Hand motion capture data glove based on IMU (Inertial Measurement Unit) sensor

Abstract

The invention relates to the technical field of intelligent wearable equipment, and provides a hand motion capture data glove based on an IMU sensor. The thumb mechanism comprises a first thumb section, a second thumb section, a metacarpal bone shell and a connecting piece, the first thumb section and the second thumb section are connected in a sliding and rotating mode, and the metacarpal bone shell is connected with the main control board through the connecting piece; each finger mechanism comprises a first knuckle, a second knuckle, a third knuckle and a telescopic rotating connecting assembly, the first knuckles are in sliding rotating connection with the second knuckles, the second knuckles are in sliding rotating connection with the third knuckles, and the third knuckles are connected with the main control panel through the telescopic rotating connecting assemblies; the first thumb section, the second thumb section, the metacarpal bone shell, the first knuckle, the second knuckle and the third knuckle are each provided with an IMU sensor, each IMU sensor is electrically connected with the main control board, and the main control board is integrated with the IMU sensors. Therefore, production is simple, and cost is low.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent wearable devices, and in particular to a hand motion capture data glove based on an IMU sensor. Background Art

[0002] With the continuous development and popularization of virtual reality technology, human-computer interaction technology has been widely applied in many fields. Data gloves, as one of the key devices for human-computer interaction, have attracted widespread attention from researchers and companies. Data gloves are sensor devices that can capture hand motion data and are widely used in fields such as virtual reality, robotic control, and medical rehabilitation. In the field of virtual reality, data gloves can be used to implement gesture recognition and interaction, enhancing user immersion and participation; in the field of robotic control, data gloves can be used to implement gesture control and operation control of robots; and in the field of medical rehabilitation, data gloves can be used for patient rehabilitation training and the recording and analysis of hand motion data. Currently, data glove technology has made significant progress.

[0003] Currently, most data gloves on the market are made of flexible materials, and the sensors are often fiber optic sensors sewn onto the flexible material. This allows the gloves to fit tightly to the fingers and, thanks to their stretchability, can adapt to different hand shapes, facilitating the sensor's acquisition of hand pose information. However, these methods have drawbacks: the complex processing of flexible materials leads to high production costs; and the accuracy of hand pose estimation decreases with increased use and over time. Summary of the Invention

[0004] The present invention provides a hand motion capture data glove based on an IMU sensor, which is used to solve the problem in the prior art that data gloves are made of flexible materials, resulting in complex processes and high production costs.

[0005] The present invention provides a hand motion capture data glove based on an IMU sensor, comprising: The main control panel is suitable for fixing on the back of the hand; The thumb mechanism includes a first section of the thumb, a second section of the thumb, a metacarpal shell, and a connector. The first section of the thumb and the second section of the thumb are connected in a sliding and rotating manner. The metacarpal shell is connected to the main control board via the connector. Finger mechanisms, the number of the finger mechanisms being four, each of the finger mechanisms comprising a first finger joint, a second finger joint, a third finger joint, and a telescopic rotation connection assembly, the first finger joint and the second finger joint being slidably and rotationally connected, the second finger joint and the third finger joint being slidably and rotationally connected, and the third finger joint being connected to the main control board via the telescopic rotation connection assembly; IMU sensor, the first section of the thumb, the second section of the thumb, the metacarpal shell, the first knuckle, the second knuckle and the third knuckle are all installed with the IMU sensor, each of the IMU sensors is electrically connected to the main control board, wherein the main control board is integrated with the IMU sensor.

[0006] According to a hand motion capture data glove based on an IMU sensor provided by the present invention, the first section of the thumb includes a first fingertip cover, the first fingertip cover is open at one end, and the outer side of the first fingertip cover is provided with a first mounting groove for mounting the IMU sensor.

