HAPTIC FEEDBACK GLOVE FOR PEOPLE-TO-PEOPLE COMMUNICATION

Abstract

The invention relates to a glove, mitten, or hand warmer device (100) comprising: - at least two inductive coils (20-28, 20a-28a), one located on or in a first finger or compartment of the glove, mitten, or hand warmer, a compartment capable of accommodating at least two fingers of a user, and the other coil located on or in a second finger or compartment of the glove, mitten, or hand warmer; - means (32, 41, 44) for generating an alternating current to circulate in one of the coils, referred to as the transmitting coil; - means (30, 32) for measuring the field generated in the other coil, referred to as the receiving coil, and for estimating or calculating the distance and / or separation between, on the one hand, the first finger or compartment and, on the other hand, the second finger or compartment. Figure 2A

Description

Title of the invention: HAPTIC FEEDBACK GLOVE FOR COMMUNICATION BETWEEN PEOPLE TECHNICAL FIELD AND PRIOR ART

[0001] The invention relates to the field of communicating information about a person's gestures at a distance. In particular, it involves an instrumented glove (or mitten or hand covering) equipped with sensors, enabling discreet communication between people, for example, teams, located at a distance. This glove, mitten, or hand covering can be for the right or left hand.

[0002] For example, the invention finds its application in the military field and makes it possible to facilitate the exchange of information discreetly between teams in an operational context when more conventional means (for example by verbal communication by radio) do not allow it.

[0003] The invention also finds other applications in fields such as games, health (rehabilitation) or even sport (for capturing technical gestures).

[0004] Gloves, known as "tactical" gloves, are known for communication between remote teams. Among these known solutions:

[0005] - some gloves only allow binary detection of the bending of the fingers (open or closed);

[0006] - other solutions only allow the measurement of the spatial position of the hand without taking into account the relative positioning and spacing of the fingers in relation to each other.

[0007] One problem with this type of glove is that there is no known way to measure the distance between two fingers, particularly along two axes of measurement. However, such a measurement would contribute to the precise evaluation of the movement by eliminating ambiguities about the position of the fingers relative to each other.

[0008] Another problem is to have a system that can process information from a user's glove, mitten, or hand warmer, where the glove, mitten, or hand warmer is equipped with one or more types of sensors, and to provide, based on the signals or data provided by these sensors, an indication of the identification of a gesture made by the user, and therefore applied to the glove, mitten, or hand warmer.

[0009] Another problem with this type of glove is that of localization; for example, when equipped with several detectors, a wireless communication technique is needed between the different modules, for example between one or more sensors and an acquisition circuit. Preferably, such a technique would also allow measurement of the position of the user's hand and / or arm relative to the rest of their body. Description of the invention

[0010] The invention relates first to a glove-type device, mitten, or glove-type device, comprising:

[0011] - at least 2 inductive coils, one located on or in a first finger or 1 first compartment of the glove or mitten or glove, a compartment that can accommodate at least 2 fingers of a user, and the other reel located on or in a 2nd finger or a 2nd compartment of the glove or mitten or glove, for example at the level of the phalanges;

[0012] - means for generating an alternating current to be circulated in one of the coils, said transmitting coil;

[0013] - means for measuring the field generated in another coil, called a coil receiver, and to estimate or calculate the distance and / or separation between, on the one hand, the 1st finger or the 1st compartment and, on the other hand, the 2nd finger or the 2nd compartment.

[0014] In the following, when describing or referring to a glove, it should be understood that the invention applies equally well to a mitten or a glove.

[0015] All or part of the sensor(s) and / or means used to generate an alternating current, to measure the field generated in another coil, to estimate or calculate the distance and / or spacing between two fingers or between one finger and one compartment, or between two compartments of the glove, mitten, or glove, may be integrated into the glove, mitten, or glove, or into the material constituting the glove, mitten, or glove, for example, a textile material, or into at least one housing made of this material. The same applies to the various sensors or circuits described below. For example, one or more circuits may be integrated into the part of the glove, mitten, or glove that corresponds to the palm or the back of the hand.The sensors and / or coils are typically placed in the parts of the glove, mitten, or glove that correspond to the fingers or the one-finger, one-compartment compartments. A wired connection can be established between the elements, which are thus integrated into the material of the glove, mitten, or glove.

