A data acquisition device

Abstract

The application relates to a data acquisition device, comprising a wrist assembly, a palm structure and a finger skeleton, the wrist assembly comprising a movable connection bracelet and a heel wearing part, the bracelet being used for wearing on the wrist of a human hand; the palm structure comprising a palm center part and a metacarpal joint part, the palm center part being movably connected with the heel wearing part, the palm structure being used for wearing on the palm of a human hand; the finger skeleton being movably connected with the metacarpal joint part, the finger skeleton being used for wearing on the fingers of a human hand, each finger skeleton comprising multiple finger bones which are hingedly connected with each other; wherein the palm center part, the metacarpal joint part and at least one finger bone of each finger skeleton are provided with tactile sensors, the tactile sensors being integrally connected or fixedly bonded on the palm center part, the metacarpal joint part and the finger bones, and the detection surfaces of all the tactile sensors are configured to be coplanar with or protrude from the outer surfaces of the components connected therewith. The data acquisition device of the application can support data acquisition in multiple scenes and under complex operation tasks.

Description

Technical Field

[0001] This application relates to the field of data acquisition technology, and more particularly to a data acquisition device. Background Technology

[0002] With the rapid development of robotics technology, there is a need to collect more extensive multimodal data for robot model training, enabling robots to make better autonomous decisions. However, most existing data acquisition solutions rely on a single type of sensor (such as a camera or force sensor), which has drawbacks such as poor environmental adaptability and limited data acquisition dimensions. Furthermore, it is difficult to achieve spatiotemporal synchronization and calibration of visual and force / tactile data.

[0003] Furthermore, regarding data sources, collecting data generated by robots in real-world environments is costly, has limited application scenarios, and results in low efficiency. Data collected in simulation environments suffers from a "simulation-reality gap," and data migration effectiveness is limited by the accuracy of the physics engine. At the hardware level, existing data acquisition devices lack sufficient anthropomorphism, with joint range of motion and dexterity that differ from human capabilities, thus limiting data acquisition for complex robot tasks.

[0004] Therefore, there is a need for a data acquisition device that can overcome the above-mentioned shortcomings, enabling it to acquire multimodal data in multiple scenarios, reduce data acquisition costs, improve data acquisition efficiency, and also acquire data under complex operational tasks. Utility Model Content

[0005] The purpose of this application is to provide a data acquisition device to overcome the above-mentioned defects in existing data acquisition schemes.

[0006] This application provides a data acquisition device, including:

[0007] A wrist assembly includes a wristband and a palm base fitting, the wristband being movably connected to the palm base fitting. The wristband is worn on the wrist of a person's hand, and the palm base fitting is worn on the palm base of a person's hand. The palm base fitting can move relative to the wristband in response to the movement of the palm base of the person's hand relative to the wrist.

[0008] The hand structure includes a palm part and a palm-finger connection part. The palm part is movably connected to the palm root wearing piece, and the palm-finger connection part is movably connected to the palm part. The hand structure is used to be worn on the palm part of a person's hand so as to follow the palm part of the person's hand to complete the movement.

[0009] One or more finger skeletons, the finger skeletons being movably connected to the palmar-digital connection, the finger skeletons being worn on the fingers of a person's hand to follow the movements of the fingers of a person's hand, each of the finger skeletons comprising multiple interlocking finger bones;

[0010] The palm portion, the palm-finger connection portion, and at least one segment of each finger skeleton are provided with tactile sensors. The tactile sensors are integrally connected or fixedly bonded to the palm portion, the palm-finger connection portion, and the finger bones. The detection surfaces of all the tactile sensors are configured to be coplanar with or protrude from the outer surface of the component to which they are connected, and the positive direction of the normal of the detection surface is away from the component.

[0011] Optionally, the data acquisition device is provided with five finger skeletons, which are thumb skeletons, index finger skeletons, middle finger skeletons, ring finger skeletons and little finger skeletons for wearing on the thumb, index finger, middle finger, ring finger and little finger of a person's hand;

[0012] The thumb skeleton includes two phalanges equipped with the tactile sensor. The index finger skeleton, middle finger skeleton, ring finger skeleton, and little finger skeleton each include a first phalanx, a second phalanx, and a third phalanx. The positions of the first phalanx, the second phalanx, and the third phalanx are from near to far from the palm-finger connection. The first phalanx and the third phalanx are equipped with the tactile sensor.

[0013] Optionally, the palm-root wearing device includes a wearing ring and a swing rod. The wearing ring is rotatably connected to the wristband around a first axis, the first axis being perpendicular to the axial direction of the wristband, and the shape of the wearing ring is configured to at least partially surround the wristband. The swing rod is rotatably connected to the wearing ring around a second axis, the second axis being perpendicular to the first axis in a different plane, and the second axis is not parallel to the axis of the wristband.

[0014] Optionally, the outer surface of the palm portion is composed of a first top surface, a first bottom surface, and a first side surface disposed between the first top surface and the first bottom surface; the outer surface of the palm-finger connecting portion is composed of a second top surface, a second bottom surface, and a second side surface disposed between the second top surface and the second bottom surface; the palm portion is rotatably connected to the palm root wearing piece about a third axis; the palm-finger connecting portion is rotatably connected to the palm portion about a fourth axis; the fourth axis and the third axis are parallel to the second side surface and the first side surface, respectively, and the fourth axis and the third axis are parallel to each other.

[0015] Optionally, the first phalanx includes a first main body and a first connecting end. The first connecting end is rotatably connected to the palmar-finger connecting part about a fifth axis perpendicular to the second top surface. The first main body and the first connecting end, the second phalanx and the first main body, and the third phalanx and the second phalanx are rotatably connected about a sixth axis, a seventh axis, and a ninth axis, respectively. The sixth axis, the seventh axis, and the ninth axis are all parallel to the second side surface and perpendicular to the fifth axis.

[0016] Optionally, the second phalanx has a connecting ring at the end away from the first phalanx. The connecting ring is rotatably connected to the second phalanx about an eighth axis, which is parallel to the seventh axis. The third phalanx is rotatably connected to the connecting ring about a ninth axis. The connecting ring has a through hole, and the third phalanx has a first receiving cavity. The connecting ring can rotate about the eighth axis to a position where the through hole and the first receiving cavity at least partially overlap.