[0007] According to a hand motion capture data glove based on an IMU sensor provided by the present invention, the second section of the thumb includes a first shell, which is in a semi-enclosed shape; the outer side surface of the first fingertip cover is provided with a first connecting part, and the outer side surface of the first shell is provided with a second connecting part, one of the first connecting part and the second connecting part is provided with a first rotating shaft, and the other is provided with a first sliding groove, and the first connecting part and the second connecting part are connected by the first rotating shaft and the first sliding groove.

[0008] According to the hand motion capture data glove based on an IMU sensor provided by the present invention, the outer side surface of the first shell is provided with a second mounting groove for mounting the IMU sensor; and / or, The first shell is provided with a first through-hole and a second through-hole, and the first through-hole and the second through-hole are suitable for a strap to pass through.

[0009] According to a hand motion capture data glove based on an IMU sensor provided by the present invention, the first finger joint includes a second fingertip cover, the second fingertip cover is open at one end, and the outer side surface of the second fingertip cover is provided with a third installation groove for installing the IMU sensor.

[0010] According to a hand motion capture data glove based on an IMU sensor provided by the present invention, the second knuckle includes a second shell, and the second shell is in a semi-enclosed shape; A third connecting portion is provided on the outer side surface of the second fingertip cover, and a fourth connecting portion is provided on the outer side surface of the second shell. One of the third connecting portion and the fourth connecting portion is provided with a second rotating shaft, and the other is provided with a second sliding groove. The third connecting portion and the fourth connecting portion are connected by the second rotating shaft and the second sliding groove.

[0011] According to the hand motion capture data glove based on an IMU sensor provided by the present invention, the third knuckle includes a third shell, and the third shell is in a semi-enclosed shape; The outer side surface of the second shell is also provided with a fifth connecting part, and the outer side surface of the third shell is provided with a sixth connecting part. One of the fifth connecting part and the sixth connecting part is provided with a third rotating shaft, and the other is provided with a third sliding groove. The fifth connecting part and the sixth connecting part are connected by matching the third rotating shaft and the third sliding groove.

[0012] According to the hand motion capture data glove based on an IMU sensor provided by the present invention, the outer side surface of the second shell is provided with a fourth installation groove for installing the IMU sensor, and the second shell is provided with a third through-hole and a fourth through-hole, wherein the third through-hole and the fourth through-hole are suitable for passing a strap; The outer side surface of the third housing is provided with a fifth installation groove for installing the IMU sensor. The third housing is provided with a fifth through-hole and a sixth through-hole, and the fifth through-hole and the sixth through-hole are suitable for the strap to pass through.

[0013] According to a hand motion capture data glove based on an IMU sensor provided by the present invention, the telescopic rotation connection assembly includes a connecting rod and a telescopic rod, one end of the connecting rod is rotatably connected to the third finger joint, the other end of the connecting rod is rotatably connected to one end of the telescopic rod, and the other end of the telescopic rod is rotatably connected to the main control board.

[0014] According to a hand motion capture data glove based on an IMU sensor provided by the present invention, the connecting rod and the telescopic rod are connected by a first ball head and a first ball socket, and the telescopic rod and the main control board are connected by a second ball head and a second ball socket.

[0015] The hand motion capture data gloves based on IMU sensors provided by the present invention can adapt to the palm and finger sizes of different users; through modular settings, each component can be printed and assembled independently, simplifying the traditional manufacturing process and significantly reducing production costs. At the same time, it is convenient for users to print and customize according to their needs, combining practicality and DIY flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 This is a structural diagram of the hand motion capture data glove based on the IMU sensor provided by the present invention (excluding the thumb mechanism).

[0018] Figure 2It is a structural schematic diagram of the first section of the thumb and the second section of the thumb provided by the present invention.

[0019] Figure 3 It is a schematic structural diagram of the metacarpal shell provided by the present invention.

[0020] Figure 4 This is one of the structural diagrams of the finger mechanism provided by the present invention (excluding the telescopic and rotating connecting components).

[0021] Figure 5 This is the second structural diagram of the finger mechanism provided by the present invention (excluding the telescopic and rotating connecting component).

