Motion capture tracking system based on optical flow sensors
The motion capture and tracking system based on optical flow sensors solves the problems of accuracy and comfort in recognizing finger bending angles in complex environments, providing a high-precision, low-cost, and convenient solution.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SUZHOU MIXOSENSE TECH LTD
- Filing Date
- 2025-08-04
- Publication Date
- 2026-07-14
AI Technical Summary
Existing finger bending angle recognition technologies suffer from unstable accuracy under complex lighting conditions, uncomfortable and easily worn mechanical structures, and surface electromyography signals are susceptible to interference. Flexible pressure sensors also have limited accuracy, making it difficult to meet the demands for high precision, low cost, and ease of use.
A motion capture and tracking system based on optical flow sensors is adopted. By installing end fixation components, segment fixation components, and flexible sliding components at the finger joints, the optical flow sensors detect the axial displacement of the flexible sliding components, and the calculation module calculates the bending angle and speed of the finger.
It achieves high-precision finger bending angle recognition under various lighting conditions, has a simple hardware structure, long service life, does not hinder movement, has high detection accuracy, and reduces the cost of use.
Smart Images
Figure CN224484002U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of wearable device technology, and in particular to a motion capture and tracking system based on an optical flow sensor. Background Technology
[0002] In fields such as intelligent human-computer interaction, rehabilitation medicine, and virtual reality, accurately acquiring finger bending angle information is crucial. Traditional methods for recognizing finger bending angles mainly include the following:
[0003] 1. Optical imaging method: Specifically, this method uses optical devices such as cameras to capture images of the finger, and then uses image processing algorithms to analyze the changes in the finger's shape to calculate the bending angle. While this method can achieve high accuracy, its real-time performance and capture precision are affected by experimental equipment and environmental conditions, especially lighting conditions. In complex lighting environments, such as direct sunlight or low light, image quality deteriorates significantly, leading to increased angle calculation errors. Furthermore, the image recognition results are also affected to some extent by the camera's placement. If the popular Transformer technology is used, the large computational resources required to process image data limit the capture precision and real-time tracking performance, making it difficult to meet the high real-time interaction requirements of complex environments.
[0004] 2. Measurement methods based on mechanical structures: This method involves installing mechanical linkages or potentiometers at the finger joints to convert the bending motion of the finger into mechanical displacement or resistance changes, thereby calculating the angle. However, such devices are often complex in structure and very uncomfortable to wear, limiting their application in wearable devices; furthermore, the mechanical parts are prone to wear and tear, have a short lifespan, and require frequent maintenance and replacement, increasing usage costs.
[0005] 3. Methods based on surface electromyography (sEMG) signals indirectly reflect finger movement by collecting muscle electrical signals. However, sEMG signals are easily affected by individual differences and skin condition, resulting in poor signal stability and consistency. Significant differences in signal characteristics can occur between different individuals, and even within the same person at different times, making it difficult to guarantee the accuracy of angle recognition. Furthermore, muscle fatigue from prolonged static postures (such as gripping) can cause EMG signal drift, leading to errors. This method also suffers from signal aliasing due to multi-finger coordinated movements. Therefore, this method exhibits high signal processing complexity and is difficult to develop.
[0006] 4. Flexible pressure sensor technology: This technology integrates the sensor into the glove to acquire pressure at different points on the fingers, then converts the pressure signal into an electrical signal to obtain finger movement information. However, flexible materials are highly sensitive to temperature, easily affected by external interference, produce high noise, have limited accuracy, and experience performance degradation due to repeated bending.
[0007] With the rapid development of smart wearable devices, virtual reality, and rehabilitation medicine, the market demand for high-precision, low-cost, and user-friendly finger bending angle recognition technology is becoming increasingly urgent. Existing technologies, due to their respective limitations, are unable to meet these growing demands. Utility Model Content
[0008] The purpose of this invention is to provide a motion capture and tracking system based on an optical flow sensor to solve the problems existing in the current finger bending angle recognition scheme.
