Finger motion capture device and finger joint angle measurement method

Abstract

The application relates to the technical field of human-computer interaction, in particular to a finger action capturing device and a finger joint angle measuring method. The finger action capturing device comprises a wearing assembly, a first measuring unit for measuring the transverse swing angle of the proximal end of a finger, a second measuring unit for measuring the longitudinal bending angle of the proximal end of the finger, a third measuring unit for measuring the longitudinal bending angle of the middle end of the finger, and a fourth measuring unit for measuring the longitudinal bending angle of the distal end of the finger. Independent angle measuring units are adopted for each joint of the finger to measure the transverse swing angle of the proximal end of the finger, the longitudinal bending angle of the proximal end of the finger, and the longitudinal bending angles of the middle end and the distal end of the finger, so that each finger joint measuring unit can acquire the swing or bending angle of the finger joint without delay, thereby capturing the motion state of the finger; the structure is compact, almost does not occupy the interdigital space between the fingers, and does not affect the flexibility of the finger motion after wearing.

Description

Technical Field

[0001] This invention relates to the field of human-computer interaction technology, and in particular to a finger motion capture device and a method for measuring finger joint angles. Background Technology

[0002] Motion capture gloves, as an important device for human-computer interaction, enable the recognition of human hand movements, thereby allowing robots to perform the same actions. They are indispensable in the fields of virtual reality and robot control. Currently, the mainstream motion capture gloves on the market mainly operate in two ways: vision-based gesture recognition and motion capture based on inertial measurement units (IMUs). Both solutions have certain limitations. Vision-based motion capture is easily affected by factors such as ambient light and occlusion, and its image processing speed is relatively slow, resulting in a certain delay. IMU-based motion capture suffers from cumulative errors; data acquired by a single IMU can drift, leading to significant deviations over long-term use. Existing technologies also include angle sensors mounted on the sides of the knuckles to obtain finger bending angles, but this is highly dependent on the installation position. If the sensor installation position deviates from the joint position, it will affect the measurement accuracy. Furthermore, this structure occupies space between the fingers, limiting the range of motion of each finger. Summary of the Invention

[0003] This invention provides a finger motion capture device and a method for measuring finger joint angles, in order to solve the defects of existing motion capture gloves, such as delay, large error and complex structure.

[0004] This invention provides a finger motion capture device, comprising: Wearing components include: a palm wearing piece, a first loop, a second loop, and a third loop, wherein the first loop, the second loop, and the third loop are connected to the palm wearing piece in sequence from near to far. The first measuring unit is located between the palm-mounted wearing piece and the first loop, and is used to measure the lateral swing angle of the proximal end of the finger; The second measuring unit is located between the palm-mounted wearing piece and the first loop, and is used to measure the longitudinal bending angle of the proximal end of the finger; The third measuring unit is located between the first collar and the second collar and is used to measure the longitudinal bending angle of the middle part of the finger. The fourth measuring unit, located between the second and third rings, is used to measure the longitudinal bending angle of the distal end of the finger.

[0005] According to the finger motion capture device provided by the present invention, the wearing component further includes: A base is provided on the palm-mounted wearing piece; The first adapter is provided on the base; A position adjustment component is disposed on the first adapter, and the first measuring unit is disposed on the position adjustment component.

[0006] According to the finger motion capture device provided by the present invention, the first adapter extends along the lateral direction of the palm wearing member, and the first adapter is provided with a plurality of first strip-shaped holes extending along the lateral direction. The position adjustment component includes: A first adjusting member is tunably disposed on the first strip hole, and the first adjusting member is provided with a second strip hole extending along the length of a finger; The second adjusting member is adjustable at one end on the second strip hole; The third adjustment member has a third strip-shaped hole extending along the height direction of the palm wearing member, and the third adjustment member is adjustablely positioned at the other end of the second adjustment member through the third strip-shaped hole, and the first measuring unit is disposed on the third adjustment member.

[0007] According to the finger motion capture device provided by the present invention, the first measurement unit includes: A first housing is connected to the third adjusting member, and a first rotating shaft is provided inside the first housing; The first guide rail is connected at one end to the first rotating shaft; The second adapter slides with the first guide rail and is connected to the second measuring unit. A first radial magnet is connected to the first rotating shaft; A first magnetic encoder is disposed on the first housing, and the angular change of the first rotating shaft is determined by the orientation change of the first radial magnet on the first magnetic encoder.

[0008] According to the finger motion capture device provided by the present invention, the second measurement unit includes: The second housing is connected to the second adapter, and a second rotating shaft is provided inside the second housing; The second guide rail is connected to the second rotating shaft at one end via a third adapter and is slidably connected to the first collar. A second radial magnet is connected to the second rotating shaft; A second magnetic encoder is disposed on the second housing, and the angular change of the second rotating shaft is determined by the orientation change of the second radial magnet on the second magnetic encoder.

[0009] According to the finger motion capture device provided by the present invention, the third measurement unit includes: A third housing is connected to the third adapter, and a third rotating shaft is provided inside the third housing; The third guide rail is connected at one end to the third rotating shaft and at the other end to the first collar; The fourth guide rail is connected to the third housing at one end via a fourth adapter, and slidably connected to the second collar at the other end. A third radial magnet is connected to the third rotating shaft; A third magnetic encoder is mounted on the third housing, and the angular change of the third rotating shaft is determined by the orientation change of the third radial magnet on the third magnetic encoder.