[0016] According to one embodiment, at least 2 fingers and / or 2 compartments and / or at least 1 finger and 1 compartment of the glove or mitten or glove are each equipped with, or include or contain, a transmitting inductive coil and a receiving inductive coil.

[0017] According to another embodiment, at least 2 fingers and / or 2 compartments and / or at least 1 finger and 1 compartment may each be provided with a receiving inductive coil, the device further comprising means, for example a transmitting coil, for transmitting to each of the receiving inductive coils.

[0018] A device according to the invention may further include means for making or selecting coils, or an operation of the coils, alternately in transmission and reception.

[0019] A device according to the invention may further include switching means (for selecting a transmitting coil), and / or multiplexer-type means (for selecting a receiving coil), and optionally means forming an amplifier of the signals generated by the receiving coil.

[0020] In a device according to the invention, at least part of the means for generating an alternating current and of the means for measuring the field generated in the other coil and for estimating or calculating the distance and / or the gap between the two fingers or between the two compartments or between said finger and said compartment of the glove or mitten or glove, may be located in the back and / or the palm of the glove or mitten or glove.

[0021] Preferably, the inductive coils of a glove according to the invention are emitting or receiving along at least 2 different axes of space.

[0022] A device according to the invention may further comprise at least one flex sensor positioned on a finger or one compartment of the glove, mitten, or glove. At least one flex sensor may be of the piezoresistive type, preferably of the surface type.

[0023] In addition, means may be provided, for example in the glove or mitten or the mitten, to estimate or quantify, from data of said flex sensors, the extension and flexion of this finger of this compartment.

[0024] A device according to the invention may further include at least one inertial unit; thus the glove or mitten or glove is equipped with means dedicated to measuring the dynamics of the movement of the hand.

[0025] For example, this inertial unit allows estimating and / or calculating at least one acceleration and at least one rotational speed of the glove or mitten or glove.

[0026] A device according to the invention may further include power supply means providing at least:

[0027] - means for generating an alternating current to be circulated in one of the coils;

[0028] - means for measuring the field generated in the other coil and for estimating or calculate the distance and / or spacing between the two fingers between the 2 compartments or between said finger and the compartment of the glove or mitten or glove.

[0029] A device according to the invention may further include means, for example a vibrator, for receiving confirmation information intended for the user indicating that one of his gestures has been taken into account.

[0030] A device according to the invention may further comprise a system for locating the glove, mitten, or glove according to the invention. The glove, mitten, or glove comprising at least one positioning beacon, preferably of the UWB type, this system further comprising at least one beacon to form an anchor point.

[0031] Such a system may further include:

[0032] - means for estimating a position of said beacon;

[0033] - and / or at least 3 additional tags to form at least 3 anchor points.

[0034] - and / or means implementing a positioning technique by trilateration.

[0035] - and / or means implementing a "Two Way Ranging" type technique » (or measurement in “two-way time of flight”) between at least 2 beacons.

[0036] A device according to the invention may further comprise means for processing data provided by one or more sensors, these means advantageously also being integrated into the glove or mitten or glove, as explained above; such means:

[0037] - can be programmed to perform at least part of the calculations to process and / or exploit said data;

[0038] - and / or are or include, for example, a processor or a microcontroller, programmed for the data processing and / or exploitation operations that it must perform;

[0039] - and / or include wireless communication means (for example by radio or Bluetooth communication) with a remote receiver, for example a computer or microcomputer, which may also include means to, and / or be programmed to, process and / or analyze all or part of the data received.

[0040] The invention also relates to a gesture recognition system, comprising:

[0041] - a glove-type device or mitten or glove-type device according to the invention,

[0042] - means for comparing the result of at least one distance measurement and / or spacing between two fingers or between two compartments between a finger and a compartment of the glove or mitten or glove and previously memorized values ​​and to identify a gesture on the basis of this comparison; such means are for example in the glove or mitten or glove (they may be part of the data processing means mentioned above) or be remote means to which at least part of the measured data is sent, preferably by wireless link as explained above.