[0017] Optionally, it also includes one or more magnetic encoders. The connection structure between the wristband and the palm base wearing device, the connection structure between the palm and the palm base wearing device, the connection structure between the palm-finger connection and the palm, the connection structure between the finger skeleton and the palm-finger connection, and any two adjacent finger bones are provided with a rotation axis. The magnetic encoder is installed at some or all of the locations of the rotation axis, and the magnetic encoder is coaxial with the rotation axis at its own location.

[0018] Optionally, the data acquisition device further includes gloves made of elastic fabric. The gloves include an integrally connected wrist sleeve, palm sleeve, and finger sleeve, which are respectively used to be worn on the wrist, palm, and fingers of a person.

[0019] The palm side of the hand sleeve is fixedly connected to the back side of the hand structure; the number of finger sleeves is the same as the number of finger skeletons, the finger sleeves are fixedly connected to the finger skeletons, and the finger pads of the finger sleeves and the detection surface of the tactile sensor are both located on the finger pad side of the human hand fingers; the wrist sleeve passes through the bracelet and is surrounded by the bracelet.

[0020] Optionally, the palm structure further includes a thenar eminence, which is fixedly connected to the palm side of the hand sleeve at a position corresponding to the thenar eminence of the human hand. The thenar eminence is set independently of the palm side and the palm-finger connection part. The thenar eminence is located on the palm-finger connection part near the palm side and on the palm side near the thumb skeleton. The thenar eminence is provided with a tactile sensor, and the detection surface of the tactile sensor is configured to be located on the side of the thenar eminence away from the hand sleeve.

[0021] Optionally, the outer surface of the wristband is provided with visual reference marks for pose estimation, and the wristband is made of a rigid material.

[0022] Compared with the prior art, the embodiments of this application have the following main advantages:

[0023] The data acquisition device of this application embodiment, by setting the aforementioned wrist component, palm structure, and finger skeleton, can respectively support various movements of the human wrist, palm, and fingers. This allows the human hand, after wearing the data acquisition device, to manipulate various objects with various movements, enabling the data acquisition device to support data acquisition in multiple scenarios and complex operational tasks. Furthermore, compared to existing methods of directly collecting data generated by robots in real-world environments, data acquisition through wearing this device can improve data acquisition efficiency and reduce data acquisition costs. In addition, because the data acquisition device is equipped with a tactile sensor, it can detect tactile information from the human hand contacting objects. By combining this with visual information synchronously acquired from an external visual sensor, multimodal data, including tactile and visual information, can be collected, thus enabling the acquisition of multimodal data in multiple scenarios. Attached Figure Description

[0024] To more clearly illustrate the solutions in this application, the accompanying drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of a data acquisition device provided in an embodiment of this application;

[0026] Figure 2 This is a schematic diagram of the wrist assembly of a data acquisition device provided in an embodiment of this application;

[0027] Figure 3 This is a schematic diagram of a data acquisition device provided in one embodiment of the present application, omitting the wrist assembly.

[0028] Figure 4 A schematic diagram of the structure of the index finger of a data acquisition device provided in an embodiment of this application;

[0029] Figure 5 A schematic diagram of the structure of the little finger of a data acquisition device provided in an embodiment of this application;

[0030] Figure 6 This is a schematic diagram of the thumb structure of a data acquisition device provided in an embodiment of this application;

[0031] Figure 7 A schematic diagram of the structure of the proximal phalanx of the thumb of a data acquisition device provided in an embodiment of this application, which rotates at a certain angle around the twelfth axis;

[0032] Figure 8 A schematic diagram of the hand structure of a data acquisition device provided in another embodiment of this application.

[0033] Figure label:

[0034] 1. Data acquisition equipment;

[0035] 100. Wrist assembly; 110. Ring component; 120. Connecting rod; 130. Wearing ring; 140. Swing rod;

[0036] 200. Palm structure; 210. Palmar part; 211. First lateral surface; 220. Palmodigital junction; 221. Second lateral surface; 230. Thenar eminence;

[0037] 310. Thumb skeleton; 311. Finger root connection end; 312. Finger root body; 313. Proximal phalanx connection end; 314. Proximal phalanx body; 315. Distal phalanx;

[0038] 320. Index finger skeleton; 330. Middle finger skeleton; 340. Ring finger skeleton; 350. Little finger skeleton; 361. First connecting end; 362. First main body; 363. Second phalanx; 364. Connecting ring; 365. Third phalanx; 3651. Dorsal surface of the finger; 3652. Connecting surface; 3653. Finger pad; 3654. First receiving cavity; 3655. Insertion hole; 370. Fingernail;

[0039] 400, Tactile sensor; 500, Flexible clip; 600, Cable mounting hardware. Detailed Implementation

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0041] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0042] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0043] Please see Figure 1-8 This application provides a data acquisition device 1, which is worn on a person's hand to collect data generated when the person's hand manipulates various objects in various scenarios by grasping, holding, pinching, twisting, clamping, hooking, etc., and then the collected data can be used for robot model training.

[0044] The data acquisition device 1 includes a wrist assembly 100, a palm structure 200, and one or more finger skeletons. The wrist assembly 100 includes a wristband and a palm base fitting, with the wristband and palm base fitting movably connected. The wristband is worn on the wrist, and the palm base fitting is worn on the palm base, moving relative to the wrist as the palm base moves relative to the wrist. The palm structure 200 includes a palm portion 210 and a palm-finger connection portion 220, with the palm portion 210 and palm base fitting movably connected. The palm structure 200 is worn on the palm to follow the palm's movements. Each finger skeleton is movably connected to the palm-finger connection portion 220 and is worn on the fingers to follow their movements. Each finger skeleton includes multiple articulated phalanges.

[0045] The palm portion 210, the palm-finger connection portion 220, and at least one phalanx of each finger skeleton are each provided with a tactile sensor 400. The tactile sensors 400 are integrally connected to or fixedly bonded to the palm portion 210, the palm-finger connection portion 220, and the phalanx. The detection surfaces of all tactile sensors 400 are configured to be coplanar with or protrude from the outer surface of the component to which they are connected. Furthermore, the tactile sensors 400 are configured such that the positive direction of the normal of the detection surface is opposite to the component to which they are connected.