[0009] To address the aforementioned technical problems, this utility model provides a motion capture and tracking system based on an optical flow sensor, comprising: a motion capture component and a computing module; the motion capture component is used to be installed on the target object; the motion capture component includes an end fixing component, a segment fixing component, a flexible sliding component, and an optical flow sensor;
[0010] The end fixing member and the segment fixing member are arranged at intervals on different segments on both sides of the rotational joint of the target capture object; one end of the flexible sliding member is fixedly connected to the end fixing member, and the other end of the flexible sliding member extends beyond the segment fixing member in a direction away from the end fixing member along its own axial direction; the flexible sliding member is restricted in radial freedom by the segment fixing member, and is allowed to move axially relative to the segment fixing member;
[0011] The optical flow sensor is disposed on the segment fixing member and is configured to obtain the axial displacement of the flexible sliding member by detecting the optical flow image of the flexible sliding member;
[0012] The calculation module calculates the angle and speed of the bending motion of the target object based on the axial displacement obtained by the optical flow sensor.
[0013] Optionally, the motion capture component further includes: a potential energy element;
[0014] One end of the potential energy element is disposed on the segment fixing element, and the other end is used to apply potential energy to the flexible sliding element in a direction away from the end fixing element.
[0015] Optionally, the potential energy element is an elastic potential energy element, one end of which is connected to the segment fixing element via a connecting seat, and the other end of which is connected to the flexible sliding element.
[0016] Optionally, the motion capture assembly includes at least two segment fixation members and at least two optical flow sensors. The segment fixation members are arranged in a one-to-one correspondence with the optical flow sensors. Adjacent segment fixation members are arranged at intervals on different segments on both sides of the rotation joint of the target object. The flexible sliding member is movably connected to at least two segment fixation members in sequence.
[0017] Optionally, the segment fixing member has a sliding member through slot and a sensor receiving cavity; the sliding member through slot is opened through the axial direction of the flexible sliding member, and the cross-sectional shape of the sliding member through slot is adapted to the cross-sectional shape of the flexible sliding member, and the flexible sliding member is movably inserted into the sliding member through slot along its own axial direction; the sensor receiving cavity is connected to the sliding member through slot, the optical flow sensor is housed in the sensor receiving cavity, and the imaging direction of the optical flow sensor is towards the sliding member through slot.
[0018] Optionally, the flexible sliding member is a flat strip, the thickness direction of which is arranged within the curved plane of the target capture object.
[0019] Optionally, the end fixing member is used to fix it to the fingertip, the segment fixing member is used to fix it to the finger segment, and the flexible sliding member is used to be arranged on the back of the hand.
[0020] Optionally, the end fixing member includes a finger sleeve, and the segment fixing member includes a finger ring.
[0021] Optionally, the motion capture tracking system based on optical flow sensors includes multiple motion capture components, which are respectively installed on multiple different target objects; the calculation module is communicatively connected to the multiple motion capture components to calculate the bending angle and speed of the multiple different target objects.
[0022] Optionally, the motion capture component further includes an inertial sensor disposed on the end fixture and / or the segment fixture, and configured to acquire motion data of the target object; the calculation module further combines the motion data obtained by the inertial sensor to calculate the angle and speed of the bending motion of the target object.
[0023] In summary, the motion capture and tracking system based on an optical flow sensor provided by this utility model includes a motion capture component and a computing module. The motion capture component is used to install on a target object. The motion capture component includes an end fixing member, a segment fixing member, a flexible sliding member, and an optical flow sensor. The end fixing member and the segment fixing member are arranged at intervals on different segments on both sides of the rotational joint of the target object. One end of the flexible sliding member is fixedly connected to the end fixing member, and the other end of the flexible sliding member extends beyond the segment fixing member along its own axial direction away from the end fixing member. The flexible sliding member's radial degree of freedom is restricted by the segment fixing member, but it is allowed to move axially relative to the segment fixing member. The optical flow sensor is disposed on the segment fixing member and configured to obtain the axial displacement of the flexible sliding member by detecting the optical flow image of the flexible sliding member. The computing module calculates the angle and velocity of the bending motion of the target object based on the axial displacement obtained by the optical flow sensor.