[0043] The invention also relates to a method for identifying the distance and / or spacing between two fingers, between 1 finger and 1 compartment, or between 2 compartments of a glove, mitten, or hand warmer-type device, for example, a glove, mitten, or hand warmer-type device according to the invention as described above and / or in the remainder of this application, this device, glove, mitten, or hand warmer comprising, or being equipped with, at least 2 inductive coils, one located on or in a first finger or first compartment of the glove, mitten, or hand warmer, a compartment capable of accommodating at least 2 fingers of a user, and the other coil located on or in a second finger or second compartment of the glove, mitten, or hand warmer, for example, at the level of the phalanges, this method comprising:

[0044] - generate an alternating current in one of the coils, called the transmitting coil;

[0045] - measure the field generated in the other coil, called the receiving coil, and estimate or Calculate the distance and / or spacing between the two fingers of the glove, or between the first finger or compartment and the second finger or compartment. BRIEF DESCRIPTION OF THE FIGURES

[0046] Fig. 1 represents a diagram of the interaction between two coils;

[0047] Fig. 2A and Fig. 2B represent 2 implementations of a glove according to the invention and of a device for measuring a distance or spacing between the fingers of a hand inserted into a glove according to the invention;

[0048] Figures [Fig.3A] and [Fig.3B] represent a method for measuring the spacing between the fingers of a hand inserted into a glove according to the invention;

[0049] Fig. 4 represents conditioning steps for the signals emitted by receiving coils of a glove according to the invention;

[0050] Figures [Fig. 5A] and [Fig. 5B] represent another implementation of a device for implementing a cyclic measurement technique;

[0051] Figures [Fig.6] and [Fig.7] represent 2 different techniques for measuring the distance between a transmitter and a UWB receiver;

[0052] Fig. 8 represents the principle of a distance measurement by trilateration;

[0053] Fig. 9 represents steps for calculating a trajectory;

[0054] Figs [1OA] to [Fig.1OC] represent various piezo-resistive effects ([Fig.1OA]: geometric effect; [Fig.1OB]: surface effect; [Fig.1OC]: volume effect);

[0055] Fig. 1IA, Fig. 11B and Fig. 11C represent various piezoresistive sensors;

[0056] Fig. 12 represents a possible implementation or architecture for a glove according to the invention;

[0057] Figs. 13A to 13D represent, respectively, a glove (Fig. 13A) and a mitten (Fig. 13B) according to the invention, a variant of a glove according to the invention (Fig. 13C), and a mitten according to the invention (Fig. 13D);

[0065]

[0058] Fig. 14 represents steps in processing data measured by sensors of a glove according to the invention, with a view to reproducing a gesture;

[0059] Fig. 15 represents a user wearing a glove according to the invention.

[0060] DETAILED DESCRIPTION OF SPECIFIC EMBODIMENTS

[0061] In this application, an element, for example a sensor or circuit located “in” the glove, or “in” a finger (or compartment) of the glove, means that this sensor or circuit is in the material constituting the glove or a finger (or compartment) of the glove or in a housing made of this material. The same applies when it is stated that a glove is equipped with, or includes or contains, a sensor or circuit.

[0062] Fig. 1 represents the principle of the interaction between two inductive coils 20, 22, which can be implemented to detect the relative position of two fingers of the same hand slipped into a glove 100 according to the invention.

[0063] A direct current flowing in the first coil 20 induces a magnetic field in the second coil 22. However, since the magnetic field is constant, Faraday's law indicates that this field will not create a current in the second coil. Nevertheless, by passing an alternating current through the first coil 20, a current is induced in the second coil 22. This is the principle of distance measurement using inductive coils.

[0064] Starting from Biot-Savart's law and the mutual inductance model, it can be shown that the distance d between two coils is:

[0066] Where

[0067] - p is the dielectric permeability;

[0068] - nx is the number of turns of coil x;

[0069] - rx is the radius of the coil x;

[0070] - Lx is the inductance of coil x;

[0071] - Rx is the resistance of coil x;

[0072] - Vx is the voltage across coil x;

[0073] - co is the alternating frequency of the current flowing in the coil 20.

