Glove and motion capture garment for collecting finger motion and touch perception data

Abstract

The utility model relates to the technical field of motion capture, in particular to a glove for acquiring finger motion and touch sensing data. The glove comprises a glove body, and the glove body is provided with a plurality of inertial measurement units used for collecting finger action data and a touch sensor used for collecting touch sensing data. The inertial measurement units are arranged on the back surface of the glove body, and the touch sensors are arranged on the front surface of the glove body; a receiving end is arranged at the hand back of the glove body; the inertial measurement unit and the touch sensor are in wired connection to transmit data to a receiving end; and the receiving end receives the data, summarizes and sends to the upper computer. According to the utility model, the plurality of inertial measurement units and the touch sensors are arranged on the glove body, and data are transmitted to the receiving end in a wired connection manner, so that finger action data are comprehensively and accurately acquired.

Description

Technical Field

[0001] The utility model relates to the technical field of motion capture, in particular to a glove used for collecting finger motion and tactile perception data. Background Art

[0002] Existing data acquisition glove solutions based on inertial measurement units (IMUs) have the following characteristics:

[0003] In terms of sensor composition, a 6-axis or 9-axis IMU module is integrated at each finger joint, and its application scenarios are quite wide. In the fields of virtual reality and augmented reality, it can be used to capture hand movements to achieve the purpose of human-computer interaction and gesture control; in robot remote control, it can be used to control robot arms to complete complex operation tasks; in rehabilitation training, it can be used to evaluate and train the recovery of patients' hand functions.

[0004] However, existing technologies have the following drawbacks: Each finger is equipped with only one IMU sensor, forcing the relative angle measurement from the hand tip to the finger tip to be calculated through pure interpolation. This also makes it impossible to integrate with a camera to achieve spatial positioning, hindering subsequent motion capture applications. Utility Model Content

[0005] The purpose of this utility model is to address the problems existing in the background technology and propose a glove for collecting finger movement and tactile perception data. By arranging multiple inertial measurement units and tactile sensors on the glove body and using wired connections to transmit data to the receiving end, finger movement data can be comprehensively and accurately collected.

[0006] The technical solution of the utility model is a glove for collecting finger movement and tactile perception data, comprising a glove body, on which are provided a plurality of inertial measurement units for collecting finger movement data and tactile sensors for collecting tactile perception data;

[0007] The inertial measurement units are all located on the back of the glove body, while the tactile sensors are all located on the front of the glove body;

[0008] A receiving end is set on the back of the glove body; the inertial measurement unit and the tactile sensor are connected by wires to transmit data to the receiving end; the receiving end receives the data and aggregates it and sends it to the host computer.

[0009] In an optional embodiment, each finger is provided with at least two inertial measurement units; the inertial measurement units include a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer, which are used to record the three-axis acceleration, three-axis angular velocity and geomagnetic field data of the finger joints respectively.

[0010] Preferably, a separate inertial measurement unit is provided on the back of the glove body, near the receiving end.

[0011] In an optional embodiment, each finger is provided with at least two tactile sensors for recording information on the force intensity applied by the finger when grasping an object and providing real-time feedback of tactile data.

[0012] Preferably, at least one tactile sensor is provided on the front of the glove body, near the thenar eminence and the hypothenar eminence respectively.

[0013] In an optional embodiment, an inner packaging material is provided inside the glove body, and an arc-shaped plate for support is provided along the outside of the inner packaging material; the inertial measurement unit is fixed on the arc-shaped plate, and the tactile sensor is located at the bottom of the arc-shaped plate; the flexible circuit board (FPC) used to connect the inertial measurement unit and the tactile sensor is glued and fixed along the edge of the arc-shaped plate.

[0014] In an optional embodiment, the inertial measurement unit and the tactile sensor located at the same joint of the finger are grouped together, connected using the same flexible circuit board FPC, and connected to the receiving end through a wire.

[0015] In an optional embodiment, an outer packaging material is provided on the outside of the glove body to wrap the inertial measurement unit, the tactile sensor and the flexible circuit board FPC; the outer layer of the outer packaging material increases friction.

[0016] Preferably, a mark for spatial positioning is provided on the back of the glove body for image detection in a camera.

[0017] A motion capture suit uses the above-mentioned gloves to adapt and collect finger movements and tactile perception data, and fully captures the hand movements when the human body is grasping an object.