[0010] According to the finger motion capture device provided by the present invention, the fourth measurement unit includes: A fourth housing, within which a rotating shaft connecting rod is provided; The first connecting rod has one end hinged to the rotating shaft connecting rod; The second connecting rod has one end hinged to the fourth housing and the other end hinged to the other end of the first connecting rod; The fifth guide rail is connected at one end to the other end of the first connecting rod, and at the other end is slidably connected to the second collar. The sixth guide rail is connected at one end to the other end of the second connecting rod, and at the other end is slidably connected to the third collar. The fourth radial magnet is connected to the rotating shaft connecting rod; A fourth magnetic encoder is mounted on the fourth housing, and the angular change of the rotating shaft connecting rod is determined by the orientation change of the fourth radial magnet on the fourth magnetic encoder.

[0011] The present invention also provides a method for measuring the finger joint angle using a finger motion capture device according to the present invention, comprising: The lateral swing angle of the proximal end of the finger is measured by an encoder installed in the first measuring unit; The longitudinal bending angle of the proximal end of the finger is measured by an encoder installed in the second measuring unit; The longitudinal bending angle of the middle of the finger is measured by an encoder installed in the third measuring unit; The longitudinal bending angle of the distal end of the finger is measured by an encoder installed in the fourth measurement unit.

[0012] According to the finger joint angle measurement method of the finger motion capture device provided by the present invention, the second guide rail in the second measurement unit is set parallel to the proximal phalanx of the finger through the first collar, so that the encoder angle change in the second measurement unit is the same as the proximal joint angle change of the finger. The third guide rail in the third measurement unit is set parallel to the proximal phalanx of the finger via the first ring, and the fourth guide rail in the third measurement unit is set parallel to the middle phalanx of the finger via the second ring, so that the encoder angle change in the third measurement unit is the same as the angle change of the middle phalanx of the finger.

[0013] According to the finger joint angle measurement method of the finger motion capture device provided by the present invention, the fifth guide rail in the fourth measurement unit is set parallel to the middle phalanx of the finger through the second ring, and the sixth guide rail in the fourth measurement unit is set parallel to the distal phalanx of the finger through the third ring, so that the first connecting rod, the second connecting rod, the rotating shaft connecting rod and the fourth housing are connected to form a parallelogram structure, so that the encoder angle change in the fourth measurement unit is the same as the finger distal joint angle change.

[0014] This invention provides a finger motion capture device and a finger joint angle measurement method. Each finger joint employs an independent angle measurement unit to measure the lateral swing angle, longitudinal bending angle, mid-finger longitudinal bending angle, and distal-finger longitudinal bending angle of the proximal end of the finger. This eliminates the need for extensive computation time, allowing each finger joint measurement unit to acquire the swing or bending angle of the finger joint without delay, thereby capturing the finger's movement state. The measurement units are installed using mechanical structures such as a palm-mounted fitting and finger loops, resulting in a compact structure that occupies almost no space between fingers and does not affect the flexibility of finger movement after wearing. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the palm, knuckles, and joints in this invention.

[0017] Figure 2 This is a schematic diagram of the overall structure of the finger motion capture device provided in this embodiment of the invention.

[0018] Figure 3 This is a schematic diagram of the structure of the wearing component provided in an embodiment of the present invention.

[0019] Figure 4 This is a schematic diagram of the structure of the first adapter, the first adjusting member, and the second adjusting member provided in the embodiments of the present invention.

[0020] Figure 5This is a plan view of the first and second measuring units provided in the embodiments of the present invention.

[0021] Figure 6 This is an exploded view of the first measuring unit provided in an embodiment of the present invention.

[0022] Figure 7 This is an axial cross-sectional view of the first measuring unit provided in an embodiment of the present invention.

[0023] Figure 8 This is a connection diagram of the third measuring unit provided in an embodiment of the present invention.

[0024] Figure 9 This is a plan view of the third measuring unit provided in this embodiment of the invention.

[0025] Figure 10 This is an exploded view of the third measuring unit provided in this embodiment of the invention.

[0026] Figure 11 This is a connection diagram of the fourth measurement unit provided in an embodiment of the present invention.

[0027] Figure 12 This is a plan view of the fourth measurement unit provided in this embodiment of the invention.

[0028] Figure 13 This is a schematic diagram of the structure of the fourth measurement unit provided in this embodiment of the invention.

[0029] Figure 14 This is an exploded view of the fourth measurement unit provided in this embodiment of the invention.

[0030] Figure 15 This is a schematic diagram showing the connection between the first measuring unit and the second measuring unit provided in an embodiment of the present invention.

[0031] Figure 16 This is an exploded view of the second measuring unit provided in an embodiment of the present invention.

[0032] Figure 17 yes Figure 8 and Figure 9 Schematic diagram of the angle measurement principle of the third measurement unit.

[0033] Figure 18 yes Figure 11 and Figure 12 Schematic diagram of angle measurement principle of the fourth measurement unit.

[0034] Figure 19 yes Figure 5 and Figure 15 Schematic diagram of the angle measurement principle of the second measurement unit.