[0074] For example, the coils are supplied by a square wave voltage, which is transformed into a sinusoid by Lx and possibly a capacitance Cx. Or, according to another example, a microcontroller (which can be integrated into the glove) generates a sinusoid via its DAC (digital-to-analog converter).

[0075] Since the voltage Vi applied across the terminals of Li is known, by measuring the voltage V2, one can therefore, using the formula above, determine the distance d between the two coils, and thus between the fingers on which they are placed. In practical terms, at least two fingers, preferably all 5 fingers, of the glove are each equipped with at least one reel.

[0076] This distance measurement technique is particularly relevant over short distances (from centimeters to a few meters). Furthermore, low-frequency magnetic fields do not pose a risk to physiological tissues, within the limits of exposure conditions.

[0077] According to an exemplary embodiment ([Fig. 2A]), this technique is implemented using a transmitter / receiver pair 20-28 located on or in each finger of the glove. These transmitters / receivers interact in pairs, being controlled by a data acquisition circuit 30 located, for example, on or in the glove, for example, in a part of the glove corresponding to the upper part (the "back") of the hand, or at the wrist or palm. In this figure and the following ones, reference numeral 31 designates a battery also located in the material constituting the glove, and connected to the elements 20-30, which require a power supply, by one or more wires not shown in the figure.

[0078] According to another embodiment (Figure 2B), this technique is implemented using a central transmitter 32, for example, placed close to the acquisition circuit 30, for example in the same part of the glove as the latter, the receivers 20a-28a preferably being smaller than in the embodiment of Figure 2A and placed on or in the fingers of the glove. Thus, instead of directly measuring the distance, the angle between two successive fingers is measured. Indeed, since each of the antennas is initially arranged along one of the 3 xyz axes of space (see Figure 2B), the alignment of the sensors with the transmitter 32 can be measured. Thus, a coil on the y-axis of the transmitter 32, in which an alternating current flows, produces a field. If we consider a receiving coil aligned with the transmitting coil along the y-axis, this field is received by the receiving coil (for example, coil 28a) with an attenuation factor due to the distance (see [Fig. 3A]).However, if the two coils are not aligned (see [Fig.3B]), the field received at the receiving coil 28a is decomposed: .

[0079] - in a component along the y-axis of this same receiving coil: aC0ü((p}B '

[0080] - and a component along the x-axis of this coil -asin(ç?)B •

[0081] Practically, a measurement along a single axis is sufficient, but a measurement along another axis allows for confirmation.

[0082] We can thus measure the spacing of the fingers and no longer the distance; but, in fact, in all configurations, the measurement depends on both the angle and the distance and, depending on the configurations, the variation of one may be negligible compared to the other.

[0083] In this embodiment, the coils 20-28, 20a - 28a are preferably connected to the acquisition circuit 30 by wire connections.

[0084] Preferably, each of the fingers equipped for this measurement is fitted with three coils, oriented along the three axes X, Y, Z of space.

[0085] In one embodiment, each finger of the glove is equipped with at least one spool, preferably three spools as explained above.

[0086] The configuration in Figure 2B allows for full use of the 3-axis coils. However, unlike Figure 2A, the integrability of the assembly is reduced by the presence of the central emitter 32. Furthermore, since the angle V is small, it is difficult to measure accurately. Therefore, the variant in [Fig. 2A] may be more advantageous.

[0087] In particular, the antennas of [Fig.2A], positioned on the fingers, can be used for transmission and reception alternately according to the following steps:

[0088] - a first antenna is excited with the electrical signal (for example that (20) positioned on the thumb; it thus becomes a transmitting antenna; the excitation signal can come from an analog-to-digital converter of a microcontroller, which can be integrated into the glove (see for example microcontroller 44 of [Fig.5B]) as well as, possibly, an amplifier (for example: inverting amplifier);

[0089] - the neighboring antenna 22 (in this example, it is positioned on the index) is used as a receiving antenna and therefore captures the induction variations when the fingers (in this example thumb and index finger) move relative to each other;

[0090] - these variations can be transmitted to, for example, a microcontroller (not represented in the figure, but see for example means 44 in [Fig.5B]), for possible formatting and / or signal processing and / or transmission to a data processing device, for example a computer or microcomputer 50 (see an example of implementation in [Fig.5B]);

[0091] - the second antenna 22 (in this example, it is positioned on the index finger) is used in turn as a transmitting antenna while antenna 24 positioned on the neighboring finger (in this example the middle finger) plays the role of receiving antenna, antenna 20 positioned on the thumb can be deactivated.