[0018] Compared with the prior art, the present invention has the following beneficial technical effects:

[0019] The gloves provided in this application for collecting finger motion and tactile perception data comprehensively and accurately collect finger motion data by setting multiple inertial measurement units and tactile sensors on the glove body and using wired connections to transmit data to the receiving end: the setting of multiple inertial measurement units, especially including three-axis accelerometers, three-axis gyroscopes and three-axis magnetometers, can comprehensively and accurately record the motion information of finger joints from multiple dimensions, including acceleration, angular velocity and geomagnetic field data, so as to accurately restore the complex movements of the fingers. Real-time acquisition of tactile perception data: The equipped tactile sensors can capture the tactile information of the fingers when they come into contact with the outside world in real time, providing richer data support for subsequent analysis and application. The flexible data transmission method makes data transmission more convenient and flexible, adapting to different usage scenarios and needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the embodiments of this specification. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0021] Figure 1 This is a schematic diagram of the back structure of the glove body in an embodiment of the present utility model;

[0022] Figure 2 This is a schematic diagram of the front structure of the glove body of the present invention;

[0023] Figure 3 This is a cross-sectional view of the inertial measurement unit and the tactile sensor installation structure in an embodiment of the present utility model;

[0024] Figure 4 2 is a cross-sectional view of the inertial measurement unit and the tactile sensor installation structure in an embodiment of the present invention.

[0025] Reference numerals: 1. glove body; 11. inner packaging material; 12. outer packaging material; 100. inertial measurement unit; 101. wire; 102. flexible circuit board (FPC); 200. tactile sensor; 2. receiving end. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. It should be noted that, in the absence of conflict, the embodiments in this disclosure and the features in the embodiments can be combined, separated, interchanged and / or rearranged with each other. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. Example

[0027] The present invention proposes a glove for collecting finger motion and tactile perception data, comprising a glove body 1, on which are provided a plurality of inertial measurement units 100 for collecting finger motion data and tactile sensors 200 for collecting tactile perception data;

[0028] like Figure 1As shown, the inertial measurement unit 100 is arranged on the back of the glove body 1; the receiving end 2 is set on the back of the glove body 1; the inertial measurement unit 100 and the tactile sensor 200 are connected by wires to transmit data to the receiving end 2; the receiving end 2 receives the data and aggregates it and sends it to the host computer.

[0029] Each finger is provided with at least two inertial measurement units 100; the inertial measurement unit 100 includes a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer, which are respectively used to record the three-axis acceleration, three-axis angular velocity and geomagnetic field data of the finger joints.

[0030] A separate inertial measurement unit 100 is provided on the back of the glove body 1 , near the receiving end 2 .

[0031] like Figure 2 As shown, the tactile sensors 200 are all arranged on the front side of the glove body 1; each finger is provided with at least two tactile sensors 200, which are used to record the force intensity information applied by the finger when grasping an object and can provide real-time feedback of tactile data.

[0032] At least one tactile sensor 200 is provided on the front side of the glove body 1, near the thenar eminence and the hypothenar eminence respectively.

[0033] In this embodiment, an inertial measurement unit 100 and a tactile sensor 200 are provided at each finger joint, and at least two are guaranteed to be provided for each finger; the inertial measurement unit 100 and the tactile sensor 200 located at the same joint of the finger are grouped together, connected by the same flexible circuit board FPC102, and connected to the receiving end 2 through the wire 101; in addition, in this embodiment, a separate inertial measurement unit 100 is provided near the receiving end 2, and at least one tactile sensor 200 is provided near the thenar eminence and the hypothenar eminence respectively; compared with the existing technology, the motion information of the finger joints can be comprehensively and accurately recorded from multiple dimensions, including acceleration, angular velocity and geomagnetic field data, so as to accurately restore the complex movements of the fingers; real-time acquisition of tactile perception data: the equipped tactile sensor can capture the tactile information when the finger contacts the outside world in real time.

[0034] In an optional embodiment, an inner packaging material 11 is provided within the glove body 1, and a curved plate 3 is provided along the outer surface of the inner packaging material 11 for support. The inertial measurement unit 100 is fixed to the curved plate 3, and the tactile sensor 200 is located at the bottom of the curved plate 3. The flexible circuit board (FPC) 102 used to connect the inertial measurement unit 100 and the tactile sensor 200 is glued and fixed along the edge of the curved plate 3. An outer packaging material 12 is provided on the outside of the glove body 1 to enclose the inertial measurement unit 100, the tactile sensor 200, and the flexible circuit board (FPC) 102. The outer layer of the outer packaging material 12 increases friction.

