Angle measurement data glove

Abstract

The utility model provides an angle measurement data glove which comprises a glove body and a plurality of angle measurement devices, the glove body is worn on a hand and moves along with the hand, and the angle measurement devices are arranged on the glove body and correspond to the positions of fingers. The angle measuring device comprises a base and a measuring unit, the base is connected with the glove body and moves along with the glove body, the measuring unit is arranged on the base and corresponds to the phalanx and the knuckle, and when the base moves along with the glove body, the measuring unit on the base is used for measuring the bending angle of each part of the base or the included angle between the bases. The angle measurement data glove provided by the utility model is accurate and comprehensive in measurement and comfortable to wear, and can be applied to mirror image training as a rehabilitation glove, so that the training effect is effectively improved, and accurate rehabilitation is realized.

Description

Technical Field

[0001] This utility model belongs to the field of soft robots, specifically relating to an angle measurement data glove. Background Technology

[0002] Data gloves are sensor devices that capture hand movement data and are widely used in virtual reality, robotics control, and medical rehabilitation. Their core technology is sensors used to capture finger joint angles and movement trajectories. Currently, data gloves primarily employ bending sensors and inertial sensors. Bending sensors sense angle information by measuring changes in resistance when the finger bends, while inertial sensors sense motion information by measuring acceleration and angular velocity. With the continuous development of sensor technology, the accuracy and stability of data gloves have significantly improved, but several challenges remain, the biggest being recognition accuracy and stability. Due to the diversity and complexity of gestures and finger joint movement trajectories, improving recognition accuracy and stability is a pressing issue. Furthermore, the comfort and wearability of data gloves are also important factors affecting their application; designing more comfortable, lightweight, and easy-to-wear data gloves is one of the future research directions.

[0003] Data gloves are widely used in the market, but most data gloves only measure the overall bending angle of the fingers and cannot measure the bending angle of each joint of the fingers. Furthermore, they cannot measure the opening angle between the fingers when the fingers are open. Consequently, medical staff cannot adjust rehabilitation strategies in a timely manner by analyzing and evaluating the training effect to achieve precise rehabilitation. Utility Model Content

[0004] In view of the shortcomings of the prior art, the purpose of this utility model is to provide a set of angle measurement data gloves, which can not only accurately measure the bending angle of the whole finger, but also accurately measure the bending angle of each finger joint and the angle between each finger, thereby obtaining more comprehensive and accurate hand movement data. It can be used for mirror training and can also be adapted to a variety of rehabilitation strategies, effectively improving the rehabilitation effect and achieving precise rehabilitation. Its structure is simple, lightweight and comfortable, and easy to wear.

[0005] To achieve the above and other related objectives, this utility model proposes an angle measurement data glove, comprising:

[0006] The glove itself;

[0007] Multiple angle measuring devices are disposed on the glove body and corresponding to the positions of each finger, including:

[0008] A base is connected to the glove body and is provided corresponding to the positions of each finger;

[0009] A plurality of measuring units are arranged on each base, and each measuring unit corresponds to a finger joint and / or a phalanx region and / or a metacarpal region.

[0010] According to an embodiment of the present application, the base comprises:

[0011] A fixing seat is connected to the glove body.

[0012] A bending seat is arranged between two adjacent fixing seats, and the bending seat is composed of a plurality of flexible hinges and vertical plates.

[0013] The measuring unit is arranged on the fixing seat or the bending seat.

[0014] According to an embodiment of the present application, a groove is formed on one side of the base close to the glove body and / or one side of the base away from the glove body, and the measuring unit is arranged in the groove.

[0015] According to an embodiment of the present application, the base further comprises a limiting piece, the limiting piece is connected to the fixing seat, and the measuring unit is located between the limiting piece and the fixing seat.

[0016] According to an embodiment of the present application, the measuring unit is a strain gauge, the strain gauge is arranged in the groove of the base, and each group of strain gauges corresponds to a finger joint and a part of two phalanges or two phalanges and metacarpal regions on both sides thereof.

[0017] According to an embodiment of the present application, each group of measuring units comprises one strain gauge, corresponds to a finger joint and a part of two phalanges or two phalanges and metacarpal regions on both sides thereof, and is arranged in the groove on one side of the base.

[0018] According to an embodiment of the present application, each group of measuring units comprises two strain gauges, corresponds to a finger joint and a part of two phalanges or two phalanges and metacarpal regions on both sides thereof, and is arranged in the groove on one side of the base.

[0019] According to an embodiment of the present application, each group of measuring units comprises four strain gauges, corresponds to a finger joint and a part of two phalanges or two phalanges and metacarpal regions on both sides thereof, and is symmetrically arranged in the groove on both sides of the base.

[0020] According to an embodiment of the present application, the measuring unit is a posture sensor, each group of measuring units comprises two posture sensors, and the two posture sensors are respectively located in a phalanx region or a metacarpal region on both sides of a finger joint and are connected to the fixing seat.