[0024] With this configuration, when the target object (such as a finger) bends, the end fixing component causes the flexible sliding component to undergo axial displacement relative to the segment fixing component. The optical flow sensor mounted on the segment fixing component can then detect this axial displacement, allowing the calculation module to calculate the angle and velocity of the target object's bending motion. This configuration features a simple hardware structure, small footprint, and easy deployment on the target object (such as a finger) without hindering or burdening its movement. Furthermore, the optical flow sensor-based detection overcomes the problem of mechanical wear, resulting in a long service life and high detection accuracy. Attached Figure Description
[0025] Those skilled in the art will understand that the accompanying drawings are provided to better understand the present invention and do not constitute any limitation on the scope of the present invention.
[0026] Figure 1 This is a schematic diagram illustrating an application scenario of the motion capture and tracking system based on an optical flow sensor according to an embodiment of this utility model.
[0027] Figure 2 This is a schematic diagram of the configuration of the motion capture component and the target object in an embodiment of this utility model.
[0028] Figure 3 This is a cross-sectional schematic diagram of the motion capture component according to an embodiment of the present invention.
[0029] Figures 4a to 4d This is a schematic diagram of several sensor arrangement schemes for a motion capture and tracking system based on an optical flow sensor according to an embodiment of this utility model.
[0030] In the attached figures: 1-Motion capture component; 11-End fixing component; 12-Segment fixing component; 121-Sliding component through slot; 122-Sensor housing cavity; 13-Flexible sliding component; 14-Optical flow sensor; 15-Potential energy component; 16-Connecting seat; 17-Inertial sensor; 2-Calculation module; 3-Target capture object; 31-Rotation joint; 32-Segment. Detailed Implementation
[0031] To make the objectives, advantages, and features of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to facilitate and clarify the explanation of the objectives of the embodiments of this utility model. Furthermore, the structures shown in the drawings are often part of the actual structure. In particular, different drawings may emphasize different aspects and sometimes use different scales.
[0032] As used in this invention, the singular forms “a,” “an,” “one,” and “the” include plural objects; the term “or” is generally used to mean “and / or”; the term “a number” is generally used to mean “at least one”; and the term “at least two” is generally used to mean “two or more”. Furthermore, the terms “first,” “second,” and “third” 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,” “second,” or “third” may explicitly or implicitly include one or at least two of that feature; “one end” and “the other end,” and “proximal end” and “distal end” generally refer to two corresponding parts, which include not only endpoints. Furthermore, the terms "installed," "connected," and "attached," as used in this utility model, and the term "set" on one element from another, should be interpreted broadly. They generally only indicate a connection, coupling, cooperation, or transmission relationship between the two elements, which can be direct or indirect through an intermediate element. They should not be construed as indicating or implying a spatial positional relationship between the two elements, meaning one element can be located inside, outside, above, below, or to one side of the other element, unless otherwise explicitly stated. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances. Additionally, directional terms such as above, below, up, down, upward, downward, left, and right are used relative to exemplary embodiments as shown in the figures, with upward or up direction pointing towards the top of the corresponding figure, and downward or down direction pointing towards the bottom of the corresponding figure.
[0033] The purpose of this invention is to provide a motion capture and tracking system based on an optical flow sensor to solve the problems existing in current finger bending angle recognition schemes. The following description refers to the accompanying drawings.