[0022] Figure 6 It is a structural schematic diagram of the connecting rod provided by the present invention.

[0023] Figure 7 It is a structural schematic diagram of the telescopic rod provided by the present invention.

[0024] Figure 8 This is one of the structural diagrams of the main control board provided by the present invention.

[0025] Figure 9 This is the second structural diagram of the main control board provided by the present invention.

[0026] Figure 10 This is a schematic diagram of wearing the hand motion capture data gloves based on the IMU sensor provided by the present invention.

[0027] Reference numerals: 1. Main control board; 11. FPC connector; 12. MCU; 13. IMU sensor; 14. USB connector; 15. LDO power supply; 16. USB controller; 17. Motor driver; 2. Thumb mechanism; 21. First thumb joint; 211. First shaft; 22. Second thumb joint; 221. First slide; 23. Metacarpal housing; 3. Finger mechanism; 31. First finger joint; 311. Third mounting slot; 312. Second shaft; 32. Second finger joint; 321. Fourth mounting slot; 322. Third mounting hole; 323. Fourth mounting hole; 324. Second slide slot; 325. Third rotating shaft; 33. Third finger joint; 331. Fifth mounting slot; 332. Fifth mounting hole; 333. Sixth mounting hole; 334. Third slide slot; 34. Telescopic rotating connecting assembly; 341. Connecting rod; 3411. First ball head; 342. Telescopic rod; 3421. First ball seat; 3422. Second ball seat. DETAILED DESCRIPTION

[0028] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0029] like Figure 1 、 Figure 2 、 Figure 3 and Figure 10 As shown, the hand motion capture data glove based on the IMU sensor 13 according to an embodiment of the present invention includes: a main control board 1, a thumb mechanism 2, a finger mechanism 3 and an IMU sensor 13.

[0030] The main control board 1 is adapted to be secured to the back of the hand, for example, by a strap. Furthermore, the thumb mechanism 2 includes a first thumb segment 21, a second thumb segment 22, a metacarpal shell 23, and a connector. The first thumb segment 21 and the second thumb segment 22 are slidably and rotatably connected. This allows the first thumb segment 21 to slide (axially displace) and rotate (bend) relative to the second thumb segment 22, simulating real joint motion and adapting to fingers of varying sizes. The metacarpal shell 23 is connected to the main control board 1 via a connector. Exemplarily, the connector may be an elastic band. Thus, the metacarpal shell 23 is fixedly connected to the main control board 1 via the elastic band.

[0031] Furthermore, there are four finger mechanisms 3, corresponding to the index finger, middle finger, ring finger, and pinky finger, respectively. Each finger mechanism 3 includes a first knuckle 31, a second knuckle 32, a third knuckle 33, and a telescopic rotational connection assembly 34. The first knuckle 31 and the second knuckle 32 are slidably and rotationally connected, while the second knuckle 32 and the third knuckle 33 are slidably and rotationally connected. This allows the knuckles to simultaneously slide (axially displace) and rotate (bend), simulating real joint motion and adapting to fingers of different sizes. The third knuckle 33 is connected to the main control board 1 via the telescopic rotational connection assembly 34, simulating real joint motion while adapting to different users' palms.

[0032] The first and second thumb joints 21, 22, metacarpal shell 23, first and second phalanges 31, 32, and 33 of the thumb are each equipped with an IMU sensor 13. Each IMU sensor 13 is electrically connected to the main control board 1, which is integrated with the IMU sensor 13. In other words, integrating the IMU sensor 13 on the back of the hand into the main control board 1 reduces its actual size, making the hand motion capture data glove more convenient to wear. Thus, a total of 16 IMU sensors 13 are provided, and the model of the IMU sensor 13 can be ICM-42686.

[0033] The hand motion capture data glove based on the IMU sensor 13 in the embodiment of the present invention can adapt to the palm and finger sizes of different users; through modular settings, each component can be printed and assembled independently, which simplifies the traditional manufacturing process and significantly reduces production costs. At the same time, it is convenient for users to print and customize according to their needs, combining practicality and DIY flexibility.