[0021] According to an embodiment of the utility model provides, the metacarpal region at least is provided with two posture sensor, it is located in thumb metacarpal region and middle finger metacarpal region correspondingly, the posture sensor of thumb metacarpal region and other each area carries out angle measurement with the posture sensor of middle finger metacarpal region as reference.

[0022] The angle measurement data glove of the utility model, the base is fixed on the glove body and moves with the hand, and the measurement unit on the base is used to measure the hand movement data, which is simple in structure and convenient to wear;The base is located on each finger correspondingly, and the measurement unit thereon is arranged according to the measurement needs of each joint and phalanx region of each finger, and the bending data of the finger joint or other posture data such as the interdigital opening angle is obtained by measuring the bending angle or position of the base, so that the measurement range is more comprehensive, and accurate hand posture data can be obtained;The strain gauge is arranged on the base, the base has a certain hardness so as to drive the strain gauge to bend with the hand and realize measurement, the bending base adopts the combination of flexible hinge and vertical plate, so that the bending range of the base is larger and the action is more flexible, and the base can be appropriately elongated when moving with the hand, so as to ensure the comfort of hand movement;The strain gauge is connected with the base through the limiting member, and the base can slide along the base when extending, so as to be more fitted to the base and ensure the accuracy of measurement;The posture sensor can accurately measure the posture of each position of the hand in various activity states, so as to accurately evaluate the activity state of the hand;Information feedback and the control device are used to further use the data glove for hand rehabilitation training, improve the enthusiasm of patients in training through mirror training, achieve better rehabilitation effect, and realize precise rehabilitation;The utility model can realize accurate three-dimensional hand posture estimation, and can be used for robot control, virtual interaction and other fields, so that the application range is wide. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the embodiment description, and obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained according to these drawings without creating creative labor.

[0024] Figure 1 It is the perspective view of an embodiment of the angle measurement data glove provided by the utility model;

[0025] Figure 2 It is the explosion view of the angle measurement device of an embodiment of the angle measurement data glove provided by the utility model, wherein each group of measurement units includes a strain gauge;

[0026] Figure 3The explosion map of the angle measuring device of another embodiment of the angle measuring data glove provided by the utility model, wherein each group of measuring units in the angle measuring data glove comprises one strain gauge;

[0027] Figure 4 The explosion map of the angle measuring device of one embodiment of the angle measuring data glove provided by the utility model, wherein each group of measuring units in the angle measuring data glove comprises two strain gauges;

[0028] Figure 5 The explosion map of the angle measuring device of another embodiment of the angle measuring data glove provided by the utility model, wherein each group of measuring units in the angle measuring data glove comprises two strain gauges;

[0029] Figure 6 The explosion map of the angle measuring device of one embodiment of the angle measuring data glove provided by the utility model, wherein each group of measuring units in the angle measuring data glove comprises four strain gauges;

[0030] Figure 7 The explosion map of the angle measuring device of one embodiment of the angle measuring data glove provided by the utility model, wherein each group of measuring units in the angle measuring data glove comprises four strain gauges;

[0031] Label explanation:

[0032] 100, glove body; 200, angle measuring device;

[0033] 210, base; 220, measuring unit;

[0034] 211, fixing seat; 212, bending seat; 213, buckle;

[0035] 221, first measuring unit; 222, second measuring unit; 223, third measuring unit. DETAILED DESCRIPTION

[0036] The embodiments of the utility model are explained below through specific examples, and the person skilled in the art can easily understand other advantages and effects of the utility model from the content disclosed in the specification. The utility model can also be implemented or applied through different specific embodiments, and each detail in the specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the utility model.

[0037] It should be noted that the diagrams provided in the embodiments only illustrate the basic concept of the utility model in a schematic manner, and only the components related to the utility model are shown in the diagrams, not the number, shape and size of the components during actual implementation. The shape, number and proportion of each component during actual implementation can be changed arbitrarily, and the component layout pattern can also be more complex.

[0038] Data gloves can measure hand movement data, and have a wide range of applications. The core of the data gloves is the setting of sensors. How to set the sensors to accurately obtain effective movement information of each position when the hand moves, while ensuring the comfort and convenience of wearing the device, is one of the research directions of the data gloves.

[0039] Referring to Figures 1 to 7 The utility model provides a kind of angle measurement data gloves, it includes glove body 100 and multiple angle measurement devices 200. Data gloves are worn on hand by glove body 100, realize the connection with hand to measure hand action by glove body 100;Angle measurement device 200 is set to glove body 100, and is set to each finger position correspondingly, and one angle measurement device 200 is set to each finger, for data measurement. When hand performs flexion etc. Action, glove body 100 follows its movement, and drives angle measurement device 200 to move, to realize the measurement of hand movement data;The bending angle of each joint of hand and the opening angle between each finger can be measured by angle measurement device 200, accurate hand posture is obtained, and hand activity state can be evaluated and be suitable for multiple rehabilitation training scene. It needs to be explained that angle measurement device 200 corresponds to measure each joint of finger, including metacarpophalangeal joint, so one end of angle measurement device 200 is located at fingertip position, and the other end extends metacarpophalangeal joint to metacarpal region, and its length should be greater than the length of finger at corresponding position, can realize more comprehensive and accurate measurement to hand activity.