[0035] Figure label: 1. First measuring unit; 2. Second measuring unit; 3. Third measuring unit; 4. Fourth measuring unit; 11. First housing; 12. Rolling bearing; 13. First rotating shaft; 14. First guide rail; 16. First magnetic encoder; 17. First radial magnet; 18. First cover; 22. Second adapter; 22a. First self-lubricating bushing; 23. Second rotating shaft; 24. Second guide rail; 25. Third adapter; 26. Second housing; 27. Second radial magnet; 28. Second magnetic encoder; 29. ​​Second cover; 315. Third housing; 316. Third magnetic encoder; 317. Third radial magnet; 318. Third cover; 33. Third rotating shaft; 34a. Third guide rail; 34b. Fourth guide rail; 35. Fourth adapter; 41. Fourth housing; 41 6. Fourth magnetic encoder; 417. Fourth radial magnet; 42. Rotary shaft connecting rod; 43. First connecting rod; 44a. Fifth guide rail; 44b. Sixth guide rail; 45. Second connecting rod; 46. Irregularly shaped cover; 5. First collar; 5a. Second self-lubricating bushing; 5b. First self-lubricating bushing; 6. Second collar; 6a. Third self-lubricating bushing; 6b. Second self-lubricating bushing; 7. Third collar; 7b. Fourth self-lubricating bushing; 81. Proximal phalanx; 81a. Proximal joint; 82. Middle phalanx; 82a. Middle joint; 83. Distal phalanx; 83a. Distal joint; 90. Palm; 91. Palm wearing piece; 91a. Palm strap; 92. Base; 93. First adapter; 94. First adjusting piece; 95. Second adjusting piece; 96. Third adjusting piece. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0037] In the description of this embodiment, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this embodiment and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this embodiment.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this embodiment, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0039] In this embodiment, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," "link," and "fix" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this embodiment based on the specific circumstances.

[0040] In embodiments of the present invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0041] The following is combined Figures 1-19 This invention describes a finger motion capture device. The finger motion capture device includes: a wearing component, a first measuring unit 1, a second measuring unit 2, a third measuring unit 3, and a fourth measuring unit 4.

[0042] The wearing component includes: a palm wearing piece 91, a first ring 5, a second ring 6, and a third ring 7, which are connected to the palm wearing piece 91 in sequence from proximal to distal. A first measuring unit 1 is located between the palm wearing piece 91 and the first ring 5 and is used to measure the lateral swing angle of the proximal end of the finger. A second measuring unit 2 is located between the palm wearing piece 91 and the first ring 5 and is used to measure the longitudinal bending angle of the proximal end of the finger. A third measuring unit 3 is located between the first ring 5 and the second ring 6 and is used to measure the longitudinal bending angle of the middle end of the finger. A fourth measuring unit 4 is located between the second ring 6 and the third ring 7 and is used to measure the longitudinal bending angle of the distal end of the finger.

[0043] Specifically, the palm-mounted fitting 91 can be slipped onto the palm 90 via the palm strap 91a. The first set of rings 5 ​​is secured to the proximal phalanx 81, the second set of rings 6 is secured to the middle phalanx 82, and the third set of rings 7 is secured to the distal phalanx 83, ensuring that the rings do not tilt forward or backward along the length of the phalanx. As a preferred method of securing the rings, each ring can be secured to the corresponding phalanx with the assistance of straps; as another preferred method of securing the rings, each ring can also be first fixed to the knuckle part of a conventional elastic finger cot or glove by means of gluing, sewing, etc., and then worn with the finger cot or glove along with the fingers.

[0044] To facilitate the description of the various embodiments of the present invention, the phalanges and joints of the fingers are uniformly named. Taking a single finger as an example, the phalanges and joints closest to the palm 90 are the proximal phalanx 81 and the proximal joint 81a; the phalanges and joints furthest from the palm 90 are the distal phalanx 83 and the distal joint 83a; and the phalanges and joints in the middle are the mid-phalanx 82 and the mid-phalanx 82a. A single finger has 4 degrees of freedom, of which the proximal joint 81a has 2 degrees of freedom, including lateral swing and longitudinal bending of the proximal phalanx 81; the mid-phalanx joint 82a has 1 degree of freedom, including longitudinal bending of the mid-phalanx 82; and the distal joint 83a has 1 degree of freedom, including longitudinal bending of the distal phalanx 83. The movement and posture of the finger are obtained by measuring the swing and bending angles of each phalanx.

[0045] Specifically, the outer shell of the first measuring unit 1 is fixedly connected to the palm wearing piece 91 through related components, and is used to measure the lateral swing angle of the proximal joint 81a of the finger; the first measuring unit 1 is connected to the rotating shaft and the first collar 5 through related components, and is used to measure the longitudinal bending angle of the proximal joint 81a of the finger; the third measuring unit 3 is connected to the second collar 6 through related components, and is used to measure the longitudinal bending angle of the mid-joint 82a of the finger; the fourth measuring unit 4 is connected to the third collar 7 through related components, and is used to measure the longitudinal bending angle of the distal joint 83a of the finger.

[0046] As can be seen, the finger motion capture device provided by the present invention uses an independent angle measurement unit for each joint of the finger to measure the lateral swing angle of the proximal end of the finger, the longitudinal bending angle of the proximal end of the finger, the longitudinal bending angle of the middle end of the finger, and the longitudinal bending angle of the distal end of the finger. This eliminates the need for a large amount of calculation time, allowing each finger joint measurement unit to acquire the swing or bending angle of the finger joint without delay, thereby capturing the movement state of the finger. The measurement units are installed through mechanical structures such as the palm wearing piece 91 and the finger collar, resulting in a compact structure that occupies almost no space between the fingers and does not affect the flexibility of finger movement after wearing.

[0047] In one embodiment of the present invention, the wearing assembly further includes: a base 92, a first adapter 93, and a position adjustment component. The base 92 is disposed on the palm wearing component 91; the first adapter 93 is disposed on the base 92; the position adjustment component is disposed on the first adapter 93; and the first measuring unit 1 is disposed on the position adjustment component. Specifically, the base 92 is fixed to the back of the palm wearing component 91 by bolts; the bottom of the first adapter 93 is fixed to the base 92 and connected to the position adjustment component by bolts. The position adjustment component allows adjustment of the initial positions of each measuring unit and each collar to match the measurement needs of fingers of different sizes.

