Active light and inertial fusion motion capture glove

Abstract

The application relates to the technical field of motion capture, and discloses a light-inertia fusion motion capture glove with active light-emitting function, which comprises a glove body, a plurality of IMU units and an MCU control module; the IMU units are fixed at specified hand positions of the glove body and acquire motion state data of the specified hand positions; each IMU unit is provided with an active light-emitting marking unit; the MCU control module is used for acquiring and initially processing the motion state data, packaging the motion state data and transmitting the motion state data to an upper computer, and driving the active light-emitting marking unit to emit light, so that the precision and stability of hand motion capture are remarkably improved, the efficiency and real-time performance of motion data transmission are ensured, and a good foundation is laid for subsequent processing of the upper computer.

Description

Technical Field

[0001] This application relates to the field of motion capture technology, and in particular to an active light-emitting optical-inertial fusion motion capture glove. Background Technology

[0002] Precise capture of finger movements is crucial in numerous fields such as virtual reality, animation, and robot control. However, traditional motion capture technology has several limitations, such as:

[0003] Vision-based motion capture technology is easily affected by factors such as lighting and occlusion in complex environments, leading to a decrease in capture accuracy.

[0004] Motion capture technology based on inertial sensors suffers from cumulative errors, leading to significant deviations after prolonged use. To overcome these issues, optical-inertial fusion motion capture technology has gradually become a research hotspot.

[0005] However, existing optical-inertial fusion motion capture devices suffer from problems such as complex structure, difficulty in distinguishing marker points, and low data fusion accuracy in finger motion capture, making it difficult to meet the demand for high-precision finger motion capture in practical applications. Summary of the Invention

[0006] To address the limitations of existing high-precision finger motion capture technologies, this application provides an active light-emitting optical-inertial fusion motion capture glove, employing the following technical solution:

[0007] An active light-emitting optical-inertial fusion motion capture glove includes a glove body, multiple IMU units, and an MCU control module;

[0008] The IMU unit is fixed at a designated hand position on the glove body to acquire motion state data of the designated hand position;

[0009] Each of the IMU units is equipped with an active light-emitting marker unit;

[0010] The MCU control module is used to acquire and initially process the motion state data, package the motion state data and transmit it to the host computer, and drive the active light-emitting marker unit to emit light.

[0011] By adopting the above technical solution, combining multiple IMU units with an active light-emitting marker unit, and having the MCU control module uniformly process the data and drive the light emission, the fusion of inertial measurement and optical positioning is achieved. The IMU units can accurately acquire hand motion state data, while the active light-emitting marker unit provides a clear target for optical positioning. The fusion of the two can complement each other's shortcomings (inertial measurement is prone to drift, and pure optical positioning is easily affected by occlusion), significantly improving the accuracy and stability of hand motion capture. The integrated processing and data packet transmission of the MCU control module ensure the high efficiency and real-time performance of motion data transmission, laying a good foundation for subsequent processing by the host computer.

[0012] Optionally, the MCU control module includes a data acquisition unit, a light-emitting marker driving unit, a data processing unit, and a data transmission unit;

[0013] The data acquisition unit is connected to each IMU unit via a wire and is used to acquire motion state data of each IMU unit. The data processing unit is used to integrate and package the acquired motion state data and perform preliminary processing. The data transmission unit is used to transmit the integrated and packaged data to the host computer via a wired network. The light-emitting marker driving unit is connected to the data transmission unit and is used to drive the active light-emitting marker unit to emit light.

[0014] By adopting the above technical solution, combining multiple IMU units with an active light-emitting marker unit, and having the MCU control module uniformly process data and drive the light emission, the fusion of inertial measurement and optical positioning is achieved. The IMU units can accurately acquire hand motion state data, while the active light-emitting marker unit provides a clear target for optical positioning. The fusion of the two can complement each other's shortcomings (inertial measurement is prone to drift, and pure optical positioning is easily affected by occlusion), significantly improving the accuracy and stability of hand motion capture. The integrated processing and data packet transmission of the MCU control module ensure the high efficiency and real-time performance of motion data transmission, laying a good foundation for subsequent processing by the host computer.