[0035] In this embodiment, the curved plate 3 can be 3D printed in different sizes according to the locations where the inertial measurement unit 100 and the tactile sensor 200 are to be installed, so that they can be easily installed on the glove body 1; the curved plate 3 is used to fix the inertial measurement unit 100 and the tactile sensor 200; and the flexible circuit board FPC102 can be glued and fixed along the edge of the curved plate 3 by glue to prevent the flexible circuit board FPC102 from being pulled to the inertial measurement unit 100 due to pressure during use; in this embodiment, the outer packaging material 12 used can increase friction and serve as a decoration; the inner packaging material 11 serves as an auxiliary fixation.

[0036] In addition, in this embodiment, a mark for spatial positioning is provided on the back of the glove body 1, which is used for image detection in the camera and spatial positioning. Example

[0037] A motion capture suit uses the gloves in Example 1 to adapt and collect finger movements and tactile perception data, and fully captures hand movements when the human body is grasping an object.

[0038] In this embodiment, the glove body 1, when used in conjunction with a motion capture suit, can be used to capture the entire motion of a person grasping an object. Because each finger has two IMUs and magnetometers, the motion trajectory of the finger can be captured more accurately. This captured data can be used to train a relatively high-precision embodied intelligence model.

[0039] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Various changes can be made within the knowledge scope of those skilled in the art without departing from the purpose of the present invention.

Claims

1. A glove for collecting finger movement and tactile perception data, comprising a glove body (1), characterized in that: The glove body (1) is provided with a plurality of inertial measurement units (100) for collecting finger motion data and tactile sensors (200) for collecting tactile perception data; The inertial measurement units (100) are all arranged on the back of the glove body (1), while the tactile sensors (200) are all arranged on the front of the glove body (1); A receiving end (2) is provided at the back of the hand of the glove body (1); the inertial measurement unit (100) and the tactile sensor (200) are connected via a wire to transmit data to the receiving end (2); the receiving end (2) receives the data and aggregates the data before sending it to a host computer; An inner packaging material (11) is provided inside the glove body (1), and an arc-shaped plate (3) for support is provided outside the inner packaging material (11); an inertial measurement unit (100) is fixed on the arc-shaped plate (3), and a tactile sensor (200) is located at the bottom of the arc-shaped plate (3); a flexible circuit board (FPC) (102) for connecting the inertial measurement unit (100) and the tactile sensor (200) is adhered and fixed along the edge of the arc-shaped plate (3) by glue; The inertial measurement unit (100) and the tactile sensor (200) located at the same joint of a finger are grouped together and connected using the same flexible circuit board (FPC) (102) and connected to the receiving end (2) via a wire (101).

2. The glove for collecting finger motion and tactile perception data according to claim 1, characterized in that: Each finger is provided with at least two inertial measurement units (100); the inertial measurement unit (100) comprises a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, which are respectively used to record the three-axis acceleration, three-axis angular velocity, and geomagnetic field data of the finger joints.

3. The glove for collecting finger motion and tactile perception data according to claim 2, characterized in that: A separate inertial measurement unit (100) is provided on the back of the glove body (1), near the receiving end (2).

4. The glove for collecting finger motion and tactile perception data according to claim 1, characterized in that: Each finger is provided with at least two tactile sensors (200) for recording information on the strength of the force applied by the finger when grasping an object, and capable of feeding back tactile data in real time.

5. The glove for collecting finger motion and tactile perception data according to claim 4, characterized in that: At least one tactile sensor (200) is respectively provided on the front side of the glove body (1), near the thenar eminence and the hypothenar eminence.

6. The glove for collecting finger motion and tactile perception data according to claim 1, characterized in that: An outer packaging material (12) is provided on the outside of the glove body (1) for wrapping the inertial measurement unit (100), the tactile sensor (200) and the flexible circuit board FPC (102); the outer layer of the outer packaging material (12) increases friction.

7. The glove for collecting finger motion and tactile perception data according to claim 1, characterized in that: The back of the glove body (1) is provided with a mark for spatial positioning, which is used for image detection in a camera.

8. A motion capture suit, characterized in that: The glove according to any one of claims 1 to 7 is adapted to collect finger motion and tactile perception data, and fully captures hand motions when a human body is grasping an object in motion capture.

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