[0048] In one embodiment of the present invention, the first adapter 93 extends in the lateral direction of the palm wearing member 91, and the first adapter 93 is provided with a plurality of first strip-shaped holes extending in the lateral direction. The position adjustment member includes: a first adjustment member 94, a second adjustment member 95, and a third adjustment member 96. The first adjustment member 94 is adjustablely disposed on the first strip-shaped hole, and the first adjustment member 94 is provided with a second strip-shaped hole extending in the direction of finger length; one end of the second adjustment member 95 is adjustablely disposed on the second strip-shaped hole; the third adjustment member 96 is provided with a third strip-shaped hole extending in the height direction of the palm wearing member 91, and the third adjustment member 96 is adjustablely disposed on the other end of the second adjustment member 95 through the third strip-shaped hole, and the first measuring unit 1 is disposed on the third adjustment member 96. Specifically, the first adapter 93 is arranged in the lateral direction (i.e., the width direction) along the palm wearing part 91, and multiple first strip holes are provided on it for installing position adjustment parts for different fingers, so as to facilitate the capture of multiple finger movements; in addition, the first strip holes can adjust the lateral installation position of the first adjustment part 94. After the first adjustment part 94 is installed in the appropriate position of the first strip hole, it is fixed by bolts.

[0049] Furthermore, the position adjustment components include: a first adjustment component 94, a second adjustment component 95, and a third adjustment component 96. The first adjustment component 94 is fine-tuned in its lateral position via a first strip-shaped hole. The first adjustment component 94 extends along its front end and has a second strip-shaped hole extending along the length of a finger (i.e., the front-back direction). After the second adjustment component 95 is installed into the appropriate position of the second strip-shaped hole, it is secured with bolts, thus achieving fine-tuning of the front-back position of the second adjustment component 95. The second adjustment component 95 is an extension mounting component. The third adjustment component 96 has a third strip-shaped hole extending along the height direction (i.e., the vertical direction). After the third adjustment component 96 is adjusted to a suitable height position, it is secured to the second adjustment component 95 using the third strip-shaped hole and bolts. Additionally, the third adjustment component 96 is equipped with a mounting hole for mates with the first measuring unit 1. Other measuring units are sequentially connected to the distal end of the first measuring unit 1. As can be seen, the above structure allows for fine-tuning of the three-dimensional position of each measuring unit, ensuring that the first measuring unit 1 matches the center position of the proximal joint 81a of the finger, and ensuring that the relevant mechanisms do not interfere with the palm 90 or the finger joint.

[0050] In addition, to ensure installation stability, multiple of the above-mentioned strip holes can be arranged in parallel, with two of the first and second strip holes preferably provided.

[0051] In one embodiment of the present invention, the first measuring unit 1 includes: a first housing 11, a first guide rail 14, a second adapter 22, a first radial magnet 17, and a first magnetic encoder 16. The first housing 11 is connected to a third adjusting member 96, and a first rotating shaft 13 is disposed within the first housing 11; one end of the first guide rail 14 is connected to the first rotating shaft 13; the second adapter 22 is slidably engaged with the first guide rail 14 and connected to the second measuring unit 2; the first radial magnet 17 is connected to the first rotating shaft 13; the first magnetic encoder 16 is disposed on the first housing 11, and the angular change of the first rotating shaft 13 is determined by the orientation change of the first radial magnet 17 on the first magnetic encoder 16. Specifically, the first housing 11 and the third adjusting member 96 are fastened together by bolts. The first housing 11 has a first rotating shaft 13 that can swing horizontally, and extends outward through two parallel first guide rails 14. The second adapter 22 is embedded with a first self-lubricating bushing 22a to achieve sliding engagement with the first guide rails 14, forming a sliding pair. The second adapter 22 is also fixedly connected to the second measuring unit 2. The first radial magnet 17 and the first magnetic encoder 16 are structures for detecting the angle change of the first rotating shaft 13. The first radial magnet 17 is fixed to one side of the first rotating shaft 13. When the finger swings laterally, it drives the first rotating shaft 13 to rotate synchronously. The position of the first radial magnet 17 on the first magnetic encoder 16 changes, thereby detecting the lateral swing angle of the finger.

[0052] Furthermore, the first housing 11 is a split structure, with the first rotating shaft 13 and rolling bearing 12 installed inside the first housing 11. The first rotating shaft 13 is coaxially engaged with the first housing 11 on both sides through the rolling bearing 12. The split structure of the first housing 11 is fixed by screws and has stepped threaded holes on the side for assembly with external components. The first magnetic encoder 16 is arranged above the first radial magnet 17 and fixed to the first housing 11. The angle change of the first rotating shaft 13 is calculated based on the positional change of the first radial magnet 17. A first cover 18 is provided on the outside of the first housing 11 to fix and protect the first magnetic encoder 16 and the first radial magnet 17.

[0053] In one embodiment of the present invention, the second measuring unit 2 includes: a second housing 26, a second guide rail 24, a second radial magnet 27, and a second magnetic encoder 28. The second housing 26 is connected to a second adapter 22, and a second rotating shaft 23 is disposed within the second housing 26. One end of the second guide rail 24 is connected to the second rotating shaft 23 via a third adapter 25 and is slidably connected to a first collar 5. The second radial magnet 27 is connected to the second rotating shaft 23. The second magnetic encoder 28 is disposed on the second housing 26, and the angular change of the second rotating shaft 23 is determined by the orientation change of the second radial magnet 27 on the second magnetic encoder 28. Specifically, the second housing 26 and the second adapter 22 are fixed together by bolts. The second housing 26 contains a longitudinally swingable second rotating shaft 23, which extends outward through the second guide rail 24. The third adapter 25 has multiple through holes, and two parallel second guide rails 24 pass through the third adapter 25 and are slidably engaged with the first collar 5 via a first self-lubricating bushing 5b, forming a sliding pair.