[0015] Optionally, the specified hand position includes the finger joint position and the back of the hand position;

[0016] The IMU unit located at the finger joint is an IMU finger unit, and each is equipped with at least two of the active light-emitting marker units;

[0017] The IMU unit located on the back of the hand is an IMU back-of-hand unit, which is configured with at least four active light-emitting marker units.

[0018] By adopting the above technical solution, the number of IMU units and luminous markers are configured differently for two key hand positions: the finger joints and the back of the hand, adapting to the motion characteristics of different parts of the hand. The finger joints are the most flexible and complex areas of hand movement. Configuring at least two active luminous marker units can capture subtle movements such as finger bending and rotation more precisely, improving the accuracy of finger motion capture. The back of the hand, as a relatively stable reference part of the hand, can be configured with at least four active luminous marker units to provide richer reference points for the overall spatial positioning of the hand, enhancing the stability of the overall hand motion posture assessment. The combination of these two approaches achieves accurate capture of the entire area of ​​hand movement.

[0019] Optionally, the active light-emitting marker units of the IMU back-of-hand unit are arranged asymmetrically.

[0020] By adopting the above technical solution, the active light-emitting marker unit of the IMU back-of-the-hand unit is set asymmetrically, which can quickly identify the spatial orientation and posture of the back of the hand through the optical capture system. The asymmetrical structure can form unique optical features, avoiding the orientation misjudgment problem that may be caused by the symmetrical structure. This allows the host computer to more accurately determine the spatial orientation of the back of the hand when analyzing optical data, thereby improving the accuracy of the calculation of the overall hand movement posture.

[0021] Optionally, the active light-emitting marker units of the IMU finger unit are of different sizes, with the active light-emitting marker units closer to the back of the hand having a larger light-emitting area.

[0022] By employing the aforementioned technical solution and differentiating the size of the active light-emitting marker unit in the finger IMU unit, the spatial constraints and recognition requirements of different parts of the finger are adapted. The distal end of the finger, near the fingertip, has limited space, so using a smaller light-emitting marker reduces interference with fingertip movements. The proximal end of the finger, near the back of the hand, uses a marker with a larger light-emitting area, making it easier for the recognition device to capture during optical capture. This is especially beneficial when the finger is moving rapidly or partially obstructed, reducing the probability of recognition loss and improving the reliability of finger movement capture.

[0023] Optionally, the active light-emitting markers located on different fingers emit different colors.

[0024] By adopting the above technical solution, the active light-emitting marking units of different fingers use different light-emitting colors, providing intuitive finger differentiation features for the optical capture system. During hand movements, situations such as finger crossing and overlapping can easily lead to optical recognition confusion, while color differences can serve as a clear differentiation basis, enabling the host computer to quickly and accurately identify the movement trajectory of each finger, reduce recognition errors, and improve the efficiency and accuracy of finger movement analysis.

[0025] Optionally, the MCU control module performs a lateral evaluation of the motion amplitude based on the motion state data of the IMU finger unit set on the same finger;

[0026] The active light-emitting marker unit of the IMU finger unit, which drives a larger range of motion, has a higher light emission brightness.

[0027] By adopting the above technical solution, the MCU control module dynamically adjusts the light emission brightness according to the movement amplitude of the same finger IMU unit, achieving the adaptation of light emission intensity to movement requirements. Areas with large movement amplitudes are more prone to optical capture blurring or loss during rapid movements. By increasing their light emission brightness, the imaging clarity of these areas in the optical system can be enhanced, ensuring effective capture during rapid, large-amplitude movements, thereby improving the accuracy and completeness of hand dynamic motion capture.

[0028] Optionally, the IMU unit employs a 6-axis IMU sensor 23.