[0040] Referring to Figure 1 According to an embodiment of the utility model, glove body 100 is used as the base of angle measurement device 200, and connects angle measurement device 200 to hand, to measure the bending angle of each joint and the opening angle between fingers etc. Glove body 100 can be made of elastic material, for example, can be more fitted to hand action, realize more accurate measurement, and ensure that the fit of wearing is comfortable;Glove body 100 can be provided with fixing member, such as magic tape, to firmly wear data gloves on hand;Angle measurement device 200 is connected to glove body 100, and follows glove body 100 to perform flexion and opening etc. Action, to measure the bending angle of finger and the opening angle between fingers, and the sensitivity and accuracy of measurement are high.

[0041] Referring to Figures 1 to 7According to an embodiment of the present application, the angle measuring device 200 is arranged on the glove body 100 and located outside the glove body 100, and comprises a base 210 and a measuring unit 220; the base 210 is connected to the glove body 100 and arranged corresponding to the positions of each finger; each base 210 corresponds to one finger and is arranged in the whole finger and the area close to the finger on the palm; the measuring unit 220 is arranged on the base 210; each base 210 is provided with a plurality of measuring units 220 arranged corresponding to each joint and / or phalanx area and / or metacarpal area of the finger. When the hand moves, the glove body 100 can bend, stretch or open and close the fingers, etc. accordingly; the base 210 is fixed to the glove body 100 and moves with the glove body 100; the measuring unit 220 on the base 210 can measure the bending angle of each part of the base 210, so as to obtain the bending data of the corresponding joint of the finger and the bending data of the whole finger; the measuring unit 220 on the base 210 corresponding to different fingers can measure the included angle between two bases 210, so as to obtain the included angle data between the corresponding fingers.

[0042] Please refer to Figures 1 to 7 According to an embodiment of the present application, the base 210 comprises a fixed seat 211, a bending seat 212 and a limiting piece; the fixed seat 211 is connected to the glove body 100; one bending seat 212 is arranged between two adjacent fixed seats 211; the fixed seat 211 serves as a connecting component between the glove body 100 and the base 210 and also serves as a support component for the bending of the bending seat 212, so that the base 210 can well fit the hand when moving; the bending seat 212 is composed of a plurality of flexible hinges and vertical plates to realize the bending of the base 210 with the glove body 100; the measuring unit 220 is arranged on the fixed seat 211 and the bending seat 212 or on the fixed seat 211; the limiting piece is connected to the fixed seat 211, and the measuring unit 220 is located between the limiting piece and the fixed seat 211. Each base 210 moves with the corresponding finger, for example, flexes, stretches, opens and closes, etc.; the bending angle data of the base 210 or the included angle data between the bases 210 is measured by the measuring unit 220, so as to obtain the bending angle of the corresponding joint or the included angle data between the fingers, and obtain the accurate hand posture.

[0043] Please refer to Figures 1 to 7 According to an embodiment of the present application, the base 210 can be made of TPU material, which has a certain hardness to drive the measuring unit 220 to fit the movement of the finger, has a certain elasticity, and the bending seat 212 is composed of flexible hinges and vertical plates, so that the base 210 can be appropriately elongated when bending with the finger, so as to better fit the movement of the finger, ensure the measurement accuracy, reduce the hindrance of the data glove to the hand movement, and improve the wearing comfort.

[0044] Referring to Figures 1 to 7 According to an embodiment of the present application, the deformation groove is arranged at the connecting position of the bending seat 212 and the fixing seat 211, so that the base 210 can flexibly bend together with the glove body. The bending seat 212 is composed of a plurality of flexible hinges and vertical plates, and the vertical plates are connected by the flexible hinges, so that the bending seat 212 can bend. Each bending seat 212 bends by the flexible hinges, and the movement sensitivity is high, so that the base 210 can realize the same flexion and extension movement together with the glove body 100, and better fit the movement of the finger joints. When the finger bends, the bending seat 212 bends together with the glove body 100 under the action of the force. Since the base 210 is attached to the hand by the glove body 100 and can flexibly bend by the hinges on the bending seat 212, the crease-shaped base 210 is consistent with the bending angle of the finger, so that the measuring unit 220 on the base 210 can accurately measure the bending angle of the finger.