[0054] Furthermore, the structure and assembly relationship of the second housing 26, the second radial magnet 27, and the second magnetic encoder 28 are similar to those of the first housing 11, the first radial magnet 17, and the first magnetic encoder 16 in the above embodiment. The angular change of the second rotating shaft 23 is calculated based on the orientation change of the second radial magnet 27. In this embodiment, when the proximal joint 81a of the finger is bent, it drives the second rotating shaft 23 to rotate synchronously, and the position of the second radial magnet 27 on the second magnetic encoder 28 changes, thereby detecting the longitudinal bending angle of the proximal joint 81a of the finger. Similarly, a second cover 29 is provided on the outside of the second housing 26 to fix and protect the second magnetic encoder 28 and the second radial magnet 27.

[0055] In one embodiment of the present invention, the third measuring unit 3 includes: a third housing 315, a third guide rail 34a, a fourth guide rail 34b, a third radial magnet 317, and a third magnetic encoder 316. The third housing 315 is connected to a third adapter 25, and a third rotating shaft 33 is disposed within the third housing 315; one end of the third guide rail 34a is connected to the third rotating shaft 33, and the other end is slidably connected to a first collar 5; one end of the fourth guide rail 34b is connected to the third housing 315 via a fourth adapter 35, and the other end is slidably connected to a second collar 6; the third radial magnet 317 is connected to the third rotating shaft 33; the third magnetic encoder 316 is disposed on the third housing 315, and the angular change of the third rotating shaft 33 is determined by the orientation change of the third radial magnet 317 on the third magnetic encoder 316. Specifically, the first ring 5 also has a second self-lubricating bushing 5a embedded inside it. One end of the third guide rail 34a is connected to the third rotating shaft 33 inside the third housing 315, and the other end of the third guide rail 34a is in sliding engagement with the first ring 5 through the second self-lubricating bushing 5a, forming a sliding pair. One end of the fourth guide rail 34b is fixed to the other side of the third housing 315 through the fourth adapter 35, and the other end of the fourth guide rail 34b is in sliding engagement with the second ring 6 through the third self-lubricating bushing 6a, forming a sliding pair.

[0056] Furthermore, the structure and assembly relationship of the third housing 315, the third radial magnet 317, and the third magnetic encoder 316 are similar to those of the first housing 11, the first radial magnet 17, and the first magnetic encoder 16 in the above embodiment. The angular change of the third rotating shaft 33 is calculated based on the orientation change of the third radial magnet 317. In this embodiment, when the mid-joint 82a of the finger is bent, it drives the third rotating shaft 33 to rotate synchronously, and the position of the third radial magnet 317 on the third magnetic encoder 316 changes, thereby detecting the longitudinal bending angle of the mid-joint 82a of the finger. Similarly, a third cover 318 is provided on the outside of the third housing 315 to fix and protect the third magnetic encoder 316 and the third radial magnet 317.

[0057] In one embodiment of the present invention, the fourth measuring unit 4 includes: a fourth housing 41, a first connecting rod 43, a second connecting rod 45, a fifth guide rail 44a, a sixth guide rail 44b, a fourth radial magnet 417, and a fourth magnetic encoder 416. A rotating shaft connecting rod 42 is provided inside the fourth housing 41; one end of the first connecting rod 43 is hinged to the rotating shaft connecting rod 42; one end of the second connecting rod 45 is hinged to the fourth housing 41, and the other end is hinged to the other end of the first connecting rod 43; one end of the fifth guide rail 44a is connected to the other end of the first connecting rod 43, and the other end is slidably connected to the second collar 6; one end of the sixth guide rail 44b is connected to the other end of the second connecting rod 45, and the other end is slidably connected to the third collar 7; the fourth radial magnet 417 is connected to the rotating shaft connecting rod 42; the fourth magnetic encoder 416 is disposed on the fourth housing 41, and the angular change of the rotating shaft connecting rod 42 is determined by the orientation change of the fourth radial magnet 417 on the fourth magnetic encoder 416. To avoid interference between components, this embodiment utilizes a special structure for the first connecting rod 43, the second connecting rod 45, the fourth housing 41, and the rotating shaft connecting rod 42 to provide mounting positions for structures such as the fourth radial magnet 417 and the fourth magnetic encoder 416. Specifically, the fourth housing 41 has a rod-shaped extension end, and its internal rotating shaft extends outward through the rotating shaft connecting rod 42. The rotating shaft connecting rod 42 is hinged to one end of the first connecting rod 43, the rod-shaped extension end of the fourth housing 41 is hinged to one end of the second connecting rod 45, and the other end of the first connecting rod 43 is hinged to the other end of the second connecting rod 45. Interference is avoided through the connecting rod structure. One end of the fifth guide rail 44a is fixedly connected to the first connecting rod 43, with the included angle between them remaining constant. The other end is slidably engaged with the second collar 6 through the second self-lubricating bushing 6b, forming a sliding pair. One end of the sixth guide rail 44b is fixedly connected to the second connecting rod 45, with the included angle between them remaining constant. The other end is slidably engaged with the third collar 7 through the fourth self-lubricating bushing 7b, forming a sliding pair. It can be seen that the bending of the distal joint 83a is transmitted to the rotating shaft link 42 by setting the linkage structure and guide rail.