[0046] It should be noted that the tactile sensor 400 in this application embodiment refers to various existing sensing devices capable of detecting tactile information such as contact force and / or temperature, texture, shape, hardness, and material of the contact object. The tactile sensor 400 relies on its own detection surface to contact the object to be detected in order to detect tactile information. In this application embodiment, the positive normal direction of the detection surface of the tactile sensor 400 refers to the direction along the normal of the detection surface from the inside of the tactile sensor 400 to the outside. Thus, it can be seen that the palm portion 210, the palm-finger connection portion 220, and the phalanges of the finger skeleton can always make contact with external objects through the detection surface of the tactile sensor 400 installed on it, thereby always being able to detect the corresponding tactile information. In this embodiment, the tactile sensors 400 on the palm portion 210 and the palm-finger connection portion 220 are configured such that their detection surfaces are located on the palm side of the hand structure 200, and the tactile sensors 400 on the finger bones are configured such that their detection surfaces are located on the fingertip side of the finger skeleton, so that the detection surfaces of the tactile sensors 400 can be the contact surfaces of the palm portion 210, the palm-finger connection portion 220, and the finger bones for contact with external objects, respectively. Since the palm surface of the hand and the fingertip surface of the fingers are in contact with the object when the human hand operates various objects by grasping, holding, pinching, twisting, clamping, hooking, etc., this arrangement ensures that tactile information can be collected every time the human hand operates the object after wearing the data acquisition device 1.

[0047] It should be noted that the terms "integrated connection" and "fixed bonding" refer to a connection method in which the tactile sensor 400 is permanently integrated with its connected components into a single unit. There is no perceptible relative movement between the tactile sensor 400 and the connected components; both in appearance and function, it can be considered a single, complete part (i.e., the palm portion 210, the palm-finger connection portion 220, or the phalanx). In other words, once the palm portion 210, the palm-finger connection portion 220, or the phalanx is manufactured, the tactile sensor 400 cannot be disassembled non-destructively. This configuration reduces the structural size of the data acquisition device 1, making it more compact, and also facilitates the arrangement of the tactile sensor 400 and the magnetic encoder described below. Exemplarily, the integrated connection can be achieved through manufacturing processes such as injection molding, 3D printing, welding, riveting, and casting. Fixed bonding specifically refers to using a high-strength structural adhesive to bond the tactile sensor 400 to the connected components.

[0048] The data acquisition device 1 of this application embodiment is a biomimetic design of the human hand structure. Therefore, when it needs to be worn on a human hand, it can be achieved by, for example, wearing a matching glove that is fixedly connected to it, an elastic strap that is tied to the wrist component and the palm structure, or a ring that is worn on the finger skeleton. In this way, data on human hand manipulation of objects can be collected, and the collected data can be used for robot model training.

[0049] The data acquisition device 1 of this application embodiment, by setting the wrist component 100, palm structure 200, and finger skeleton, can respectively support various movements of the human wrist, palm, and fingers. This allows the human hand to manipulate various objects with various movements after wearing the data acquisition device 1, enabling the data acquisition device 1 to support data acquisition in multiple scenarios and complex operational tasks. Furthermore, compared to existing methods of directly collecting data generated by robots in real environments, data acquisition through wearing the data acquisition device 1 can improve data acquisition efficiency and reduce data acquisition costs. In addition, because the data acquisition device 1 is equipped with a tactile sensor 400, it can detect tactile information from the human hand contacting objects. By combining this with visual information synchronously acquired by an external visual sensor, it can acquire multimodal data including tactile and visual information, thereby enabling the acquisition of multimodal data in multiple scenarios. This acquired multimodal data can then be used for robot model training.

[0050] Please see Figure 1 and Figure 3 In one embodiment, the data acquisition device 1 is provided with five finger skeletons, namely, thumb skeleton 310, index finger skeleton 320, middle finger skeleton 330, ring finger skeleton 340 and little finger skeleton 350 for wearing on the thumb, index finger, middle finger, ring finger and little finger of a person's hand.

[0051] The thumb skeleton 310 includes two phalanges equipped with tactile sensors 400. These two phalanges are positioned from near to far from the palmodigital junction 220 as the proximal phalanx and distal phalanx 315. The index finger skeleton 320, middle finger skeleton 330, ring finger skeleton 340, and little finger skeleton 350 each include a first phalanx, a second phalanx 363, and a third phalanx 365. The positions of the first phalanx, second phalanx 363, and third phalanx 365 from near to far from the palmodigital junction 220 are as follows, and both the first phalanx and the third phalanx 365 are equipped with tactile sensors 400.

[0052] It is understandable that by setting the thumb skeleton 310, index finger skeleton 320, middle finger skeleton 330, ring finger skeleton 340, and little finger skeleton 350 on the data acquisition device 1 respectively matching the five fingers of a human hand, the data acquisition device 1 can completely collect data generated at the five fingers after being worn on the human hand; by setting tactile sensors 400 on the proximal and distal phalanges 315, it can be ensured that the tactile information of the human thumb in contact with objects is completely collected; by setting tactile sensors 400 on both the first and third phalanges 365, it can be ensured that the tactile information of the fingertips and bases of the index, middle, ring, and little fingers is collected. Since the fingertips and bases are the most frequently contacted parts of objects, the failure to collect tactile information can be minimized.

[0053] Please see Figure 3-5 In one embodiment, the length of the second phalanx 363 of the little finger skeleton 350 is less than the length of the second phalanx 363 of the index finger skeleton 320, middle finger skeleton 330, and ring finger skeleton 340, so that the overall length of the little finger skeleton 350 is less than that of the index finger skeleton 320, middle finger skeleton 330, and ring finger skeleton 340, making the index finger skeleton 320, middle finger skeleton 330, ring finger skeleton 340, and little finger skeleton 350 of the data acquisition device 1 more suitable for the length of the corresponding fingers of the human hand. Furthermore, the second phalanx 363 of the index finger skeleton 320, middle finger skeleton 330, and ring finger skeleton 340 are equipped with tactile sensors 400, thereby enabling the acquisition of tactile information generated by the middle part of the index, middle, and ring fingers of the human hand; the second phalanx 363 of the little finger skeleton is not equipped with tactile sensors 400, to accommodate the smaller length of the second phalanx 363 of the little finger skeleton 350. It should be noted that because the middle part of the little finger of a human hand rarely comes into contact with objects during the process of manipulating objects, the need for collecting tactile information from this part is not high. Even if a tactile sensor 400 is not set on the second phalanx 363 of the little finger skeleton 350, it will not cause the data collected by the data acquisition device 1 to be unusable for robot model training.