[0045] Referring to Figures 1 to 7 According to an embodiment of the present application, the fixing seat 211 and the bending seat 212 are arranged corresponding to the finger joints and the phalangeal or metacarpal regions, that is, the structure of the base 210 is adapted to the finger joints. Specifically, the bending seat 212 is arranged corresponding to each joint position, and the bending seat 212 bends together with the joint to drive the measuring unit 220 on the base 210 to move, so as to accurately measure the bending angle of the joint and ensure the flexible and comfortable movement of the hand when wearing the data glove. When the finger joint bends, the relative positions of the phalangeal or metacarpal bones on both sides change, and the relative positions of the fixing seats 211 on the phalangeal or metacarpal bones also change. It can be understood that the number of the bending seat 212 and the fixing seat 211 corresponding to each phalangeal region can be different according to different hand shapes.

[0046] Referring to Figures 1 to 7 According to an embodiment of the present application, when the base 210 flexes and extends together with the glove body 100, the bending seat 212 bends, and the relative positions of the fixing seats 211 at both ends change. The measuring unit 220 is arranged on the base 210, and can measure the bending angle of the bending seat 212 or the change of the relative positions of the fixing seats 211, so as to measure the bending angle of the corresponding finger joint. When the hand performs the opening and closing action, the base 210 does not bend, but the relative positions of the bases 210 change. The measuring unit 220 measures the included angle between the bases 210, so that the opening angle data between the fingers can be obtained.

[0047] Referring to Figures 1 to 7According to an embodiment of the present application, the limiting member is connected with the base 210, and the measuring unit 220 is fixed on the base 210, and the limiting member can be, for example, a buckle 213, which can be, for example, a square structure with a protrusion at each corner, and correspondingly, the fixing seat 211 has a notch at each side, and the protrusion of the buckle 213 is engaged with the notch of the fixing seat 211, and the measuring unit 220 is installed in the groove of the base 210. The engagement between the protrusion of the buckle 213 and the notch of the fixing seat 211 is detachable connection, which facilitates the installation and disassembly of the measuring device. It can be understood that the shape of the buckle 213 is not limited, and it can accommodate the measuring unit 220 and engage it on the base 210.

[0048] Please refer to Figures 1 to 7 According to an embodiment of the present application, the base 210 is provided with a groove on one side close to the glove body 100 and / or one side away from the glove body 100, and the measuring unit 220 is arranged in the groove. The base 210 can realize a large range of bending, ensuring the comfort and flexibility of the movement. The shape of the buckle 213 is adapted to the shape of the groove, the buckle 213 is arranged in the groove of the fixing seat 211 and engaged with the fixing seat 211 to connect the measuring unit 220 on the base 210.

[0049] Please refer to Figures 1 to 7 According to an embodiment of the present application, each group of measuring units 220 is located in a metacarpophalangeal joint and / or the metacarpal bone or phalanx region on both sides thereof, which can measure the bending angle of the metacarpophalangeal joint. It can be understood that when measuring the metacarpophalangeal joint angle, the metacarpophalangeal joint is on both sides of the metacarpal bone and the phalanx, so the measuring unit 220 is arranged in the metacarpophalangeal joint and the metacarpal bone and phalanx region on both sides, or arranged in the metacarpal bone and phalanx region. When measuring other finger joint angles, the measuring unit 220 is arranged in the corresponding finger joint and the phalanx region on both sides thereof, or arranged in the phalanx region on both sides of the corresponding finger joint. It can be understood that the distribution of the measuring unit 220 can be different for different structures of the fingers and different measurement requirements.

[0050] Please refer to Figures 1 to 6According to an embodiment of the present application, the measurement unit 220 is a strain gauge, each group of measurement units 220 is located in a knuckle and the two sides of the phalanges or the two sides of the phalanges and the metacarpal region, and each group of measurement units 220 corresponds to at least one bending seat 212, when the bending seat 212 bends with the knuckle, the measurement unit 220 measures the bending angle of the bending seat 212, thereby realizing the measurement of the bending angle of the knuckle. Specifically, for example, the first measurement unit 221, the second measurement unit 222 and the third measurement unit 223 are arranged on the base 210 corresponding to the index finger, which respectively correspond to the bending data of the metacarpophalangeal joint of the index finger, the proximal phalangeal joint of the index finger and the distal phalangeal joint of the index finger; Similarly, according to the phalangeal structure, the middle finger, the ring finger and the little finger can also be measured by three measurement units 220; When measuring the thumb, since the thumb only contains two knuckles, only two measurement units 220 are needed to measure the metacarpophalangeal joint of the thumb and the thumb joint respectively.

[0051] Please refer to Figure 7 According to another embodiment of the present application, the measurement unit 220 is a posture sensor, each group of measurement units 220 is arranged on the phalanges on both sides of the knuckle or the phalanges and the metacarpal region on both sides, the position of the phalanges or the metacarpal in space is measured by the measurement unit 220, the included angle between the two phalanges is obtained, that is, the bending angle of the interphalangeal joint, and each group of measurement units 220 can also correspond to the bending angle of one knuckle. It should be noted that at this time, the measurement units 220 on different fingers can also measure the included angle between the fingers, and the corresponding measurement unit 220 can be selected for measurement according to the measurement needs.