[0034] It's particularly noteworthy that the modular components (thumb mechanism 2 and finger mechanism 3) can be made using PLA (polylactic acid) through 3D printing. PLA is environmentally friendly, biodegradable, highly precise, and inexpensive. Users can print and assemble parts based on standardized 3D model files, further lowering the technical barrier to entry while meeting personalized customization needs.

[0035] like Figure 2 As shown, the first section 21 of the thumb includes a first fingertip cover, which is open at one end and has a first mounting groove on the outer side thereof for mounting the IMU sensor 13. For example, the IMU sensor 13 can be bonded into the first mounting groove.

[0036] It should be noted that in order to improve the fit between the first fingertip cover and the fingertip, its structural design adopts an irregular symmetrical shape, and fits the physiological shape of the fingertip through three-dimensional curved surfaces. Even if it is made of PLA hard material, it can still achieve tight wrapping.

[0037] like Figure 2 As shown, the second section 22 of the thumb includes a first shell, which is in a semi-enclosed shape; a first connecting portion is provided on the outer side of the first fingertip cover, and a second connecting portion is provided on the outer side of the first shell. One of the first connecting portion and the second connecting portion is provided with a first rotating shaft 211, and the other is provided with a first sliding groove 221. The first connecting portion and the second connecting portion are connected by the first rotating shaft 211 and the first sliding groove 221.

[0038] It should be noted that the main body of the second section 22 of the thumb is the first shell. This first shell has a semi-enclosed arc-shaped structure, and its inner cavity contour matches the physiological curve of the proximal phalanx of the thumb. It is integrally formed using PLA material through 3D printing. This semi-enclosed design ensures structural strength while leaving a lateral opening to accommodate thumbs of varying thicknesses.

[0039] In practice, a first connecting portion protrudes from the outer side of the first fingertip cover, the end of which is embedded with a first rotating shaft 211. A second connecting portion protrudes from the outer side of the first housing, its surface defining a first sliding groove 221 extending along the finger axis. The first rotating shaft 211 is embedded in the first sliding groove 221, forming a sliding pair. The axial direction of the first rotating shaft 211 is perpendicular to the extension direction of the first sliding groove 221, forming a rotational pair. This structure enables two degrees of freedom of motion between the first fingertip cover and the second section 22 of the thumb: a sliding degree of freedom, where the first rotating shaft 211 slides axially along the first sliding groove 221 to compensate for axial displacement during fingertip bending or to accommodate fingers of varying lengths; and a rotational degree of freedom, where the first rotating shaft 211 rotates within the first sliding groove 221 to accommodate twisting movements of the fingertip.

[0040] In an optional embodiment, if Figure 2 As shown, the outer side surface of the first housing is provided with a second mounting groove for mounting the IMU sensor 13. Exemplarily, the IMU sensor 13 can be bonded into the second mounting groove.

[0041] The first housing is also provided with a first and a second insertion hole, which are suitable for passing a strap. Specifically, the strap passes through the first and second insertion holes in sequence, forming a closed loop structure that encircles the thumb. The ends of the strap are adjusted with Velcro or Japanese buckles to help secure the first housing more securely to the user's hand.

[0042] In an optional embodiment, if Figure 1 、 Figure 4 and Figure 5 As shown, the first finger joint 31 includes a second fingertip cover, which is open at one end. The outer side of the second fingertip cover is provided with a third mounting groove 311 for mounting the IMU sensor 13. Exemplarily, the IMU sensor 13 can be bonded into the third mounting groove 311.

[0043] It should be noted that in order to improve the fit between the second fingertip cover and the fingertip, its structural design adopts an irregular symmetrical shape, and fits the physiological shape of the fingertip through three-dimensional curved surfaces. Even if it is made of PLA hard material, it can still achieve tight wrapping.