[0034] Please refer to Figure 1 and Figure 2 This utility model provides a motion capture and tracking system based on an optical flow sensor, which includes a motion capture component 1 and a computing module 2. The motion capture component 1 is used to install on a target object 3. The motion capture component 1 includes an end fixing member 11, a segment fixing member 12, a flexible sliding member 13, and an optical flow sensor 14. The end fixing member 11 and the segment fixing member 12 are arranged at intervals on different segments 32 on both sides of the rotation joint 31 of the target object 3. One end of the flexible sliding member 13 is fixedly connected to the end fixing member 11. The other end extends beyond the segmental fixing member 12 in a direction away from the end fixing member 11 along its own axial direction; the flexible sliding member 13 is restricted in radial freedom by the segmental fixing member 12 and is allowed to move axially relative to the segmental fixing member 12; the optical flow sensor 14 is disposed on the segmental fixing member 12 and is configured to obtain the axial displacement of the flexible sliding member 13 by detecting the optical flow image of the flexible sliding member 13; the calculation module 2 calculates the angle and speed of the bending motion of the target capture object 3 based on the axial displacement obtained by the optical flow sensor 14.
[0035] Please refer to the reference. Figure 2 The target object 3 here can be a finger containing several phalanges, or a combination of a finger and a portion of the palm. In other embodiments, it can also be an object containing several rotational joints, such as an arm, a robotic hand, or a robotic arm. Taking the combination of an index finger and a palm as an example, it contains four segments 32 (three phalanges and the palm as the base) and three rotational joints 31. Adjacent segments 32 are connected by a rotational joint 31, and the four segments 32 can rotate relative to each other, forming a bending motion.
[0036] The end fixing member 11 can be arranged on any segment 32, while the segment fixing member 12 can be arranged on the segment 32 adjacent to the end fixing member 11. Preferably, the segment fixing member 12 is located further away from the fingertip from the end fixing member 11. The flexible sliding member 13 is a structure with a certain degree of flexibility, which can bend to a certain extent, but is restricted from stretching (i.e., the stretching rate is negligible compared to the bending rate). The flexible sliding member 13 can be, for example, a strip of steel sheet, steel wire, etc. One end of the flexible sliding member 13 is fixedly connected to the end fixing member 11, and the other end is movably connected to the segment fixing member 12. The radial degree of freedom is restricted by the segment fixing member 12, but the axial movement is not restricted. It can be understood that when the segment 32 where the end fixing member 11 is located bends relative to the segment 32 where the segment fixing member 12 is located, the end fixing member 11 will drag the flexible sliding member 13 to produce an axial displacement relative to the segment fixing member 12.
[0037] The optical flow sensor 14 (Optical Tracking Sensor, or OTS) is a sensor that analyzes the changes in pixels in an image sequence over time and the correlation between adjacent frames to obtain the correspondence between adjacent frames, thereby calculating the motion information of objects between adjacent frames. Based on the axial displacement of the flexible sliding member 13 relative to the segment fixing member 12, the optical flow sensor 14, mounted on the segment fixing member 12, can obtain the axial displacement of the flexible sliding member 13 by detecting the optical flow image of the flexible sliding member 13. Then, the calculation module 2 can obtain the rotation angle and speed of the segment 32 where the end fixing member 11 is located relative to the segment 32 where the segment fixing member 12 is located by solving the axial displacement. Thus, in a simplified embodiment of the motion capture component 1, the detection of the bending angle of two segments 32 can be achieved with at least one end fixing member 11 and one segment fixing member 12. Optionally, the optical flow sensor 14 can be connected to the calculation module 2 via a flexible cable. The calculation module 2 can be mounted on the back of the hand.