[0052] Please refer to Figures 1 to 6 According to an embodiment of the present application, the measurement unit 220 is a strain gauge, the strain gauge is arranged in the groove of the base 210, and each group of strain gauges corresponds to a knuckle and the partial region of the two sides of the phalanges or the two sides of the phalanges and the metacarpal. The strain gauge is arranged on the base 210, and when the base 210 bends with the glove body 100, the strain gauge on the base 210 bends, the resistance value of the strain gauge changes due to deformation, and the voltage value also changes, so that the bending angle of each strain gauge can be accurately measured according to the change of the voltage value, the deformation signal is converted into an electric signal by the conversion module, and the angle data of the corresponding knuckle is obtained after processing, and the bending data of the whole finger can also be obtained by combining the measurement data of multiple groups of strain gauges.

[0053] Please refer to Figures 1 to 6It should be noted that the strain gauge is arranged on the base 210 and bends with the base 210 to measure the hand bending data, and the strain gauge and the base 210 should be consistent with the hand bending movement. Since the strain gauge has high hardness, when the hardness of the base 210 is insufficient, the strain gauge cannot bend with the hand, thereby affecting the accuracy of the measurement. When the hardness of the base 210 is too high, the base 210 cannot bend and stretch with the hand movement, so the base 210 can be made of a material with a certain hardness, such as TPU material, and the combination of the flexible hinge and the vertical plate can make the base 210 bend and stretch with the hand movement and drive the strain gauge to bend consistently. Since the strain gauge is connected to the base 210 by the buckle 213, the two ends of the strain gauge have a certain sliding relative to the base 210, so that the strain gauge can be more consistent with the base 210, avoid affecting the stretching of the base 210, and reduce the additional stress on the strain gauge, thereby ensuring the accuracy of the measurement.

[0054] Please refer to Figures 1 to 6 Specifically, for example, when measuring the index finger, the corresponding base 210 is provided with a first measurement unit 221, a second measurement unit 222 and a third measurement unit 223. Each measurement unit 220 includes a plurality of strain gauges corresponding to at least one bending seat 212 and bends with it. The strain gauges of the first measurement unit 221 are arranged in the area of the metacarpophalangeal joint and the proximal phalanx near the metacarpophalangeal joint, and measure the bending data of the metacarpophalangeal joint. The strain gauges of the second measurement unit 222 are arranged in the area of the proximal interphalangeal joint and the proximal phalanx near the proximal interphalangeal joint, and measure the bending data of the proximal interphalangeal joint. The strain gauges of the third measurement unit 223 are arranged in the area of the distal interphalangeal joint and the middle phalanx near the distal interphalangeal joint, and measure the bending data of the distal interphalangeal joint. In other embodiments, the arrangement of the strain gauges can be different according to the structure of the fingers.

[0055] Please refer to Figures 1 to 6According to an embodiment of the present application, each group of strain gauges corresponds to at least one bending seat 212, the strain gauges cover the whole bending seat 212, and are connected to the fixing seat 211 at both ends through buckles 213, so that the strain gauges are stably connected and their deformation conforms to the bending posture of the fingers, to realize accurate measurement. Specifically, for example, the strain gauges of the first measurement unit 221 cover three bending seats 212 and extend to the fixing seats 211 at both ends thereof, the strain gauges of the second measurement unit 222 cover two bending seats 212 and extend to the fixing seats 211 at both ends thereof, and the strain gauges of the third measurement unit 223 cover two bending seats 212 and extend to the fixing seats 211 at both ends thereof; one end of the first measurement unit 221 is buckled to the fixing seat 211 at one end of the base, the other end is buckled to the same fixing seat 211 as the second measurement unit 222 and is buckled through a bayonet, one end of the second measurement unit 222 away from the first measurement unit 221 is buckled to the same fixing seat 211 as the third measurement unit 223 and is buckled through a buckle, and the other end of the third measurement unit 223 is buckled to the fixing seat 211 at the other end of the base. It can be understood that the number of buckles on each fixing seat is not limited. In other embodiments, according to different hand shapes, the distribution of the bending seats 212 and the fixing seats 211 corresponding to each measurement unit 220 can be different, that is, the number of bending seats 212 and fixing seats 211 corresponding to each knuckle is different.

[0056] Please refer to Figures 1 to 6 According to an embodiment of the present application, when the measurement unit 220 is a strain gauge, the hardness of the pleated base 210 is equivalent to the hardness of the strain gauge, to ensure that the pleated base 210 can drive the strain gauge to move in the same way when it is bent or stretched. The pleated base 210 can be appropriately bent and stretched at each joint position along with the finger, the middle part of each strain gauge is fixed to the pleated base 210, to ensure that its position is relatively fixed, and its both ends are constrained through buckling of the buckle 213 and the fixing seat 211. When the base 210 is bent or stretched along with the glove body 100, the positions of the both ends of the strain gauge can have a slight relative sliding in the buckle 213, to ensure stable connection of the strain gauge while its both ends have a certain degree of freedom during measurement, so that the strain gauge can better fit the base 210, reduce the restraint on the action, more accurately measure the bending angle of each joint of the finger, and ensure the stability of the measurement.