[0044] like Figure 1 、 Figure 4 and Figure 5As shown, the second finger joint 32 includes a second shell, which is a semi-enclosed shape; the outer side surface of the second fingertip cover is provided with a third connecting part, and the outer side surface of the second shell is provided with a fourth connecting part, one of the third connecting part and the fourth connecting part is provided with a second rotating shaft 312, and the other is provided with a second sliding groove 324, and the third connecting part and the fourth connecting part are connected by the second rotating shaft 312 and the second sliding groove 324.

[0045] It should be noted that the main body of the second phalanx 32 is the second shell. The first shell is a semi-enclosed arc-shaped structure, whose inner cavity contour matches the physiological curve of the proximal phalanx of the thumb. It is integrally formed using PLA material through 3D printing. This semi-enclosed design ensures structural strength while leaving a lateral opening to accommodate thumbs of varying thicknesses.

[0046] In practice, a third connecting portion protrudes from the outer side of the second fingertip cover, the end of which is embedded with the second shaft 312. A fourth connecting portion protrudes from the outer side of the second housing, its surface defining a second slot 324 extending along the finger axis. The second shaft 312 fits within the second slot 324, forming a sliding pair. The axial direction of the second shaft 312 is perpendicular to the extension direction of the second slot 324, forming a rotational pair. This structure enables two degrees of freedom of motion between the second fingertip cover and the second knuckle 32: a sliding degree of freedom, where the second shaft 312 slides axially along the second slot 324 to compensate for axial displacement during fingertip bending or to accommodate fingers of varying lengths; and a rotational degree of freedom, where the second shaft 312 rotates within the second slot 324 to accommodate twisting movements of the fingertip.

[0047] like Figure 1 、 Figure 4 and Figure 5 As shown, the third finger joint 33 includes a third shell, which is in a semi-enclosed shape; the outer side surface of the second shell is also provided with a fifth connecting part, and the outer side surface of the third shell is provided with a sixth connecting part, one of the fifth connecting part and the sixth connecting part is provided with a third rotating shaft 325, and the other is provided with a third sliding groove 334, and the fifth connecting part and the sixth connecting part are connected by the third rotating shaft 325 and the third sliding groove 334.

[0048] It should be noted that the main body of the third phalanx 33 is the third shell, which has a semi-enclosed arc-shaped structure. Its inner cavity contour matches the physiological curve of the proximal phalanx of the thumb. It is integrally formed using PLA material through 3D printing. This semi-enclosed design ensures structural strength while leaving a lateral opening to accommodate thumbs of varying thicknesses.

[0049] In practice, a fifth connecting portion protrudes from the outer side of the second housing, the end of which is embedded with a third rotating shaft 325. A sixth connecting portion protrudes from the outer side of the third housing, its surface defining a third slot 334 extending along the finger axis. The third rotating shaft 325 engages within the third slot 334, forming a sliding pair. The axial direction of the third rotating shaft 325 is perpendicular to the extension direction of the third slot 334, forming a rotational pair. This structure enables two degrees of freedom (DOF) between the second and third knuckles 32 and 33: a sliding degree of freedom, where the third rotating shaft 325 slides axially along the third slot 334 to compensate for axial displacement during fingertip bending or to accommodate fingers of varying lengths; and a rotational degree of freedom, where the third rotating shaft 325 rotates within the third slot 334 to accommodate twisting movements of the fingertips.

[0050] like Figure 1 、 Figure 4 and Figure 5 As shown, the outer side of the second housing is provided with a fourth mounting slot 321 for mounting the IMU sensor 13. The second housing is also provided with a third through-hole 322 and a fourth through-hole 323, which are suitable for passing a strap. For example, the IMU sensor 13 can be bonded into the fourth mounting slot 321. Specifically, the strap passes through the third through-hole 322 and the fourth through-hole 323 in sequence, forming a closed loop structure that encircles the thumb. The ends of the strap are adjusted in tension using Velcro or a Japanese buckle, which helps to more securely secure the second housing to the user's hand.