[0054] Please see Figure 1-2In one embodiment, the palm-heel wearing device includes a wearing ring 130 and a swing rod 140. The wearing ring 130 is rotatably connected to a wristband about a first axis, which is perpendicular to the axis of the wristband. The wearing ring 130 is shaped to at least partially surround the wristband, so that after the wristband is worn on the wrist, the wearing ring 130 can at least partially surround the palm heel of the hand, thus wearing the wearing ring 130 on the palm heel of the hand. When the palm heel of the hand wearing the data acquisition device 1 rotates up and down relative to the wrist, the palm heel of the hand can drive the wearing ring 130 to rotate about the first axis relative to the wristband. The swing rod 140 is rotatably connected to the wearing ring 130 about a second axis, which is perpendicular to the first axis and not parallel to the axis of the wristband. It can be understood that by rotating the swing rod 140 about the second axis, the data acquisition device 1 can support the left and right swinging motion of the palm heel relative to the wrist.

[0055] Please see Figure 1-2 In one embodiment, the bracelet includes an annular component 110 and a connecting rod 120. The annular component 110 is worn around the wrist of a person in a wrapping manner, and the axial direction of the bracelet is also the axial direction of the annular component 110. One end of the annular component 110 along its own axial direction is fixedly connected to the connecting rod 120. The connecting rod 120 is shaped to at least partially surround the annular component 110. One of the connecting rod 120 and the annular component 110 is fixedly connected to the wrist of a person. A wearing ring 130 is rotatably connected to the connecting rod 120 about a first axis.

[0056] Understandably, by fixing the connecting rod 120 to the wrist of the hand via one of the connecting rods 120 and the annular component 110, the bracelet can be securely worn on the wrist. This ensures that when the palm of the hand moves relative to the wrist, the wearing ring 130 also moves relative to the bracelet, rather than the wearing ring 130 moving with the bracelet. By fixing the connecting rod 120 to the annular component 110, the connecting rod 120 can function as a component for rotatably connecting the wearing ring 130. Furthermore, the fact that the connecting rod 120 is located at one end of the annular component 110 along its own axis does not affect the annular component 110's fit on the wrist. Additionally, by shaping the connecting rod 120 to at least partially surround the annular component 110, the connecting rod 120 can be at least partially worn between the palm and wrist, thus making the wrist assembly 100 more securely worn on the hand.

[0057] Specifically, the connecting rod includes a straight rod 121 and a curved rod 122. The straight rod 121 is arranged along the direction penetrating the annular member 110. The first end of the straight rod 121 is fixedly connected to the side (inner or outer side) of the annular member 110. The second end of the straight rod 121 extends out of the annular member 110 and is fixedly connected to the curved rod 122. The width direction of the curved rod 122 is perpendicular to the length direction of the straight rod 121. The curved rod 122 is configured to at least partially surround the annular member 110 along its own length direction. The two ends of the curved rod 122 along its own length direction are respectively rotatably connected to the wearing ring 130 around a first axis.

[0058] More specifically, the straight rod 121 and the curved rod 122 of the connecting rod 120 are integrally connected. A binding rope (not shown in the figure) is also fixedly connected to the straight rod 121 of the connecting rod 120, so as to bind the wristband to the wrist of the person wearing the data acquisition device 1, so as to prevent the wristband from shaking relative to the person's wrist and thus affecting the data acquisition effect.

[0059] Please see Figure 1 and Figure 3 In one embodiment, the outer surface of the palm portion 210 is composed of a first top surface, a first bottom surface, and a first side surface 211 disposed between the first top surface and the first bottom surface. The outer surface of the palm-finger connection portion 220 is composed of a second top surface, a second bottom surface, and a second side surface 221 disposed between the second top surface and the second bottom surface. The palm portion 210 is rotatably connected to the swing rod 140 of the palm root wearing piece about a third axis, and the palm-finger connection portion 220 is rotatably connected to the palm portion 210 about a fourth axis. The fourth axis and the third axis are parallel to the second side surface 221 and the first side surface 211, respectively, and the fourth axis and the third axis are parallel to each other.

[0060] It is understandable that by connecting the palm portion 210 to the swing rod 140, the hand structure 200 can support the left-right swinging motion of the base of the hand relative to the wrist through the rotation of the swing rod 140 around the second axis. By defining the positions of the third and fourth axes as described above, the hand structure 200 can support the bending motion of the hand when grasping an object through the rotation of the palm-finger connection portion 220 around the fourth axis. It should be noted that when the hand grasps an object, the palm-finger connection portion rotates relative to the palm portion. During this rotation, the muscles of the palm-finger connection portion are compressed, allowing the palm-finger connection portion to approach the palm portion and for the muscles of the palm-finger connection portion to make close contact with the object, thus enabling a firm grip. Since the materials of the palm-finger connection portion 220 and the palm portion 210 in the data acquisition device 1 are generally hard materials, they do not support morphological changes similar to muscle compression. Therefore, in this embodiment, the palm portion 210 is designed to rotate around a third axis, so that the palm portion 210 can rotate towards the palm-finger connection portion 220 as the palm of the hand rotates, thereby allowing the palm portion 210 and the palm-finger connection portion 220 to make close contact with the object, realizing the gripping action. This also ensures that when gripping an object, both the palm-finger connection portion 220 and the tactile sensor 400 on the palm portion 210 can detect the corresponding tactile information through contact between the detection surface and the object. Thus, it can be seen that the palm portion 210 and the palm-finger connection portion 220 of the data acquisition device 1 in this embodiment can flexibly follow the shape changes of the palm of the hand, thereby enabling the hand structure 200 to fully support various operations of the palm of the hand on objects.

[0061] Please see Figure 1-5 In one embodiment, the first phalanges of the index finger skeleton 320, middle finger skeleton 330, ring finger skeleton 340, and little finger skeleton 350 all include a first main body 362 and a first connecting end 361. The first connecting end 361 is rotatably connected to the palm-finger connecting part 220 about a fifth axis perpendicular to the second top surface. The first main body 362 and the first connecting end 361 are rotatably connected about a sixth axis. The second phalange 363 is rotatably connected to the first main body 362 about a seventh axis. The third phalange 365 is rotatably connected to the second phalange 363 about a ninth axis. The sixth axis, the seventh axis, and the ninth axis are all parallel to the second side surface 221 and perpendicular to the fifth axis.

[0062] It is understandable that the index finger skeleton 320, middle finger skeleton 330, ring finger skeleton 340 and little finger skeleton 350 can achieve abduction and adduction movements similar to those of human fingers relative to the palm by rotating the first connecting end 361 around the fifth axis. By rotating the first main body 362 around the sixth axis, the second phalanx 363 around the seventh axis and the third phalanx 365 around the ninth axis, they can achieve flexion and extension movements similar to those of the base, middle and tip of human fingers, thus fully adapting to various movements of the human index, middle, ring and little fingers.