[0092] Thus, an activation process in reception then in transmission (or the reverse) can be implemented, for example by propagating from one point to another in order to cover all the fingers of the hand.

[0093] In both configurations ([Fig. 2A] and [Fig. 2B]), the receiving coil can be selected, for example, by a multiplexer. In the configuration of [Fig. 2A], a switch can also be used to select the transmitting coil. All these elements (multiplexer, switch) can be integrated into the glove.

[0094] Figure 4 represents a set of means for managing data conditioning in the case explained above in relation to Figures 2A and 2B. For each axis (x, y, z), the processing can be as follows:

[0095] - selection of the receiving coil by a multiplexer (step SI);

[0096] - amplification (step S2) by a variable gain amplifier to adapt to the distance - transmitter receiver;

[0097] - and low-pass filtering (step S3) to eliminate noise.

[0098] The data thus formatted can be sent to processing means, for example a data acquisition card. Preferably, these means also allow the generation of an alternating current flowing in the transmitting coil as well as the parameters for selecting the coil or the gain, for example.

[0099] Figures 5A and 5B illustrate an example of a system for implementing the coils cyclically in transmitter and receiver modes. A single coil 22 is shown in these figures, respectively in transmission ([Fig. 5A]) and reception ([Fig. 5B]). The various switching operations can be performed, for example, by a selector 41 and a digital multiplexer 412, which can be controlled by a microcontroller 44. This process can be repeated on all coils 20-28 or 22a-28a over a complete measurement cycle. In this figure, an amplifier 46 is used in transmission mode ([Fig. 5A]); this amplifier can be integrated onto a data acquisition card positioned on or inside a glove according to the invention. The received signals ([Fig.5B]) and selected can be amplified (by amplifier 42) and possibly filtered (low-pass filter 43), then supplied to a microcontroller 44.The latter can be connected to a computer or microcomputer 50, for example via a wireless connection 53 (Bluetooth for example).

[0100] Whatever embodiment is envisaged, each coil is preferably located as close as possible to the end of the corresponding finger, which increases the accuracy of the measurement.

[0101] Whatever the embodiment envisaged, this technique allows for a measurement of distance over small distances, for example between 1 cm and 5 cm, it is therefore perfectly suited to measuring the relative position of two fingers.

[0102] Another aspect of the invention will now be described, in connection with Figures 6-8, to enable identification of the position of a part of the body, for example a hand or an arm (the corresponding hand of which is slipped into a glove according to the invention).

[0103] To this end, the invention implements one or more positioning beacons, preferably in the UWB (Ultra Wideband) frequency range. Even more preferably, pulses in this frequency range are used, these pulses being of very short duration (on the order of nanoseconds, for example, with a duration between 0.1 and 1 ns, or between 0.2 ns and 0.5 ns) and having a higher frequency for example, 500 MHz. They have, for example, a bandwidth-to-center frequency ratio of 20% and / or more, or a bandwidth of 250 MHz or more.

[0104] These very short pulses allow for very high transfer rates over short distances at low power. Furthermore, they allow for the measurement of propagation time and thus the determination of distances.

[0105] These impulses are therefore implemented:

[0106] - as a wireless communication technique, with transfer rates extremely high over short distances;

[0107] - as a localization technique, for example to measure the distance between a transmitter and receiver; indeed, they allow a distance to be measured over tens of meters with centimeter precision.

[0108] In particular, it is possible to measure the distance between two UWB beacons. Various techniques can be used for this purpose, for example:

[0109] - a distance measurement technique called "Single-Sided time of flight" (or measurement in "one-way time of flight"), which involves sending a signal to a beacon and listening for the response;

[0110] - or the "Two Way Ranging" technique (or measurement in "time of flight" bidirectional"), in which a message is sent from the sending tag "a" to the receiving tag "b", then a response is expected by a; after which a message is sent from the tag "b" to the tag "a" and a response is expected by b.