[0051] The outer side of the third housing is provided with a fifth mounting slot 331 for mounting the IMU sensor 13. The third housing is also provided with a fifth through-hole 332 and a sixth through-hole 333, which are suitable for passing a strap. For example, the IMU sensor 13 can be bonded into the fifth mounting slot 331. Specifically, the strap passes through the fifth through-hole 332 and the sixth through-hole 333 in sequence, forming a closed loop structure that encircles the thumb. The ends of the strap are adjusted in tension using Velcro or a Japanese buckle, which helps to more securely secure the third housing to the user's hand.

[0052] In an optional embodiment, if Figure 1 、 Figure 6 and Figure 7 As shown, the telescopic rotation connection assembly 34 includes a connecting rod 341 and a telescopic rod 342, one end of the connecting rod 341 is rotatably connected to the third finger joint 33, the other end of the connecting rod 341 is rotatably connected to one end of the telescopic rod 342, and the other end of the telescopic rod 342 is rotatably connected to the main control board 1.

[0053] In actual application, the connecting rod 341 and the telescopic rod 342 are connected by the first ball head 3411 and the first ball seat 3421 , and the telescopic rod 342 and the main control board 1 are connected by the second ball head and the second ball seat 3422 .

[0054] Specifically, a rotating shaft is provided at one end of the third shell away from the second shell, and a through hole is opened at one end of the connecting rod 341 and is passed through the rotating shaft to form a rotating fit; the telescopic rod 342 includes a first cylinder, a second cylinder and a rod body, and the first cylinder and the second cylinder are both open structures. The inner wall of the first cylinder is provided with a first annular limit plate, and the inner wall of the second cylinder is provided with a second annular limit plate. The first stop plate and the second stop plate are respectively provided at both ends of the rod body. The first stop plate is limited between the inner bottom wall of the first cylinder and the first annular limit plate, and the second stop plate is limited between the inner bottom wall of the second cylinder and the second annular limit plate, so that the first cylinder and the second cylinder can slide relative to each other in the axial direction; the other end of the connecting rod 341 forms a ball hinge connection with the first ball seat 3421 of the outer bottom wall of the first cylinder through the first ball head 3411, and the second ball seat 3422 of the outer bottom wall of the second cylinder and the second ball head on the main control board 1 constitute another set of ball hinge connections.

[0055] It should be noted that the main control board 1 consists of a printed circuit board (PCB) and a baseboard. The PCB is fixed to the baseboard surface, and the second ball head is mounted on the baseboard. The metacarpal shell 23 is fixedly connected to the baseboard via an elastic band. FPC connectors 11 corresponding to the five fingers are located on both sides of the PCB: the back is equipped with an FPC connector 11 for connecting to the thumb and pinky IMU sensors, and the front is equipped with FPC connectors 11 for connecting to the index, middle, and ring finger IMU sensors. The back of the hand IMU sensor 13 is directly integrated into the PCB itself. For example, three IMU sensors for the same finger are connected in series to the corresponding FPC connector 11. In addition, the PCB also integrates core components such as the MCU 12, USB connector 14, LDO power supply 15, USB controller 16, and motor driver 17.

[0056] Furthermore, the IMU sensor 13 is calibrated through static and dynamic calibration to eliminate data drift and initial installation position deviations, improving hand pose capture accuracy. Based on the calibrated adjacent IMU pose information, the relative angle data of adjacent joints during hand movement is calculated. Ultimately, the joint angles are mapped to the dexterous hand or simulation model, enabling motion capture or remote control.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. 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 hand motion capture data glove based on an IMU sensor, characterized in that: include: The main control panel is suitable for fixing on the back of the hand; The thumb mechanism includes a first section of the thumb, a second section of the thumb, a metacarpal shell, and a connector. The first section of the thumb and the second section of the thumb are connected in a sliding and rotating manner. The metacarpal shell is connected to the main control board via the connector. Finger mechanisms, the number of the finger mechanisms being four, each of the finger mechanisms comprising a first finger joint, a second finger joint, a third finger joint, and a telescopic rotation connection assembly, the first finger joint and the second finger joint being slidably and rotationally connected, the second finger joint and the third finger joint being slidably and rotationally connected, and the third finger joint being connected to the main control board via the telescopic rotation connection assembly; IMU sensor, the first section of the thumb, the second section of the thumb, the metacarpal shell, the first knuckle, the second knuckle and the third knuckle are all installed with the IMU sensor, each of the IMU sensors is electrically connected to the main control board, wherein the main control board is integrated with the IMU sensor.