[0063] Please see Figure 1-5 In one embodiment, the second phalanx 363 has a connecting ring 364 at the end away from the first phalanx. The connecting ring 364 is rotatably connected to the second phalanx 363 about an eighth axis, which is parallel to the seventh axis. The third phalanx 365 is rotatably connected to the connecting ring 364 about a ninth axis. That is, the third phalanx 365 is indirectly connected to the second phalanx 363 by connecting to the connecting ring 364. The connecting ring 364 has a through hole, and the third phalanx 365 has a first receiving cavity 3654. The connecting ring 364 can rotate about the eighth axis to a position where the through hole and the first receiving cavity 3654 at least partially coincide. With this arrangement, the fingertips of the human hand can pass through the through hole of the connecting ring 364 and be inserted into the first receiving cavity 3654, thereby making it convenient to wear the index finger skeleton 320, middle finger skeleton 330, ring finger skeleton 340, and little finger skeleton 350 of the data acquisition device 1 on the index, middle, ring, and little fingers of the human hand.

[0064] It should be noted that the index, middle, ring, and little fingers of a human hand all have three segments of phalanges: the base, the middle, and the tip. When a human hand grasps a small object, the fingertip bends towards the base and simultaneously squeezes the muscles on the pad of the middle finger. This process relies on the elastic deformation of the muscles. The finger skeleton of the data acquisition device 1 is made of rigid material. If a connecting ring 364 is not set between the second phalanx 363 and the third phalanx 365 so that the third phalanx 365 is directly connected to the second phalanx 363 around the ninth axis, when the data acquisition device 1 is worn on a person's hand and the index finger (or middle finger, or ring finger, or little finger) bends towards the base of the finger, the fingertip that was originally inserted into the first receiving cavity 3654 will slightly detach from the first receiving cavity 3654 because the third phalanx 365 cannot compress the second phalanx 363. As a result, the rotation angle of the third phalanx 365 detected in this state (which can be measured by the magnetic encoder described below) and the tactile information of the contact position of the third phalanx 365 are not the real data that is to be collected, and therefore are not suitable for robot model training. In this embodiment, by providing a connecting ring 364 with a through hole for the fingertip to pass through and then insert into the first receiving cavity 3654 of the third phalanx 365, when the index finger (or middle finger, ring finger, or little finger) of the hand bends towards the base of the finger, the third phalanx 365 moves in tandem with the rotation of the connecting ring 364 around the eighth axis, without needing to compress the second phalanx 363. During this process, the fingertip of the hand remains stably inserted into the first receiving cavity 3654 and will not detach from it, thereby making the data collected by the data acquisition device 1 in this embodiment more realistic and more suitable for training the robot model.

[0065] Please see Figure 3-5 In one embodiment, the third phalanx 365 of the index finger skeleton 320, middle finger skeleton 330, ring finger skeleton 340 and little finger skeleton 350 includes a dorsal surface 3651, a connecting surface 3652 and a pad surface 3653 connected in sequence. The dorsal surface 3651 is rotatably connected to the connecting ring 364 around the ninth axis. The dorsal surface 3651 and the pad surface 3653 are arranged facing each other. The two ends of the connecting surface 3652 are respectively connected to the dorsal surface 3651 and the pad surface 3653, so that the dorsal surface 3651, the connecting surface 3652 and the pad surface 3653 form a first receiving cavity 3654.

[0066] Specifically, the back surface 3651, the connecting surface 3652, and the fingertip surface 3653 are integrally connected. There are two connecting surfaces 3652, which are respectively connected to the fingertip surface 3653 on both sides of the width direction of the back surface 3651 to form a ring-shaped first receiving cavity 3654, so as to better ensure that the fingertip can be stably inserted into the first receiving cavity 3654.

[0067] Please see Figure 3 and Figure 6-7 The thumb skeleton 310 includes the proximal phalanx and distal phalanx 315, which are located from near to far from the metacarpophalangeal junction 220, and also includes a base of the thumb. The base of the thumb is rotatably connected to the metacarpophalangeal junction 220 about a tenth axis. The proximal phalanx includes a proximal phalanx connecting end 313 and a proximal phalanx body 314. The proximal phalanx connecting end 313 is rotatably connected to the base of the thumb about a twelfth axis. The tenth axis is perpendicular to the second top surface, and the twelfth axis passes through the second side surface, with the tenth axis perpendicular to the twelfth axis. The proximal phalanx body 314 is rotatably connected to the proximal phalanx connecting end 313 about a thirteenth axis, and the distal phalanx 315 is rotatably connected to the proximal phalanx body 314 about a fourteenth axis. Both the fourteenth and thirteenth axes are perpendicular to the tenth and twelfth axes, respectively.

[0068] It is understandable that the thumb skeleton 310 can achieve a swinging motion similar to the human thumb moving closer to and away from the index finger by rotating the base of the thumb around the tenth axis, and can achieve a motion similar to the human thumb rotating around its own length axis by rotating the proximal phalanx 313 around the twelfth axis, and can achieve flexion and extension movements similar to the base and tip of the human thumb by rotating the proximal phalanx body 314 around the thirteenth axis and the distal phalanx 315 around the fourteenth axis, respectively.

[0069] In some other embodiments, the base of the thumb skeleton 310 is rotatably connected to the palmar-finger connection portion 220 about the tenth axis, and the proximal phalanx connection end 313 is rotatably connected to the base of the thumb about the twelfth axis. The twelfth axis is perpendicular to the second top surface, and the tenth axis passes through the second side surface, and the tenth axis is perpendicular to the twelfth axis. This configuration allows the thumb skeleton 310 to achieve a movement similar to the rotation of a human thumb about its own length axis through the rotation of the base of the thumb about the tenth axis, and to achieve a swinging movement similar to the movement of a human thumb towards and away from the index finger through the rotation of the proximal phalanx connection end 313 about the twelfth axis.

[0070] Please refer to the figure. Figure 3 and Figure 6-7 In one embodiment, the thumb skeleton 310 includes a thumb root connecting end 311 and a thumb root body 312. The thumb root connecting end 311 is rotatably connected to the palm-finger connecting part 220 about the tenth axis. The thumb root body 312 is rotatably connected to the thumb root connecting end 311 about the eleventh axis, which is perpendicular to the tenth axis and parallel to the second side. The proximal phalanx connecting end 313 is rotatably connected to the thumb root body 312 about the twelfth axis.