[0057] Please refer to Figures 1 to 3According to an embodiment of the present application, each group of the measuring unit 220 includes one strain gauge, is arranged corresponding to a knuckle and partial areas of two phalanges or two phalanges and metacarpal bones on both sides thereof, and is arranged in a groove on one side of the base 210.

[0058] Please refer to Figure 1 , Figure 4 and Figure 5 According to an embodiment of the present application, each group of the measuring unit 220 includes two strain gauges, is arranged corresponding to a knuckle and partial areas of two phalanges or two phalanges and metacarpal bones on both sides thereof, and is arranged in a groove on one side of the base 210.

[0059] Please refer to Figure 1 and Figure 6 According to an embodiment of the present application, each group of the measuring unit 220 includes four strain gauges, is arranged corresponding to a knuckle and partial areas of two phalanges or two phalanges and metacarpal bones on both sides thereof, and is arranged in grooves on both sides of the base 210.

[0060] Please refer to Figure 1 and Figure 7According to an embodiment of the present application, the measurement unit 220 is a posture sensor, and each group of measurement units 220 comprises two posture sensors, which are respectively located in the phalangeal or metacarpal regions on both sides of the knuckles, and are connected to the fixed seat 211. Through the posture sensors on the same finger, the bending angles of each knuckle and the bending angle of the whole finger can be measured; when the fingers are spread, the opening angles between the fingers can be measured through the posture sensors on different fingers.

[0061] Please refer to Figure 1 and Figure 7 Specifically, for example, the posture sensor is clamped on the fixed seat 211 by the buckle 213, and when the wrinkle-shaped base 210 is bent or stretched, only the spatial posture of the fixed seat 211 changes, and the structure does not change. Two posture sensors are arranged on the fixed seats 211 corresponding to the phalangeal or metacarpal regions on both sides of the knuckles, respectively, to form a measurement unit 220. When the glove body 100 drives the angle measurement device 200 to bend, due to the bending of the knuckles, the relative positions of the phalanges and the fixed seats 211 thereon change, and the two posture sensors measure the posture states of the corresponding fixed seats 211 in the three-dimensional space, respectively, so that the bending angle between the two fixed seats 211 and the bending angle between the corresponding phalanges can be measured, and the bending data of the corresponding knuckles can be obtained; when the fingers perform actions such as clenching or spreading, the opening angles between the fingers and the angles between the metacarpal bones when clenching can be measured by using the relative position changes of the posture sensors on the two fingers, and more hand posture data can be obtained.

[0062] Please refer to Figure 1 and Figure 7 According to an embodiment of the present application, at least two posture sensors are arranged in the metacarpal region, which are located in the metacarpal regions of the thumb and the middle finger, respectively. The posture sensors in the metacarpal regions of the thumb and other regions are used as the reference for angle measurement. Since the posture sensors measure the angle by changing the relative position, the position of the metacarpal region of the middle finger hardly changes during the clenching action, and the metacarpal angle changes of the index finger, the middle finger, the ring finger and the little finger are relatively small during the action, so they can share one posture sensor. Therefore, the posture sensor in the metacarpal region of the middle finger is used as the reference, and the posture sensors in the metacarpal regions of the other fingers and the thumb are combined to measure the bending angles of the knuckles and the metacarpal of the thumb, that is, the metacarpal regions of the other three fingers do not need to be additionally provided with posture sensors, and the metacarpal region shares one posture sensor, so the structure is simpler and the measurement accuracy is not affected. When measuring the opening angles between the fingers when the palm is opened, the relative positions of the other proximal phalanges can be measured by using the posture sensor in the proximal phalangeal region of the middle finger as the reference, and the corresponding interdigital opening angle data can be obtained.

[0063] Please refer to Figure 1 and Figure 7 According to another embodiment of the present application, the metacarpal region corresponding to each finger is provided with a posture sensor, when measuring the bending angle of each joint of the finger, the posture sensor of the metacarpal region of each finger is taken as a reference, and the bending data corresponding to each finger joint is obtained by measuring the relative position of each phalanx. When measuring the opening angle between each finger when the palm is opened, the posture sensor of the proximal phalanx region of the middle finger is taken as a reference, and the relative position of each proximal phalanx is measured to obtain the corresponding interdigital opening angle data.

[0064] Please refer to Figure 1 and Figure 7 When measuring the angle between each metacarpal bone when the palm is clenched, the angle change between the four metacarpal bones is small, and the angle change of the metacarpal bone of the thumb is mainly measured, so the metacarpal region is provided with at least two posture sensors, which are located in the metacarpal region of the middle finger and the metacarpal region of the thumb, respectively. The position data of the metacarpal region of the thumb is obtained by measuring the position of the metacarpal region of the thumb with the posture sensor of the metacarpal region of the middle finger as a reference.