[0038] Optional, please continue to refer to Figure 1The motion capture assembly 1 further includes a potential energy element 15; one end of the potential energy element 15 is disposed on the segment fixing member 12, and the other end is used to apply a potential force to the flexible sliding member 13 in a direction away from the end fixing member 11. For the flexible sliding member 13, keeping it in a tensile state is beneficial to the reliable extension of its axial length, and will not cause arching as it would when compressed, thus avoiding any impact on displacement detection. The potential energy element 15 is provided to keep the flexible sliding member 13 in a tensile state. In one embodiment, the potential energy element 15 is an elastic potential energy element (such as a spring), one end of which is connected to the segment fixing member 12 via a connecting seat 16, and the other end of which is connected to the flexible sliding member 13. When the target object 3 bends, the flexible sliding member 13 is pulled by the end fixing member 11 and moves toward the end fixing member 11, at which time the elastic potential energy element is stretched. When the target object 3 relaxes, the elastic potential energy member contracts and releases its stored elastic potential energy, keeping the flexible sliding member 13 from loosening and arching.
[0039] Preferably, the motion capture component 1 includes at least two segment fixation members 12 and at least two optical flow sensors 14. The segment fixation members 12 and the optical flow sensors 14 are arranged in a one-to-one correspondence. Adjacent segment fixation members 12 are spaced apart and arranged on different segments 32 on both sides of the rotation joint 31 of the target object 3. The flexible sliding member 13 is sequentially and movably connected to at least two of the segment fixation members 12. For objects such as the index finger that contain multiple rotation joints 31 and segments 32, it may be necessary to calculate the rotation angle of each rotation joint 31 in practice to determine the posture of the entire finger. Therefore, the motion capture component 1 can be equipped with more than two segment fixation members 12 and optical flow sensors 14.
[0040] Please refer to Figure 3In an alternative example, the segmental fixing member 12 has a sliding member through slot 121 and a sensor receiving cavity 122; the sliding member through slot 121 extends through the axial direction of the flexible sliding member 13, and the cross-sectional shape of the sliding member through slot 121 is adapted to the cross-sectional shape of the flexible sliding member 13, the flexible sliding member 13 being movably inserted into the sliding member through slot 121 along its own axial direction; the sensor receiving cavity 122 is connected to the sliding member through slot 121, the optical flow sensor 14 is housed in the sensor receiving cavity 122, and the imaging direction of the optical flow sensor 14 is towards the sliding member through slot 121. When the flexible sliding member 13 is movably inserted into the sliding member insertion groove 121, its own cross-sectional shape is adapted to the cross-sectional shape of the sliding member insertion groove 121. Therefore, the radial degree of freedom of the flexible sliding member 13 is restricted by the sliding member insertion groove 121. The flexible sliding member 13 can only move along its own axial direction relative to the segment fixing member 12, and cannot generate radial movement, thereby ensuring that the axial displacement can accurately reflect the rotation angle.
[0041] Preferably, the flexible sliding member 13 is a flat strip, the thickness direction of which is arranged within the bending plane of the target object. The flat strip has a small moment of inertia along the thickness direction and is easy to bend, but its cross-sectional dimensions can be guaranteed to a certain extent, which helps to reduce the elongation rate and thus improve the detection accuracy of axial displacement.
[0042] Optionally, the end fixing member 11 is used to fix the fingertip, and the segment fixing member 12 is used to fix the finger segment; the flexible sliding member 13 is used to be arranged on the back of the hand. Preferably, the end fixing member 11 includes a finger sleeve, and the segment fixing member 12 includes a finger ring.
[0043] Optionally, the motion capture tracking system based on an optical flow sensor includes multiple motion capture components 1, each of which is mounted on a different target object 3 (e.g., multiple different fingers). The calculation module 2 is communicatively connected to each of the multiple motion capture components 1 to calculate the angle and velocity of the bending motion of the multiple different target objects 3. It should be noted that the configurations of the multiple motion capture components 1 can be identical or different. Please refer to... Figures 4a to 4dThe diagram illustrates several sensor arrangement schemes for four motion capture tracking systems based on optical flow sensors. Each arrangement includes five motion capture components 1, corresponding to the five fingers from the thumb to the little finger. The four motion capture components 1 corresponding to the index finger to the little finger have the same configuration, while the motion capture component 1 corresponding to the thumb has a different configuration from the other four. Of course, the above motion capture tracking system is only an example for detecting all fingers of a human hand, and not a limitation on the number and configuration of motion capture components 1. In some application scenarios, it may only be necessary to detect one or several fingers, rather than all fingers, or certain segments of a finger rather than the entire finger. In such cases, the number and configuration of motion capture components 1 can be adapted and set according to actual needs.