[0071] Understandably, when the thumb performs an opposition (i.e., the pad of the thumb contacts the palm or the pads of the other four fingers), both the metacarpophalangeal joint of the thumb and the metacarpophalangeal joint of the wrist rotate. If only the metacarpophalangeal joint of the thumb is relied upon, it is difficult to achieve the opposition action that satisfies various hand operations. In this embodiment, the thumb skeleton 310 of the data acquisition device 1 can follow the thumb to achieve the opposition action by rotating the base of the thumb body 312 around the eleventh axis (corresponding to the metacarpophalangeal joint of the wrist) and rotating the proximal phalanx body 314 around the thirteenth axis (corresponding to the metacarpophalangeal joint of the thumb). This satisfies the requirement for the human hand to operate objects through the opposition action, making the data acquisition device 1 more suitable for collecting data under complex hand operation tasks.

[0072] Please see Figure 1 and Figure 3 In one embodiment, the base of the thumb skeleton 310 of the data acquisition device 1 is positioned adjacent to the first phalanx of the index finger skeleton 320 along the length of the index finger skeleton. This ensures that the base of the thumb skeleton 310 corresponds to the web of the hand, facilitating coordinated operation of the thumb skeleton 310 and the other four finger skeletons. It also allows the proximal and distal phalanges 315 of the thumb skeleton 310 to have the largest possible contact area with the object being grasped, thus enabling more complete acquisition of tactile information. In particular, this allows the thumb skeleton 310 to acquire more tactile information through the tactile sensors 400 on the proximal and distal phalanges 315 when grasping cylindrical objects.

[0073] In one embodiment, the distal phalanx 315 of the thumb skeleton 310 includes the dorsal surface of the thumb, the connecting surface of the thumb, and the pad surface of the thumb. The pad surface of the thumb is rotatably connected to the proximal phalanx body 314 about the fourteenth axis. The pad surface of the thumb and the dorsal surface of the thumb are arranged opposite each other. The two ends of the connecting surface of the thumb are respectively connected to the pad surface of the thumb and the dorsal surface of the thumb, so that the pad surface of the thumb, the connecting surface of the thumb, and the dorsal surface of the thumb form a second receiving cavity (not shown in the figure). The second receiving cavity is used for the insertion of the tip of the thumb.

[0074] Please see Figure 4-7 In one embodiment, both the thumb pad and the pad 3653 of the third phalanx 365 have outwardly extending nails 370 at the end away from the palm-finger connection 220. This better mimics human hand fingers, making the data acquisition scenario using the data acquisition device 1 more similar to the real scenario of manipulating objects with fingernails. Furthermore, the nails 370 are equipped with tactile sensors (not shown in the figure) to detect tactile information when pinching small objects such as data cables or screws.

[0075] In one embodiment, the data acquisition device 1 further includes one or more magnetic encoders (not shown in the figure). The first axis, second axis, third axis, fourth axis, fifth axis, sixth axis, seventh axis, eighth axis, ninth axis, tenth axis, eleventh axis, twelfth axis, thirteenth axis and fourteenth axis are collectively referred to as rotation axes. Magnetic encoders are installed at some or all of the locations of the rotation axes, and the magnetic encoders are coaxially arranged with the rotation axes at their respective locations.

[0076] It should be noted that the magnetic encoder in this application refers to a measuring element that accurately measures the rotation angle of a magnetic element relative to a magnetic sensor by measuring the change in the magnetic field of a magnetic element (e.g., a magnetic ring, a cylindrical magnet) arranged around a magnetic sensor (e.g., a Hall sensor). The magnetic encoder consists of a magnetic sensor and a magnetic element. The meaning of "the magnetic encoder is coaxial with the rotation axis" is that the central axis of the magnetic element of the magnetic encoder is coaxial with the rotation axis.

[0077] Specifically, the data acquisition device 1 includes 29 magnetic encoders (not shown in the figure). These 29 magnetic encoders are installed at each position on the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh, twelfth, thirteenth, and fourteenth axes, and are coaxially arranged with the axis at their respective positions. It should be noted that the index finger skeleton 320, middle finger skeleton 330, ring finger skeleton 340, and little finger skeleton 350 of the data acquisition device 1 each have five rotation axes: the fifth, sixth, seventh, eighth, and ninth axes, respectively. Therefore, the entire data acquisition device 1 has a total of 29 rotation axes, and each of the 29 magnetic encoders can be installed on one rotation axis.

[0078] Understandably, this embodiment uses 29 magnetic encoders positioned along the 29 rotation axes to detect the rotation angles generated at these axes. This allows the data acquisition device 1 to collect rotation angle data at the joints along any one of these axes when a person manipulates various objects. These joints refer to the wrist joint, wrist-palmar joint, and the interphalangeal and metacarpophalangeal joints of each of the five fingers. Furthermore, since the magnetic encoders themselves can be very small, and by aligning them coaxially with the rotation axes, the space occupied by the encoders on the data acquisition device 1 can be further reduced. This results in a more compact structure for the data acquisition device 1, making it easier for a person to wear it and collect data in confined spaces.

[0079] In some other embodiments, the data acquisition device 1 may also install magnetic encoders only at a portion of the locations of all 29 rotation axes. That is, in this part of the embodiment, the number of magnetic encoders may be only one or less than 29. Accordingly, the data acquisition device 1 in this part of the embodiment can only acquire the rotation angle generated at the location of the magnetic encoder, and cannot acquire all rotation angle data.

[0080] Please see Figure 1-2 In one embodiment, a visual reference mark (not shown in the figure) for pose estimation is provided on the outer surface of the wristband. It should be noted that the visual reference mark here can be a commonly used QR code mark such as AprilTag or ArUco, or a simple geometric mark such as a circle or checkerboard, or other markers that can be used for pose estimation. By setting a visual reference mark on the wristband, the wristband's pose can be obtained using an external visual sensor and existing pose estimation algorithms. Combined with the rotation angle data generated at each rotating joint detected by the magnetic encoder, the grasping pose of the data acquisition device 1 relative to the target object can be calculated completely and accurately. This allows the data acquisition device 1 to collect data on human hand manipulation of various objects. Since the rotation angle data obtained by the magnetic encoder and visual sensor and the wristband's pose are generated synchronously, and the tactile information detected by the tactile sensor 400 is also generated synchronously, it is easy to achieve spatiotemporal synchronization and calibration of visual and tactile information, which is beneficial for achieving multimodal data fusion.