[0065] Please refer to Figure 1 and Figure 7 According to an embodiment of the present application, for example, three measurement units 220 corresponding to three finger joints are arranged on the base 210 at the position of the index finger, which can include four posture sensors arranged on the base 210 and corresponding to the metacarpal region, the proximal phalanx region, the middle phalanx region and the distal phalanx region. The measurement can be performed by combining two adjacent posture sensors, that is, each posture sensor corresponds to at least one measurement unit 220. The posture sensors of the metacarpal region and the proximal phalanx region serve as a first measurement unit 221 for measuring the bending data of the metacarpal joint; the posture sensors of the proximal phalanx region and the middle phalanx region serve as a second measurement unit 222 for measuring the bending data of the proximal finger joint; and the posture sensors of the middle phalanx region and the distal phalanx region serve as a third measurement unit 223 for measuring the bending data of the distal finger joint. The bending data of the corresponding finger joint can be obtained by combining the measurement data of each two posture sensors, and the bending data of the entire finger can be obtained by adding the measured angle data of each finger joint. The arrangement of the measurement unit 220 is simpler and can better adapt to various hand shapes.

[0066] Please refer to Figure 1 and Figure 7For the middle finger, the ring finger and the little finger, the structure of the joints is similar to that of the index finger, and the arrangement of the posture sensors on the measurement unit 220 and the measurement method are the same as those of the above-mentioned embodiments; for the structure of the thumb, since the thumb only includes the metacarpophalangeal joint and the interphalangeal joint, corresponding to two measurement units 220, only three posture sensors need to be arranged, which are respectively located in the metacarpal region, the proximal phalanx region and the distal phalanx region, and the bending data of the two finger joints are measured by combining two adjacent posture sensors.

[0067] It should be noted that, as shown in Figures 1 to 7 and Figures 1 to 7 , the posture sensors can also be used to measure the angle between the thumb metacarpal and the metacarpal of the four fingers, as well as the included angle between each finger, so as to obtain the hand posture data when the palm is clenched or the fingers are stretched. Specifically, for example, when the palm is stretched, the position data of the posture sensors on the proximal phalanx of the index finger and the proximal phalanx of the middle finger are measured, and the included angle between the index finger and the middle finger is obtained. Similarly, by selecting corresponding posture sensors on other fingers, the included angles between each pair of fingers can be measured, so as to accurately obtain the posture data of each part of the palm during the stretching movement.

[0068] It should be noted that, due to the different lengths of the fingers and the different sizes of each person's hand, the relative positions of the finger joints and the finger phalanges will also be different. For different hand structures, the length of the wrinkle-shaped base 210 in the angle measuring device 200 is set differently, and the arrangement of the strain gauges and the posture sensors thereon is also changed accordingly, so as to ensure that the bending angles of the joints of the fingers can be accurately measured.

[0069] As shown in ​ , when the user performs finger flexion, palm clenching or stretching and other actions, since the glove body 100 is attached to the hand, it can perform the same action as the hand and drive the angle measuring device 200 on it to move. When the fingers are flexed, the base 210 can flexibly bend with the fingers and drive the measurement unit 220 to move. By measuring the bending angle of the bending seat 212 at the joint or measuring the relative position of the phalanx or metacarpal region fixing seat 211, the bending angle of the corresponding joint can be obtained, so as to analyze the accurate and detailed posture data of each finger. When the palm is clenched, in addition to the joint bending angle data, the relative positions of the thumb and the four fingers can also be measured by the posture sensors at each metacarpal, so as to analyze the overall posture data of the thumb and the four fingers. When the five fingers are stretched, the included angles between each pair of fingers can be obtained by combining the posture sensors on each proximal phalanx, so as to analyze the accurate and detailed posture data of each finger. By using the measurement function of the data glove, the posture of each part of the hand during various movements can be measured and analyzed, and the health status of the hand, such as the flexibility of the fingers, can be accurately evaluated.

[0070] Please refer to ​ The angle measurement data glove can also be used as a rehabilitation glove for rehabilitation training, and an external control device is used to drive the hand to perform various movements, and the feedback of the measurement information of each part is combined to control the rehabilitation glove to realize the preset hand movement, so that the needs of different groups of people can be met, and the training scheme can be continuously adjusted according to the feedback to improve the flexibility of the fingers; it can also be used for mirror training, and is worn on the healthy side of the hand as a data glove and on the affected side of the hand as a rehabilitation glove, the posture data of each part of the healthy side of the hand during movement, such as the finger bending angle, is measured by the data glove and transmitted to the computer, and the computer drives the rehabilitation glove to drive the affected side of the hand to make the same movement to reach the same angle, so that the effect of rehabilitation treatment is achieved, and the scheme can be continuously adjusted according to the feedback during the training process, the mirror training can effectively improve the enthusiasm and self-confidence of the patient in rehabilitation training, and the best rehabilitation effect can be obtained, and precise rehabilitation can be realized.