[0058] Furthermore, the structure and assembly relationship of the fourth housing 41, the fourth radial magnet 417, and the fourth magnetic encoder 416 are similar to, but not entirely the same as, the first housing 11, the first radial magnet 17, and the first magnetic encoder 16 in the above embodiment. The fourth housing 41 includes an irregularly shaped housing and a general-purpose housing, and also employs an irregularly shaped cover 46. The irregularly shaped housing and the irregularly shaped cover 46 have rod-shaped extension ends for hinged connection with the second connecting rod 45. The general-purpose housing has the same structure as the encoder housing described above. The angular change of the rotating shaft connecting rod 42 is calculated based on the orientation change of the fourth radial magnet 417. In this embodiment, when the distal joint 83a of the finger bends, it drives the rotating shaft connecting rod 42 to rotate synchronously, causing the position of the fourth radial magnet 417 on the fourth magnetic encoder 416 to change, thereby detecting the longitudinal bending angle of the distal joint 83a of the finger.

[0059] As can be seen, each angle measurement unit in the above embodiments uses an encoder to obtain the swing or bending angle of the finger joint, and the structures of each angle measurement unit are similar, which makes them highly versatile and low in production cost.

[0060] The present invention also provides a method for measuring the finger joint angle of the finger motion capture device according to the above embodiments of the present invention. The method for measuring the finger joint angle includes the following steps: The encoder in the first measuring unit 1 measures the lateral swing angle of the proximal end of the finger; the encoder in the second measuring unit 2 measures the longitudinal bending angle of the proximal end of the finger; the encoder in the third measuring unit 3 measures the longitudinal bending angle of the middle end of the finger; and the encoder in the fourth measuring unit 4 measures the longitudinal bending angle of the distal end of the finger.

[0061] In one embodiment of the present invention, the second guide rail 24 in the second measuring unit 2 is arranged parallel to the proximal phalanx 81 of the finger via the first collar 5, so that the encoder angle change in the second measuring unit 2 is the same as the angle change of the proximal phalanx 81a of the finger; the third guide rail 34a in the third measuring unit 3 is arranged parallel to the proximal phalanx 81 of the finger via the first collar 5, and the fourth guide rail 34b in the third measuring unit 3 is arranged parallel to the middle phalanx 82 of the finger via the second collar 6, so that the encoder angle change in the third measuring unit 3 is the same as the angle change of the middle phalanx 82a of the finger. In this embodiment, the second guide rail 24 and the proximal phalanx 81 are arranged in parallel through the first collar 5, that is, the second guide rail 24 and the proximal phalanx 81 are both perpendicular to the first collar 5; similarly, the third guide rail 34a and the proximal phalanx 81 are both perpendicular to the first collar 5, and the fourth guide rail 34b and the middle phalanx 82 are both perpendicular to the second collar 6, thereby transmitting the bending angle of the proximal phalanx 81 to the second measuring unit 2 and transmitting the bending angle of the middle phalanx 82 to the third measuring unit 3.

[0062] In one embodiment of the present invention, the fifth guide rail 44a in the fourth measuring unit 4 is arranged parallel to the middle knuckle 82 of the finger via the second collar 6, and the sixth guide rail 44b in the fourth measuring unit 4 is arranged parallel to the distal knuckle 83 of the finger via the third collar 7. The first connecting rod 43, the second connecting rod 45, the rotating shaft connecting rod 42, and the fourth housing 41 are connected to form a parallelogram structure, so that the encoder angle change in the fourth measuring unit 4 is the same as the angle change of the distal knuckle 83a of the finger. In this embodiment, the fourth measuring unit 4 adopts a connecting rod structure to avoid component interference affecting the measurement. The first connecting rod 43, the second connecting rod 45, the rotating shaft connecting rod 42, and the fourth housing 41 are connected to form a parallelogram structure, and the first pull rod is connected to... Specifically, the fifth guide rail 44a and the middle finger joint 82 are perpendicular to the second ring 6, the sixth guide rail 44b and the distal finger joint 83 are perpendicular to the third ring 7, and the angle between the fifth guide rail 44a and the first connecting rod 43 is a constant, and the angle between the sixth guide rail 44b and the second connecting rod 45 is a constant. The bending angle change of the middle finger joint 82 is determined by the angle change measured by the encoder in the fourth measuring unit 4.

[0063] As can be seen, the present invention adopts a purely mechanical guide rail / linkage structure to transmit the finger joint angle to each encoder, so that each finger joint encoder can obtain the swing or bending angle of the corresponding finger joint in real time without consuming a lot of calculation time, thereby capturing the movement state of the finger; moreover, the finger bending angle measurement method of the present invention does not depend on the precise position of the human finger joint, and each angle measurement unit can adaptively move its position to perform angle measurement, making it widely applicable.

[0064] The measurement process of the first measuring unit 1 is illustrated by the following embodiments: In this method, the first measuring unit 1 is responsible for measuring the lateral swing angle of the proximal joint 81a. Before operation, the first rotating shaft 13 must be aligned with the center of the proximal joint 81a of the finger. When the finger swings laterally around the proximal joint 81a, the first collar 5 drives the first measuring unit 1 to rotate laterally synchronously, and the second adapter 22 drives the first guide rail 14 and the first rotating shaft 13 to rotate synchronously. After the finger is laterally centered for initial calibration, the lateral swing angle of the proximal joint 81a is 0. The angle change measured by the first measuring unit 1 is the lateral swing angle of the proximal joint 81a.