[0081] In this embodiment, the wristband is made of a rigid material to prevent it from easily deforming due to compression, thereby avoiding errors in the wristband's pose estimation. Specifically, the annular component 110 of the wristband is provided with a visual reference mark, and the material of the annular component 110 can be a rigid plastic such as PC (polycarbonate) or ABS (acrylonitrile-butadiene-styrene).

[0082] In one embodiment, the data acquisition device 1 further includes gloves made of elastic fabric. The gloves include an integrally connected wrist sleeve, palm sleeve, and finger sleeve, which are respectively used to be worn on the wrist, palm, and fingers of a person.

[0083] The palm side of the hand glove is fixedly connected to the back side of the hand structure 200, so that when the hand is wearing gloves and operating various objects, the tactile sensor 400 on the hand structure 200 can detect the tactile information of the palm side contacting the object. The number of finger sleeves is the same as the number of finger skeletons, that is, five finger sleeves are provided: thumb sleeve, index finger sleeve, middle finger sleeve, ring finger sleeve, and little finger sleeve. The finger sleeves are fixedly connected to the finger skeletons, and the fingertip surface of the finger sleeve and the detection surface of the tactile sensor 400 are both located on the fingertip surface of the hand's fingers, so that after the hand wears the finger sleeves and then the finger skeleton, the tactile information of the hand's fingers can be detected by the tactile sensor 400 on the finger skeleton. The wrist sleeve passes through and is wrapped around the wristband, so that the wrist can be worn by the wrist assembly 100.

[0084] For example, the fixed connection between the finger sleeve and the finger skeleton can be achieved either by setting a special connector on the finger bone of the thumb skeleton 310, or by having the index finger sleeve, middle finger sleeve, ring finger sleeve and little finger sleeve pass through the connecting rings 364 of the index finger skeleton 320, middle finger skeleton 330, ring finger skeleton 340 and little finger skeleton 350 respectively and then be inserted and fixed in the corresponding first receiving cavity 3654.

[0085] Please see Figure 3 In one embodiment, the first receiving cavity 3654 is provided with an insertion hole 3655. The index finger sleeve, middle finger sleeve, ring finger sleeve, and little finger sleeve are each provided with an insertion post (not shown in the figure) that engages with the insertion hole 3655. The insertion post is fixedly inserted into the insertion hole 3655, so that the index finger sleeve, middle finger sleeve, ring finger sleeve, and little finger sleeve can be fixedly connected to the index finger skeleton 320, middle finger skeleton 330, ring finger skeleton 340, and little finger skeleton 350 respectively, without falling off. In other embodiments, the second receiving cavity may also be provided with an insertion hole, and the thumb sleeve is provided with an insertion post that engages with the insertion hole. The insertion post is fixedly inserted into the insertion hole, so that the thumb sleeve can be fixedly connected to the thumb skeleton 310 without falling off. For example, a plastic cap (not shown in the figure) can be fixedly connected to the thumb, index, middle, ring, and little finger cots of the glove. The plastic cap is fastened to the fingertip of the thumb, index, middle, ring, and little finger cots, and the aforementioned insertion post is integrally connected to the plastic cap.

[0086] In one embodiment, the index, middle, ring, and little finger cots of the glove are fixedly provided with elastic buckles. These elastic buckles snap onto the index, middle, ring, and little finger skeletons, respectively, to securely connect the cots to the index finger skeleton 320, middle finger skeleton 330, ring finger skeleton 340, and little finger skeleton 350. Because the elastic buckles can deform elastically, this facilitates the removal and installation of the cots. For example, please refer to [reference needed]. Figure 3 , Figure 3 The aforementioned elastic buckle 500 is shown, which is fastened to the second phalanx 363 of the index finger skeleton 320, middle finger skeleton 330, ring finger skeleton 340 and little finger skeleton 350.

[0087] Please see Figure 1 In one embodiment, a cable mounting member 600 is fixed on the back of the thumb of the thumb skeleton 310, and a cable mounting member 600 is also fixed on the connecting ring 364 of the index finger skeleton 320, middle finger skeleton 330, ring finger skeleton 340, and little finger skeleton 350 on the side near the second phalanx 363. The cable mounting member 600 is used to install signal lines. Data collected by all the tactile sensors 400 and magnetic encoders on the thumb skeleton 310, index finger skeleton 320, middle finger skeleton 330, ring finger skeleton 340, and little finger skeleton 350 can be transmitted externally through the signal lines, so that the data collected by the data acquisition device 1 can be stored in an external device and used for subsequent calculation processing. Exemplarily, the cable mounting member 600 can be a cylindrical sleeve shape that facilitates the installation of signal lines.

[0088] Please see Figure 8 In another embodiment, the hand structure 200 of the data acquisition device 1 further includes a thenar eminence 230. The thenar eminence 230 is fixedly connected to the palm side of the glove, corresponding to the thenar eminence of the human hand, and is independent of the palm portion 210 and the palm-finger connection portion 220. That is, the thenar eminence 230 is not mechanically connected to the palm portion 210 or the palm-finger connection portion 220; the thenar eminence 230 is only connected to the palm portion 210 and the palm-finger connection portion 220 through the aforementioned hand sleeve. This arrangement allows the hand structure 200 to better adapt to various shapes that may occur when the human hand manipulates objects. The thenar eminence 230 is located on the palm-finger connection portion 220 near the palm portion 210, and also on the palm portion 210 near the thumb skeleton 310. In other words, the thenar eminence 230 is located within the area enclosed by the palm-finger connection portion 220 and the palm portion 210. The thenar eminence 230 is provided with a tactile sensor 400, and the detection surface of the tactile sensor 400 of the thenar eminence 230 is configured to be located on the side of the thenar eminence 230 away from the palm sleeve.

[0089] It is understandable that the thenar eminence of the human hand is the raised area on the palm near the base of the thumb. The thenar eminence moves with the thumb during various thumb movements and is also the part of the hand that frequently comes into contact with objects when manipulating them. This embodiment, by providing a thenar eminence portion 230 and configuring the detection surface of the tactile sensor 400 of the thenar eminence portion 230 to be located on the side of the thenar eminence portion 230 away from the palm sleeve, can detect tactile information from the thenar eminence region of the human hand, making it more suitable for robot model training.