[0029] By adopting the above technical solution and using a 6-axis IMU sensor 23, the acceleration and angular velocity data of hand movements can be comprehensively collected, accurately reflecting the translational, rotational, and other motion states of the hand. While meeting the basic inertial measurement requirements of hand movements, the 6-axis sensor has the advantages of lower cost and lower power consumption compared to sensors with higher axis counts. This helps reduce the overall cost and energy consumption of the glove while ensuring motion capture accuracy, thus improving the product's cost-effectiveness and battery life.

[0030] Optionally, the IMU unit is connected to the MCU control module via SPI serial communication.

[0031] By adopting the above technical solution, the IMU unit connects to the MCU control module via SPI serial communication. SPI communication features high-speed synchronous transmission, enabling rapid, real-time transmission of IMU motion status data. Simultaneously, SPI communication has strong anti-interference capabilities, reducing noise interference during data transmission, ensuring data integrity and accuracy, providing a reliable data foundation for subsequent data processing and motion analysis, and improving the stability and response speed of system data transmission.

[0032] In summary, this application includes at least one of the following beneficial technical effects:

[0033] This application integrates multiple IMU units with an active light-emitting marker unit, and uses an MCU control module to uniformly process data and drive light emission, thereby achieving the fusion of inertial measurement and optical positioning. The IMU units can accurately acquire hand motion state data, while the active light-emitting marker unit provides a clear target for optical positioning. The fusion of the two can complement each other's shortcomings (inertial measurement is prone to drift, and pure optical is easily affected by occlusion), significantly improving the accuracy and stability of hand motion capture. The integrated processing and data packet transmission of the MCU control module ensure the high efficiency and real-time performance of motion data transmission, laying a good foundation for subsequent processing by the host computer. Attached Figure Description

[0034] Figure 1 These are schematic diagrams of the front and side structures of the active light-emitting optical-inertial fusion motion capture glove in this application;

[0035] Figure 2 This is a schematic diagram of the module connection of the active light-emitting optical-inertial fusion motion capture glove in this application;

[0036] Figure 3 This is a schematic diagram of the planar structure of an IMU finger unit in this application;

[0037] Figure 4 This is a schematic diagram of the planar structure of an IMU back-of-hand unit in this application;

[0038] Figure 5 This is a schematic diagram of the module structure of the MCU control module in this application.

[0039] Reference numerals in the attached figures: 1. Glove body; 2. IMU unit; 3. Active light-emitting marker unit; 21. IMU finger unit; 22. IMU back of hand unit; 23. 6-axis IMU sensor. Detailed Implementation

[0040] The embodiments of this application are described in detail below, and examples of the embodiments are shown in the accompanying drawings.

[0041] In the description of this specification, the references to "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the described embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0042] This application discloses an active light-emitting optical-inertial fusion motion capture glove, referring to... Figure 1 and Figure 2 It includes the glove body 1, multiple IMU units 2, and an MCU control module;

[0043] Each IMU unit 2 is equipped with an active light-emitting marker unit 3 to assist external optical devices in accurately capturing the spatial coordinates of the corresponding position. The IMU unit 2 is fixed at the finger joint position and the back of the hand position of the glove body 1, and acquires motion state data such as acceleration and angular velocity data at the corresponding positions. This motion state data is collected to the MCU control module through SPI serial communication, and then transmitted to the PC through a wired network by the MCU control module for further analysis and processing.

[0044] Each IMU unit 2 employs a 6-axis IMU sensor 23 (typically including a 3-axis accelerometer and a 3-axis gyroscope) and is equipped with at least two of the aforementioned active light-emitting marker units 3, such as... Figure 3 and Figure 4 As shown, the IMU unit 2 located at the finger joint is the IMU finger unit 21, and the IMU unit 2 located at the back of the hand is the IMU back of the hand unit 22. The 6-axis IMU sensor 23 of the IMU finger unit 21 is placed on the upper layer of the circuit board, and the 6-axis IMU sensor 23 of the IMU back of the hand unit 22 is placed on the lower layer of the circuit board. Both are equipped with at least two active light-emitting marker units 3.