[0044] Optionally, the motion capture component 1 further includes an inertial sensor 17 (IMU), which is disposed on the end fixing member 11 and / or the segment fixing member 12 and is configured to acquire motion data of the target capture object 3; the calculation module 2 also calculates the angle and speed of the bending motion of the target capture object 3 in combination with the motion data obtained by the inertial sensor 17.
[0045] The inertial sensor 17, such as a three-axis accelerometer or gyroscope, can collect motion data of the target object 3, such as three-dimensional acceleration data or angular velocity data. After the calculation module 2 acquires the motion data collected by the inertial sensor 17, it can be used to help distinguish between the static bending and dynamic movement of the fingers and eliminate external interference (such as the overall movement of the hand).
[0046] The placement of inertial sensor 17 can be adjusted according to requirements, detection accuracy, etc. Please refer to... Figures 4a to 4d The document presents several sensor arrangement schemes for four motion capture and tracking systems based on optical flow sensors. Figure 4a Scheme 1 is shown, in which each motion capture component 1 contains 3 inertial sensors 17, and additional inertial sensors 17 can be placed on the palm, such as integrated into the computing module 2. Figure 4b Scheme 2 is shown, in which the four motion capture components 1 corresponding to the index finger to the little finger contain two inertial sensors 17, while the motion capture component 1 corresponding to the thumb contains three inertial sensors 17. Figure 4c Scheme 3 is shown, in which the sensor deployment is further simplified compared to Scheme 2. Figure 4d Scheme 4 is shown, which can be considered the simplest scheme, containing only an inertial sensor 17 integrated in the computing module 2.
[0047] Optionally, the motion capture and tracking system based on optical flow sensors also includes photoelectric limit switches, which can be fixed to the back of the hand, for example. Their function is to accurately identify the two extreme states of the fingers (extended / bent to the maximum angle) to assist in calibration and improve the recognition accuracy in complex scenarios.
[0048] In an alternative example, computing module 2 may be selected as a low-power MCU, connected to optical flow sensor 14 or inertial sensor 17 via an I2C or SPI interface.
[0049] In summary, the motion capture and tracking system based on an optical flow sensor provided by this utility model includes a motion capture component and a computing module. The motion capture component is used to install on a target object. The motion capture component includes an end fixing member, a segment fixing member, a flexible sliding member, and an optical flow sensor. The end fixing member and the segment fixing member are arranged at intervals on different segments on both sides of the rotational joint of the target object. One end of the flexible sliding member is fixedly connected to the end fixing member, and the other end of the flexible sliding member extends beyond the segment fixing member along its own axial direction away from the end fixing member. The flexible sliding member's radial degree of freedom is restricted by the segment fixing member, but it is allowed to move axially relative to the segment fixing member. The optical flow sensor is disposed on the segment fixing member and configured to obtain the axial displacement of the flexible sliding member by detecting the optical flow image of the flexible sliding member. The computing module calculates the angle and velocity of the bending motion of the target object based on the axial displacement obtained by the optical flow sensor. With this configuration, when the target object (such as a finger) bends, the end fixing component causes the flexible sliding component to undergo axial displacement relative to the segment fixing component. The optical flow sensor mounted on the segment fixing component can then detect this axial displacement, allowing the calculation module to calculate the angle and velocity of the target object's bending motion. This configuration features a simple hardware structure, small footprint, and easy deployment on the target object (such as a finger) without hindering or burdening its movement. Furthermore, the optical flow sensor-based detection overcomes the problem of mechanical wear, resulting in a long service life and high detection accuracy.