2. The hand motion capture data glove based on an IMU sensor according to claim 1, characterized in that: The first section of the thumb includes a first fingertip cover, one end of the first fingertip cover is open, and the outer side of the first fingertip cover is provided with a first installation groove for installing the IMU sensor.

3. The hand motion capture data glove based on the IMU sensor according to claim 2, characterized in that: The second section of the thumb includes a first shell, which is in a semi-enclosed shape; the outer side of the first fingertip cover is provided with a first connecting part, and the outer side of the first shell is provided with a second connecting part, one of the first connecting part and the second connecting part is provided with a first rotating shaft, and the other is provided with a first sliding groove, and the first connecting part and the second connecting part are connected by the first rotating shaft and the first sliding groove.

4. The hand motion capture data glove based on an IMU sensor according to claim 3, characterized in that: The outer side surface of the first housing is provided with a second mounting groove for mounting the IMU sensor; and / or, The first shell is provided with a first through-hole and a second through-hole, and the first through-hole and the second through-hole are suitable for a strap to pass through.

5. The hand motion capture data glove based on an IMU sensor according to claim 1, characterized in that: The first finger joint includes a second fingertip cover, the second fingertip cover is open at one end, and the outer side surface of the second fingertip cover is provided with a third installation groove for installing the IMU sensor.

6. The hand motion capture data glove based on an IMU sensor according to claim 5, characterized in that: The second finger joint includes a second shell, and the second shell is in a semi-enclosed shape; A third connecting portion is provided on the outer side surface of the second fingertip cover, and a fourth connecting portion is provided on the outer side surface of the second shell. One of the third connecting portion and the fourth connecting portion is provided with a second rotating shaft, and the other is provided with a second sliding groove. The third connecting portion and the fourth connecting portion are connected by the second rotating shaft and the second sliding groove.

7. The hand motion capture data glove based on an IMU sensor according to claim 6, characterized in that: The third finger joint includes a third shell, and the third shell is in a semi-enclosed shape; The outer side surface of the second shell is also provided with a fifth connecting part, and the outer side surface of the third shell is provided with a sixth connecting part. One of the fifth connecting part and the sixth connecting part is provided with a third rotating shaft, and the other is provided with a third sliding groove. The fifth connecting part and the sixth connecting part are connected by matching the third rotating shaft and the third sliding groove.

8. The hand motion capture data glove based on an IMU sensor according to claim 7, characterized in that: The outer side surface of the second housing is provided with a fourth mounting groove for mounting the IMU sensor, and the second housing is provided with a third through-hole and a fourth through-hole, wherein the third through-hole and the fourth through-hole are suitable for passing a strap; The outer side surface of the third housing is provided with a fifth installation groove for installing the IMU sensor. The third housing is provided with a fifth through-hole and a sixth through-hole, and the fifth through-hole and the sixth through-hole are suitable for the strap to pass through.

9. The hand motion capture data glove based on an IMU sensor according to claim 1, characterized in that: The telescopic rotation connection assembly includes a connecting rod and a telescopic rod, one end of the connecting rod is rotatably connected to the third finger joint, the other end of the connecting rod is rotatably connected to one end of the telescopic rod, and the other end of the telescopic rod is rotatably connected to the main control board.

10. The hand motion capture data glove based on an IMU sensor according to claim 9, characterized in that: The connecting rod and the telescopic rod are connected by a first ball head and a first ball seat, and the telescopic rod and the main control board are connected by a second ball head and a second ball seat.

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