[0045] In this embodiment, each finger portion of the glove body 1 is equipped with an IMU finger unit 21 at the front knuckle and the back knuckle, and an IMU back hand unit 22 is equipped on the back of the glove body 1. The IMU finger unit 21 is equipped with two active light-emitting marker units 3, and the IMU back hand unit 22 is equipped with four active light-emitting marker units 3, which are arranged asymmetrically at the four corners of the circuit board.

[0046] The active light-emitting marking unit 3 adopts a large-angle, small-package design, which can expand the coverage of the light-emitting angle and facilitate all-round capture by external optical equipment. At the same time, the small package allows it to be easily integrated into various modules of the glove without affecting the overall wearing comfort and movement flexibility of the glove.

[0047] like Figure 5 As shown, the MCU control module includes a data acquisition unit, a light-emitting marker driving unit, a data processing unit, and a data transmission unit;

[0048] The data acquisition unit is connected to each IMU back hand unit 22 and IMU finger unit 21 via a cable, and is used to acquire motion state data of each IMU unit 2. The cable includes an SPI signal line, a power supply line and an active light-emitting marker control line.

[0049] The data processing unit is used to integrate and package the collected motion state data and perform preliminary processing.

[0050] The data transmission unit is used to transmit the integrated and packaged data to the host computer via a wired network.

[0051] The light-emitting marker driving unit is connected to the data transmission unit and is used to drive the active light-emitting marker unit 3 to emit light.

[0052] In another embodiment of the present invention, the active light-emitting marker units 3 of the IMU finger unit 21 are of different sizes, and the active light-emitting marker unit 3 closer to the back of the hand has a larger light-emitting area.

[0053] In another embodiment of the present invention, the active light-emitting marker units 3 located on different fingers emit different colors. The thumb, index finger, middle finger, ring finger, and little finger can be configured as yellow, red, blue, green, and white, respectively, providing intuitive finger differentiation features for the optical capture system. During hand movements, finger crossing and overlapping can easily lead to optical recognition confusion, while color differences can serve as a clear differentiation basis, enabling the host computer to quickly and accurately identify the movement trajectory of each finger, reduce recognition errors, and improve the efficiency and accuracy of finger movement analysis.

[0054] In another embodiment of the present invention, the MCU control module performs a lateral evaluation of the motion amplitude based on the motion state data of the IMU finger unit 21 located on the same finger; the active light-emitting marker unit 3 that drives the IMU finger unit 21 with a larger motion amplitude has a greater light emission brightness.

[0055] Taking the two IMU finger units 21 of the index finger as an example:

[0056]

[0057] in, express The horizontal evaluation score for the amplitude of motion at any given time needs to be calculated after unifying the units and removing the dimensions. The interval duration configured according to the limiting sampling frequency of the IMU finger unit 21 can be selected as follows: , The instantaneous acceleration of the IMU finger unit 21 at the tip of the finger joint is given. The instantaneous acceleration of the IMU finger unit 21 at the posterior knuckle of the finger is given. The instantaneous angular velocity of the IMU finger unit 21 at the fingertip knuckle is given. The instantaneous angular velocity of the IMU finger unit 21 at the posterior knuckle of the finger is given. The adjustment coefficient is determined based on the distance between the two IMU finger units 21, and can be selected as 1.005; The instantaneous acceleration of the IMU back-of-hand unit 22, The instantaneous angular velocity of the IMU back-side unit 22.

[0058] During the calculation, because the distal phalanges of the fingers are closer to the center of rotation of the shoulder, the changes in acceleration and angular velocity are theoretically smaller. Therefore, by adjusting the coefficients... The calculation is more accurate after compensation; it reflects the acceleration data based on the back of the hand. To quantify the difference in acceleration between the posterior and distal phalanges of the fingers, similarly, Quantitatively evaluate the difference in angular velocity. The larger the value, the greater the range of motion of the fingertip joint compared to the fingertip joint, and the greater the luminous brightness of the active light-emitting marker unit 3 of the fingertip joint.

