second preprocessed angular velocity to obtain an angular velocity difference; S35, processing the first preprocessed angular velocity, the second preprocessed angular velocity, the included angle and the angular velocity difference to obtain a flexion and extension angle between the finger and the back of the hand.

8. The method for calculating the single-degree-of-freedom flexion and extension angles of fingers and hand back according to claim 7, characterized in that: The normalization expression is: Wherein, i represents the index of the inertial sensor; j represents the index of the finger wearing the inertial sensor; represents the jth component of the normalized quaternion of the i-th inertial sensor; μ i,j represents the jth component of the quaternion of the i-th inertial sensor; β i represents the correction coefficient of the i-th inertial sensor; μ i,0 Represents the first component of the quaternion of the i-th inertial sensor; μ i,1 Represents the second component of the quaternion of the i-th inertial sensor; μ i,2 Represents the third component of the quaternion of the i-th inertial sensor; μ i,3 Represents the fourth component of the quaternion of the i-th inertial sensor; The expression for the bias calculation is: Wherein, t represents the sampling time of the sample point; The first normalized quaternion representing the time t; A second normalized quaternion representing the time t; Indicates the The inverse operation of The angle solution model expression is: Wherein, θ(t) represents the angle; atan represents the calculation of the inverse tangent trigonometric function; i represents the index of the finger wearing the inertial sensor; (Q i0 (t), Q i1 (t), Q i2 (t), Q i Represents the four element components of the bias quaternion corresponding to the finger; Q i0 (t) represents the first component of the bias quaternion corresponding to the finger; Q i1 (t) represents the second component of the bias quaternion corresponding to the finger; Q i2 (t) represents the third component of the bias quaternion corresponding to the finger; Q i3 (t) represents the fourth element component of the bias quaternion corresponding to the finger; σ represents the first conversion coefficient; ε represents the second conversion coefficient; γ represents the third conversion coefficient; t represents the sampling time of the sample point; The angular velocity difference calculation model expression is: Among them, w i (t) represents the angular velocity difference at time t; i represents the inertial sensor index; represents the x-axis square root of the first angular velocity at time t; represents the y-axis square root of the first angular velocity at time t; represents the z-axis square root of the first angular velocity at time t; represents the x-axis square root of the second angular velocity at time t; represents the y-axis square root of the second angular velocity at time t; represents the z-axis square root of the second angular velocity at time t.

9. The method for calculating the single-degree-of-freedom flexion and extension angles of fingers and hand back according to claim 7, characterized in that: The processing of the first preprocessed angular velocity, the second preprocessed angular velocity, the included angle and the angular velocity difference to obtain the flexion and extension angle between the finger and the back of the hand includes: S351, analyzing the first preprocessed acceleration to obtain a first Z-axis preprocessed acceleration; S352, determining whether the first Z-axis preprocessing acceleration is greater than or equal to a first threshold, and obtaining a first inclination determination result; When the first inclination determination result is yes, executing S353; When the first inclination determination result is negative, executing S354; S353, the included angle is the flexion and extension angle between the finger and the back of the hand, and S1 is executed; S354, determining whether the angular velocity difference is greater than or equal to a second threshold, and obtaining a second inclination determination result; When the second inclination determination result is yes, executing S355; When the second inclination determination result is no, executing S1; S355: Based on the angle increment calculation model, the first quaternion, the second quaternion and the angular velocity difference are processed to obtain the flexion and extension angle between the finger and the back of the hand.

10. The method for calculating the single-degree-of-freedom flexion and extension angles of fingers and hand back according to claim 9, characterized in that: The angle increment model expression is: in, represents the flexion and extension angle between the finger and the back of the hand; D represents the calculation of the inverse tangent trigonometric function; i represents the inertial sensor index; j represents the index of the finger wearing the inertial sensor; Q ij represents the bias quaternion when the i-th sensor is worn on the j-th finger; w i (t) represents the angular velocity difference at time t; μ 1,j represents the first quaternion obtained by wearing the first sensor; μ 2,j represents the first quaternion obtained by the first sensor worn on the jth finger; β1 represents the correction coefficient of the first inertial sensor; β2 represents the correction coefficient of the second inertial sensor; m represents the index of the first quaternion component; μ 1,m represents the mth element component of the first quaternion; l represents the element component index of the second quaternion; μ 2,l represents the lth element component of the second quaternion; σ represents the first conversion coefficient; ε represents the second conversion coefficient; γ represents the third conversion coefficient; t represents the sampling time of the sample point.

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