[0090] It should be noted that the shapes of the various tactile sensors 400 in this application embodiment may be different to adapt to the different shapes of the palm part 210, the palm-finger connection part 220, the thenar part 230 and each finger bone, but they can all be selected as the same type of tactile sensor 400 in order to facilitate the calculation and processing of the collected tactile information.

[0091] Specifically, please refer to Figure 8 The thenar eminence 230 and the palmar eminence 210 are both roughly triangular in shape, and their two adjacent sides are parallel to each other.

[0092] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A data acquisition device, comprising: A wrist assembly includes a wristband and a palm base fitting, the wristband being movably connected to the palm base fitting. The wristband is worn on the wrist of a person's hand, and the palm base fitting is worn on the palm base of a person's hand. The palm base fitting can move relative to the wristband in response to the movement of the palm base of the person's hand relative to the wrist. The hand structure includes a palm part and a palm-finger connection part. The palm part is movably connected to the palm root wearing piece, and the palm-finger connection part is movably connected to the palm part. The hand structure is used to be worn on the palm part of a person's hand so as to follow the palm part of the person's hand to complete the movement. One or more finger skeletons, the finger skeletons being movably connected to the palmar-digital connection, the finger skeletons being worn on the fingers of a person's hand to follow the movements of the fingers of a person's hand, each of the finger skeletons comprising multiple interlocking finger bones; The palm portion, the palm-finger connection portion, and at least one segment of each finger skeleton are provided with tactile sensors. The tactile sensors are integrally connected or fixedly bonded to the palm portion, the palm-finger connection portion, and the finger bones. The detection surfaces of all the tactile sensors are configured to be coplanar with or protrude from the outer surface of the component to which they are connected, and the positive direction of the normal of the detection surface is away from the component.

2. The data acquisition device according to claim 1, characterized in that, The data acquisition device is equipped with five finger skeletons, which are thumb skeletons, index finger skeletons, middle finger skeletons, ring finger skeletons and little finger skeletons for wearing on the thumb, index finger, middle finger, ring finger and little finger of a person's hand. The thumb skeleton includes two phalanges equipped with the tactile sensor. The index finger skeleton, middle finger skeleton, ring finger skeleton, and little finger skeleton each include a first phalanx, a second phalanx, and a third phalanx. The positions of the first phalanx, the second phalanx, and the third phalanx are from near to far from the palm-finger connection. The first phalanx and the third phalanx are equipped with the tactile sensor.

3. The data acquisition device according to claim 1, characterized in that, The palm-mounted wearing device includes a wearing ring and a swing rod. The wearing ring is rotatably connected to the wristband around a first axis, which is perpendicular to the axis of the wristband. The shape of the wearing ring is configured to at least partially surround the wristband. The swing rod is rotatably connected to the wearing ring around a second axis, which is perpendicular to the first axis and not parallel to the axis of the wristband.

4. The data acquisition device according to claim 1, characterized in that, The outer surface of the palm portion is composed of a first top surface, a first bottom surface, and a first side surface disposed between the first top surface and the first bottom surface. The outer surface of the palm-finger connection portion is composed of a second top surface, a second bottom surface, and a second side surface disposed between the second top surface and the second bottom surface. The palm portion is rotatably connected to the palm root wearing piece around a third axis. The palm-finger connection portion is rotatably connected to the palm portion around a fourth axis. The fourth axis and the third axis are parallel to the second side surface and the first side surface, respectively, and the fourth axis and the third axis are parallel to each other.

5. The data acquisition device according to claim 4, characterized in that, The index finger skeleton, middle finger skeleton, ring finger skeleton, and little finger skeleton provided on the data acquisition device each include a first phalanx, a second phalanx, and a third phalanx. The first phalanx includes a first main body and a first connecting end. The first connecting end is rotatably connected to the palmar-finger connecting part about a fifth axis perpendicular to the second top surface. The first main body and the first connecting end, the second phalanx and the first main body, and the third phalanx and the second phalanx are rotatably connected about a sixth axis, a seventh axis, and a ninth axis, respectively. The sixth axis, the seventh axis, and the ninth axis are all parallel to the second side surface and perpendicular to the fifth axis.

6. The data acquisition device according to claim 5, characterized in that, The second phalanx has a connecting ring at the end away from the first phalanx. The connecting ring is rotatably connected to the second phalanx about an eighth axis, which is parallel to the seventh axis. The third phalanx is rotatably connected to the connecting ring about a ninth axis. The connecting ring has a through hole, and the third phalanx has a first receiving cavity. The connecting ring can rotate about the eighth axis to a position where the through hole and the first receiving cavity at least partially overlap.

7. The data acquisition device according to claim 1, characterized in that, It also includes one or more magnetic encoders. The connection structure between the bracelet and the palm base wearing device, the connection structure between the palm part and the palm base wearing device, the connection structure between the palm finger connection part and the palm part, the connection structure between the finger skeleton and the palm finger connection part, and any two adjacent finger bones are provided with a rotation axis. The magnetic encoder is installed at some or all of the locations of the rotation axis. The magnetic encoder is coaxial with the rotation axis at its own location.

8. The data acquisition device according to claim 1, characterized in that, The data acquisition device also includes gloves made of elastic fabric. The gloves include an integrally connected wrist sleeve, palm sleeve, and finger sleeve, which are respectively used to be worn on the wrist, palm, and fingers of a person. The palm side of the hand sleeve is fixedly connected to the back side of the hand structure; the number of finger sleeves is the same as the number of finger skeletons, the finger sleeves are fixedly connected to the finger skeletons, and the finger pads of the finger sleeves and the detection surface of the tactile sensor are both located on the finger pad side of the human hand fingers; the wrist sleeve passes through the bracelet and is surrounded by the bracelet.

9. The data acquisition device according to claim 8, characterized in that, The data acquisition device is equipped with a thumb skeleton, and the palm structure also includes a thenar eminence. The thenar eminence is fixedly connected to the palm side of the hand sleeve, corresponding to the position of the thenar eminence of the human hand. The thenar eminence is set independently of the palm side and the palm-finger connection part. The thenar eminence is located on the palm-finger connection part closer to the palm side and on the palm side closer to the thumb skeleton. The thenar eminence is equipped with a tactile sensor, and the detection surface of the tactile sensor of the thenar eminence is configured to be located on the side of the thenar eminence away from the hand sleeve.

10. The data acquisition device according to claim 1, characterized in that, The outer surface of the wristband is provided with visual reference marks for pose estimation, and the wristband is made of rigid material.

Images