[0059] During motion capture, the external optical capture system uses attention-based artificial intelligence to finely distinguish the position of the hand in the image, so as to achieve precise motion capture. Moreover, under high-speed cameras, due to the increase in shooting frame rate, the exposure time of image response is shorter, which may result in an overall dark image. When the hand performs rapid and precise movements, the brighter light emitted by the active light-emitting marker unit 3 at the position with a larger range of motion can enhance the artificial intelligence's attention to it (which has been trained accordingly) and the image brightness, thereby improving the accuracy of hand position discrimination and ultimately improving the precision of motion capture.

[0060] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. An active light-emitting optical-inertial fusion motion capture glove, characterized in that, It includes the glove body (1), multiple IMU units (2), and an MCU control module; The IMU unit (2) is fixed at a designated hand position on the glove body (1) to acquire motion state data of the designated hand position; Each of the IMU units (2) is equipped with an active light-emitting marker unit (3); The MCU control module is used to acquire and initially process the motion state data, package the motion state data and transmit it to the host computer, and drive the active light-emitting marker unit (3) to emit light. The specified hand position includes the finger joint position and the back of the hand position; The IMU unit (2) located at the finger joint is an IMU finger unit (21), each of which is equipped with at least two active light-emitting marker units (3). The IMU unit (2) located on the back of the hand is an IMU back-of-hand unit (22) and is equipped with at least 4 active light-emitting marker units (3). The MCU control module performs a lateral evaluation of the motion amplitude based on the motion state data of the IMU finger unit (21) set on the same finger; The active light-emitting marker unit (3) of the IMU finger unit (21) with a larger driving amplitude has a greater light emission brightness; The MCU control module includes a data acquisition unit, an luminous marker driving unit, a data processing unit, and a data transmission unit; The data acquisition unit is connected to each IMU unit (2) via a wire and is used to acquire motion state data of each IMU unit (2). The data processing unit is used to integrate and package the acquired motion state data and perform preliminary processing. The data transmission unit is used to transmit the integrated and packaged data to the host computer via a wired network. The light-emitting marker driving unit is connected to the data transmission unit and is used to drive the active light-emitting marker unit (3) to emit light. The active light-emitting marker units (3) of the IMU back-of-hand unit (22) are arranged asymmetrically; For the two IMU finger units of the index finger (21): in, express The horizontal evaluation score for the amplitude of motion at any given time needs to be calculated after unifying the units and removing the dimensions. The interval duration configured according to the limiting sampling frequency of the IMU finger unit (21) can be selected as follows: , The instantaneous acceleration of the IMU finger unit (21) at the fingertip knuckle is given. The instantaneous acceleration of the IMU finger unit (21) at the posterior knuckle of the finger is given. The instantaneous angular velocity of the IMU finger unit (21) at the fingertip knuckle is given. The instantaneous angular velocity of the IMU finger unit (21) at the posterior knuckle of the finger is given. The adjustment coefficient is determined based on the distance between the two IMU finger units (21) and is selected as 1.005; The instantaneous acceleration of the IMU back-of-hand unit (22) ω is the instantaneous angular velocity of the IMU back unit (22).

2. The active light-emitting optical-inertial fusion motion capture glove according to claim 1, characterized in that, The active light-emitting marker units (3) of the IMU finger unit (21) are of different sizes, and the active light-emitting marker units (3) closer to the back of the hand have a larger light-emitting area.

3. The active light-emitting optical-inertial fusion motion capture glove according to claim 1, characterized in that, The active light-emitting marker units (3) located on different fingers emit different colors.

4. The active light-emitting optical-inertial fusion motion capture glove according to claim 1, characterized in that, The IMU unit (2) uses a 6-axis IMU sensor (23).

5. The active light-emitting optical-inertial fusion motion capture glove according to claim 1, characterized in that, The IMU unit (2) is connected to the MCU control module via SPI serial communication.

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