[0065] The measurement process of the second measurement unit 2 is illustrated by the following embodiments: like Figure 5 , Figure 15 and Figure 19As shown in the schematic diagram, line segment AB represents the proximal phalanx 81, and ∠NBA represents the bending angle of the proximal joint 81a. Line segment DD' represents the first collar 5, which is fixed to line segment AB, and DD'⊥AB. Line segment A'B' represents the second guide rail 24. AB∥A'B', BN∥B'N', and ∠NBA=∠N'B'A'. D' represents the first self-lubricating bushing 5b, which forms a sliding pair with line segment A'B'. Line segment B'E represents the second housing 26. Line segment HK represents the first guide rail 14, and line segment EFG represents the second adapter 22. Its B'E is fixed to form line segment B'EFG, which forms a sliding pair with line segment HK at point G. ∠EB'A' represents the encoder angle obtained by the second measurement unit 2, ∠EB'A'=∠N'B'A'+∠EB'N', where ∠EB'N' is a constant (initial calibration value).

[0066] When line segment BA rotates downwards around point B, line segment B'A' translates along the sliding joint D' towards BA, simultaneously causing line segment B'EFG to translate along the sliding joint G towards HK. The change in ∠NBA remains the same as the change in ∠EB'A'. Initial calibration of the encoder in the second measurement unit 2 is performed with the proximal joint 81a of the finger fully extended. At this time, the longitudinal bending angle of the proximal joint 81a is 0, and the angle change value collected by the encoder in the second measurement unit 2 is equal to the actual value of the longitudinal bending angle of the proximal joint 81a.

[0067] The measurement process of the third measurement unit 3 is illustrated by the following embodiments: like Figure 8 , Figure 9 and Figure 17As shown in the schematic diagram, line segment AB represents the proximal phalanx 81, line segment BC represents the middle phalanx 82, and ∠ABC represents the current bending state of the middle joint 82a. Line segment DD' represents the first ring 5, which is fixed to line segment AB, and DD'⊥AB. Line segment EE' represents the second ring 6, which is fixed to line segment BC, and EE'⊥BC. Line segment A'B' represents the third guide rail 34a, line segment B'C' represents the fourth guide rail 34b, and ∠A'B'C' represents the encoder angle obtained by the third measuring unit 3. AB∥A'B', BC∥B'C', and ∠ABC=∠A'B'C'. D' represents the second self-lubricating bushing 5a, which forms a sliding joint with line segment A'B'; E' represents the third self-lubricating bushing 6a, which forms a sliding joint with line segment B'C. The downward rotation of line segment BC around point B represents the downward bending of the middle phalanx 82 around the middle joint 82a. When line segment BC rotates downward around point B, line segment B'C' translates along the sliding joint E' in the direction of BC, and line segment A'B' translates along the sliding joint D' in the direction of AB. The change in ∠ABC remains the same as the change in ∠A'B'C'. Thus, the encoder of the third measurement unit 3 is initially calibrated when the middle joint 82a of the finger is fully extended. At this time, the bending angle of the middle joint 82a of the finger is 0, and the angle change value collected by the encoder in the third measurement unit 3 is equal to the actual value of the longitudinal bending angle of the middle joint 82a of the finger. At the same time, this angle measurement mechanism does not depend on the precise position of the human finger joint. The angle measurement unit can adaptively move its position to perform angle measurement. That is, when the length of DB changes, D'B' will move to the corresponding position according to the length of DD', ensuring that the measured angle remains unchanged.

[0068] The measurement process of the fourth measurement unit 4 is illustrated by the following embodiments: like Figure 11 , Figure 12 and Figure 18As shown in the schematic diagram, line segment AB represents the middle finger joint 82, line segment BC represents the distal finger joint 83, and ∠ABC represents the current bending state of the distal joint 83a. Line segment DD' represents the second ring 6, which is fixed to line segment AB, and DD'⊥AB; line segment EE' represents the third ring 7, which is fixed to line segment BC, and EE'⊥BC. Line segment A'B' represents the fifth guide rail 44a, and line segment B'C' represents the sixth guide rail 44b. AB∥A'B', BC∥B'C', and ∠ABC=∠A'B'C'. Line segment B'H represents the first connecting rod 43, line segment HG represents the rotating shaft connecting rod 42, line segment B'F represents the second connecting rod 45, and line segment GF represents the rod-shaped extension end of the fourth housing 41 (i.e., the structure composed of an irregularly shaped housing and an irregularly shaped cover plate). ∠HGF represents the encoder angle acquired by the fourth measurement unit 4, ∠HGF = 360° - ∠A'B'C' - ∠A'B'H - ∠FB'C', where ∠A'B'H and ∠FB'C' are constants. D' represents the second self-lubricating bushing 6b, which forms a sliding pair with line segment A'B'; E' represents the fourth self-lubricating bushing 7b, which forms a sliding pair with line segment B'C. When line segment BC rotates downward around point B, line segment B'C' translates along sliding pair E' towards BC, and line segment A'B' translates along sliding pair D' towards AB. The change in ∠ABC is the same as the change in ∠HGF. The encoder of the fourth measurement unit 4 is initially calibrated with the distal finger joint 83a fully extended. At this time, the bending angle of the distal finger joint 83a is 0, and the angle change value acquired by the encoder in the fourth measurement unit 4 is equal to the actual value of the longitudinal bending angle of the distal finger joint 83a.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A finger motion capture device, characterized in that, include: Wearing components include: a palm wear piece (91), a first ring (5), a second ring (6) and a third ring (7), wherein the first ring (5), the second ring (6) and the third ring (7) are connected to the palm wear piece (91) in sequence from near to far; The first measuring unit (1) is located between the palm wearing piece (91) and the first collar (5) and is used to measure the lateral swing angle of the proximal end of the finger. The second measuring unit (2) is located between the palm wearing piece (91) and the first collar (5) and is used to measure the longitudinal bending angle of the proximal end of the finger. The third measuring unit (3) is located between the first collar (5) and the second collar (6) and is used to measure the longitudinal bending angle of the middle part of the finger. The fourth measuring unit (4) is located between the second ring (6) and the third ring (7) and is used to measure the longitudinal bending angle of the distal end of the finger.