[0050] It should be noted that the above embodiments can be combined with each other. The above description is only a description of preferred embodiments of the present utility model and is not intended to limit the scope of the present utility model in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the present utility model.
Claims
1. A motion capture and tracking system based on an optical flow sensor, characterized in that, include: Motion capture components and computing modules; The motion capture component is used to be installed on the target object; The motion capture component includes an end fixture, a segment fixture, a flexible sliding component, and an optical flow sensor; The end fixing member and the segment fixing member are arranged at intervals on different segments on both sides of the rotational joint of the target capture object; one end of the flexible sliding member is fixedly connected to the end fixing member, and the other end of the flexible sliding member extends beyond the segment fixing member in a direction away from the end fixing member along its own axial direction; the flexible sliding member is restricted in radial freedom by the segment fixing member, and is allowed to move axially relative to the segment fixing member; The optical flow sensor is disposed on the segment fixing member and is configured to obtain the axial displacement of the flexible sliding member by detecting the optical flow image of the flexible sliding member; The calculation module calculates the angle and speed of the bending motion of the target object based on the axial displacement obtained by the optical flow sensor.
2. The motion capture and tracking system based on an optical flow sensor according to claim 1, characterized in that, The motion capture component further includes: a potential energy element; One end of the potential energy element is disposed on the segment fixing element, and the other end is used to apply potential energy to the flexible sliding element in a direction away from the end fixing element.
3. The motion capture and tracking system based on an optical flow sensor according to claim 2, characterized in that, The potential energy element is an elastic potential energy element. One end of the elastic potential energy element is connected to the segment fixing element through a connecting seat, and the other end of the elastic potential energy element is connected to the flexible sliding element.
4. The motion capture and tracking system based on an optical flow sensor according to claim 1, characterized in that, The motion capture assembly includes at least two segment fixation members and at least two optical flow sensors. The segment fixation members are arranged in a one-to-one correspondence with the optical flow sensors. Adjacent segment fixation members are arranged at intervals on different segments on both sides of the rotation joint of the target object. The flexible sliding member is movably connected to at least two segment fixation members in sequence.
5. The motion capture and tracking system based on an optical flow sensor according to claim 1, characterized in that, The segmental fixing member has a sliding member through slot and a sensor receiving cavity; the sliding member through slot is opened through the axial direction of the flexible sliding member, and the cross-sectional shape of the sliding member through slot is adapted to the cross-sectional shape of the flexible sliding member, and the flexible sliding member is movably inserted into the sliding member through slot along its own axial direction; the sensor receiving cavity is connected to the sliding member through slot, the optical flow sensor is housed in the sensor receiving cavity, and the imaging direction of the optical flow sensor is towards the sliding member through slot.
6. The motion capture and tracking system based on an optical flow sensor according to claim 1, characterized in that, The flexible sliding member is a flat strip, and its thickness direction is used to be arranged within the curved plane of the target capture object.
7. The motion capture and tracking system based on an optical flow sensor according to claim 1, characterized in that, The end fixing member is used to fix the fingertip, the segment fixing member is used to fix the finger segment, and the flexible sliding member is used to be arranged on the back of the hand.
8. The motion capture and tracking system based on an optical flow sensor according to claim 7, characterized in that, The end fixing component includes a finger sleeve, and the segment fixing component includes a finger ring.
9. The motion capture and tracking system based on an optical flow sensor according to claim 1, characterized in that, The motion capture and tracking system based on optical flow sensors includes multiple motion capture components, which are respectively installed on multiple different target objects. The calculation module is communicatively connected to the multiple motion capture components to calculate the bending angle and speed of the multiple different target objects.
10. The motion capture and tracking system based on an optical flow sensor according to claim 1, characterized in that, The motion capture component further includes an inertial sensor, which is disposed on the end fixture and / or the segment fixture and configured to acquire motion data of the target object; the calculation module also combines the motion data obtained by the inertial sensor to calculate the angle and speed of the bending motion of the target object.