[0071] The utility model can also be used in the field of robot control, and accurate three-dimensional hand posture estimation is realized by using the utility model, so that the mechanical hand posture is more in line with the biomechanical characteristics; in addition, the utility model can also be applied to a virtual interaction scene, and the utility model can be used for making fists, stretching, various gestures and other movements in the virtual scene, the utility model is used as a tool for roaming in a control scene, and the hand posture is accurately and timely transmitted to the virtual environment by means of the angle feedback function of the data glove, so that the user can realize natural gesture interaction in the virtual environment by means of the data glove, and the reality and immersion of the virtual environment are enhanced; at the same time, the data glove provides a convenient communication method for the disabled, and helps them to better integrate into society.

[0072] In summary, the angle measurement data glove, through the glove body 100 is connected to the hand with angle measurement device 200 to measure, at least one side of the wrinkle type base 210 is provided with strain gauge, and is correspondingly distributed in each joint position, the base 210 and strain gauge hardness is equivalent so as to drive strain gauge together to bend and realize measurement, the base 210 can stretch when bending with hand, more fit hand movement, and the strain gauge is connected on the base 210 through buckle 213, and the both ends of the base 210 can slide a certain distance when bending and stretching, so as to more fit the base 210, and the hand movement is not hindered, the comfort of wearing and the accuracy of measurement are guaranteed;When the posture sensor is arranged on the fixed seat 211 of each phalanx region, the bending angle of each joint of the finger is measured by measuring the position of each fixed seat 211 in three-dimensional space, and the hand posture data under various motion states such as the opening angle between each finger can also be measured;The whole device structure is simple, the bending data of each joint of the finger and the data such as the opening angle between the fingers can be accurately measured, the detailed and accurate hand posture data is obtained, the hand activity is evaluated, and mirror training can be assisted by combining data feedback, the rehabilitation effect is effectively improved, and precise rehabilitation is realized;In addition, it can also be applied to other various fields, and the application is very wide.

[0073] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

[0074] In addition to the technical features described in the specification, the remaining technical features are known to those skilled in the art, and in order to highlight the innovative features of the present application, the remaining technical features will not be described here.

Claims

1. An angle measurement data glove characterized by, The glove body comprises: a plurality of angle measuring devices arranged on the glove body and corresponding to the positions of each finger, which comprises: a base connected to the glove body and arranged corresponding to the positions of each finger; a measuring unit arranged on the base, and a plurality of measuring units are arranged on each base and arranged corresponding to the positions of each finger joint and / or phalanx and / or metacarpal region. The base comprises:

2. The angle measurement data glove of claim 1, wherein, a fixed seat connected to the glove body; a curved seat arranged between two adjacent fixed seats, and the curved seat is composed of a plurality of flexible hinges and vertical plates; the measuring unit is arranged on the fixed seat or the curved seat. The base is provided with a groove on the side close to the glove body and / or the side away from the glove body, and the measuring unit is arranged in the groove.

3. The angular measurement data glove of claim 2, wherein, The base further comprises a limiting piece connected to the fixed seat, and the measuring unit is located between the limiting piece and the fixed seat.

4. The angular measurement data glove of claim 2, wherein, The measuring unit is a strain gauge arranged in the groove of the base, and each group of strain gauges corresponds to a part of the region of a finger joint and its two sides phalanges or two sides phalanges and metacarpal.

5. The angular measurement data glove of claim 3, wherein, Each group of measuring units comprises one strain gauge corresponding to a part of the region of a finger joint and its two sides phalanges or two sides phalanges and metacarpal, and is arranged in the groove on one side of the base.

6. The angle measurement data glove of claim 5, wherein, Each group of measuring units comprises two strain gauges corresponding to a part of the region of a finger joint and its two sides phalanges or two sides phalanges and metacarpal, and is arranged in the groove on one side of the base.

7. The angular measurement data glove of claim 5, wherein, Each group of measuring units comprises four strain gauges corresponding to a part of the region of a finger joint and its two sides phalanges or two sides phalanges and metacarpal, and is arranged symmetrically in the groove on both sides of the base.

8. The angular measurement data glove of claim 5, wherein, The measuring unit is a posture sensor, and each group of measuring units comprises two posture sensors arranged in the region of the phalanges on both sides of the finger joint or the phalanges and metacarpal on both sides, and connected to the fixed seat.

9. The angular measurement data glove of claim 2, wherein, The metacarpal region is provided with at least two posture sensors corresponding to the metacarpal region of the thumb and the metacarpal region of the middle finger, and the posture sensors of the metacarpal region of the thumb and other regions are measured based on the posture sensor of the metacarpal region of the middle finger.

10. The angle measurement data glove of claim 9, wherein, ​

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