2. The finger motion capture device according to claim 1, characterized in that, The wearable component also includes: A base (92) is provided on the palm wearer (91); The first adapter (93) is disposed on the base (92); A position adjustment component is provided on the first adapter (93), and the first measuring unit (1) is provided on the position adjustment component.

3. The finger motion capture device according to claim 2, characterized in that, The first adapter (93) extends in the lateral direction of the palm wearing member (91), and the first adapter (93) is provided with a plurality of first strip holes extending in the lateral direction; The position adjustment component includes: The first adjusting member (94) is tunably disposed on the first strip hole, and the first adjusting member (94) is provided with a second strip hole extending along the length of a finger; The second adjusting member (95) is adjustable at one end on the second strip hole; The third adjustment member (96) has a third strip hole extending along the height direction of the palm wearing member (91), and the third adjustment member (96) is tunably disposed at the other end of the second adjustment member (95) through the third strip hole, and the first measuring unit (1) is disposed on the third adjustment member (96).

4. The finger motion capture device according to claim 3, characterized in that, The first measuring unit (1) includes: The first housing (11) is connected to the third adjusting member (96), and a first rotating shaft (13) is provided inside the first housing (11). The first guide rail (14) is connected at one end to the first rotating shaft (13); The second adapter (22) slides with the first guide rail (14) and is connected to the second measuring unit (2); The first radial magnet (17) is connected to the first rotating shaft (13); The first magnetic encoder (16) is disposed on the first housing (11), and the angular change of the first rotating shaft (13) is determined by the orientation change of the first radial magnet (17) on the first magnetic encoder (16).

5. The finger motion capture device according to claim 4, characterized in that, The second measuring unit (2) includes: The second housing (26) is connected to the second adapter (22), and a second rotating shaft (23) is provided inside the second housing (26). The second guide rail (24) is connected at one end to the second rotating shaft (23) via the third adapter (25) and is slidably connected to the first collar (5); The second radial magnet (27) is connected to the second rotating shaft (23); The second magnetic encoder (28) is disposed on the second housing (26), and the angular change of the second rotating shaft (23) is determined by the orientation change of the second radial magnet (27) on the second magnetic encoder (28).

6. The finger motion capture device according to claim 5, characterized in that, The third measurement unit (3) includes: The third housing (315) is connected to the third adapter (25), and a third rotating shaft (33) is provided inside the third housing (315). The third guide rail (34a) is connected at one end to the third rotating shaft (33) and at the other end to the first collar (5); The fourth guide rail (34b) is connected to the third housing (315) at one end via the fourth adapter (35), and slidably connected to the second collar (6) at the other end; The third radial magnet (317) is connected to the third rotating shaft (33); The third magnetic encoder (316) is disposed on the third housing (315), and the angular change of the third rotating shaft (33) is determined by the orientation change of the third radial magnet (317) on the third magnetic encoder (316).

7. The finger motion capture device according to claim 1, characterized in that, The fourth measurement unit (4) includes: A fourth housing (41) is provided with a rotating shaft connecting rod (42) inside the fourth housing (41). The first connecting rod (43) is hinged at one end to the rotating shaft connecting rod (42); The second link (45) is hinged at one end to the fourth housing (41) and at the other end to the other end of the first link (43); The fifth guide rail (44a) is connected at one end to the other end of the first connecting rod (43) and at the other end to the second collar (6); The sixth guide rail (44b) is connected at one end to the other end of the second connecting rod (45) and at the other end to the third collar (7); The fourth radial magnet (417) is connected to the rotating shaft connecting rod (42); The fourth magnetic encoder (416) is disposed on the fourth housing (41), and the angular change of the rotating shaft link (42) is determined by the orientation change of the fourth radial magnet (417) on the fourth magnetic encoder (416).

8. A method for measuring the finger joint angle of a finger motion capture device according to any one of claims 1 to 7, characterized in that, include: The lateral swing angle of the proximal end of the finger is measured by the encoder set in the first measuring unit (1); The longitudinal bending angle of the proximal end of the finger is measured by the encoder installed in the second measuring unit (2); The longitudinal bending angle of the middle part of the finger is measured by the encoder set in the third measuring unit (3); The longitudinal bending angle of the distal end of the finger is measured by the encoder set in the fourth measuring unit (4).

9. The method for measuring the finger joint angle of the finger motion capture device according to claim 8, characterized in that, The second guide rail (24) in the second measuring unit (2) is set parallel to the proximal phalanx (81) of the finger via the first collar (5) so that the encoder angle change in the second measuring unit (2) is the same as the angle change of the proximal phalanx (81a) of the finger; The third guide rail (34a) in the third measuring unit (3) is set parallel to the proximal phalanx (81) of the finger via the first ring (5), and the fourth guide rail (34b) in the third measuring unit (3) is set parallel to the middle phalanx (82) of the finger via the second ring (6), so that the encoder angle change in the third measuring unit (3) is the same as the angle change of the middle phalanx (82a) of the finger.

10. The method for measuring the finger joint angle of the finger motion capture device according to claim 8, characterized in that, The fifth guide rail (44a) in the fourth measuring unit (4) is set parallel to the middle knuckle (82) of the finger through the second ring (6), and the sixth guide rail (44b) in the fourth measuring unit (4) is set parallel to the distal knuckle (83) of the finger through the third ring (7), so that the first connecting rod (43), the second connecting rod (45), the rotating shaft connecting rod (42) and the fourth housing (41) are connected to form a parallelogram structure, so that the encoder angle change in the fourth measuring unit (4) is the same as the angle change of the distal knuckle (83a) of the finger.

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