[0111] The first distance measurement technique ("Single-Sided time of flight") is illustrated in Figure 6. The propagation time depends on ea and eb, which correspond to the clock errors of the transmitter and receiver; this time, and the distance, are given by:

[0112] T ( ^'^A^^'Aller-retmrÀ Brepot&e t Prop ~ 2

[0113] With: eA = clock errors

[0114] Distance — x Tprop

[0115] CAIR cm / ns

[0116] Thus the measurement error is: error = 0.5 (e B x T Breponse -e A *Round trip)

[0117] This method is favored by very good synchronization between the clocks of the different beacons, which can be complicated to implement.

[0118] The "Two Way Ranging" technique, illustrated in [Fig. 7], solves this problem; the estimated distance is more precise and independent of the synchronization of the clocks of the two beacons a, b. The propagation time and the distance are given by:

[0119] rp _ T Aller-reinur*!'r aUer-retouf?'Awpmise* TBrepome Prop YAUer-retoiir+TB ctfler-rvtour+TÀresponse+

[0120] With: Distance - cMR x TPrOp

[0121] CAIR = 29.97 cm! ns

[0122] To achieve positioning, several beacons and a "trilateration" localization process are preferably used, that is, a positioning technique based on distance calculation: the system determines the distance between a beacon to be located and anchor points (considered fixed). By intersecting circles around these anchor points, the position of the beacon can be determined: for example, as illustrated in [Fig. 8], the beacon "a" to be detected may be at the intersection of a first sphere S60 of radius rb, a second sphere S62 of radius r2, and a third sphere S63 of radius r3. If the "Two Way Ranging" distance calculation, explained above, is used, then the synchronization of clocks is not required.

[0123] According to one embodiment, the marker "a" to be located ([Fig. 8]) is placed on the glove (for example, the hand or wrist). Another marker 60, or anchor point, is positioned, for example, on the shoulder of the person wearing the glove (see, for example, [Fig. 15]) and allows the distance between the hand and the shoulder to be determined. In this case, it is simply known that the hand is located on the first sphere S60 of radius around the anchor point.

[0124] According to another example, a second beacon 62, or second anchor point, is placed on the same person (see, for example, [Fig. 15]); it is, for example, positioned on the hip of the person wearing the glove. In this case, it is known that the hand is located on a circle, that is, at the intersection of the two spheres S60 and S62 of [Fig. 8].

[0125] If a 3rd beacon 36, or 3rd anchor point, is for example positioned on yet another part (for example the other hip or the leg, [Fig. 15]) of the person wearing the glove, then we know that the hand is located at a point, that is to say at the intersection of the 3 spheres S60, S62, S64 of [Fig.8].

[0126] This technique can be used to locate one hand, or both hands, thus allowing the distance between them to be assessed. All calculations can be performed by a computing device or calculator, which can be integrated into the glove.

[0127] Alternatively, this technique can implement radio communication (instead of using the UWB frequency range).

[0128] Another aspect of the invention will now be described, particularly in relation to [Fig. 9]: a glove according to the invention can be equipped with an inertial measurement unit, typically comprising three gyroscopes and three accelerometers. Such a system can be integrated into a sufficiently small volume (for example, 3 mm x 2 mm x 1 mm) so that it can itself be integrated into a glove.

[0129] One drawback of IMUs (Inertial Measuring Units) is their accumulated error when integrated into navigation equations alone to determine position. For example, double integration of acceleration leads to an inaccurate position estimate, resulting in significant drift over time. Consequently, many tracking / navigation applications use additional sensors, such as GNSS receivers or cameras. These sensors provide position information at a lower frequency and allow for resetting accumulated errors. In the context of the present invention, it is desirable to avoid adding additional sensors.

[0130] The measurements from the inertial measurement unit (IMU) are, on the one hand, the accelerations in the IMU frame: (x, y, z), and on the other hand, the rotational velocities in the same IMU frame: &

[0131] Trajectory reconstruction is performed by integrating the acceleration a_CI expressed in the frame of reference linked to the inertial measurement unit. Therefore, to obtain the position (x,y,z)T in the frame of reference linked to the Earth, the attitude of the CI is first calculated ([Fig. 9], step S1) before integrating the acceleration (step S2). As with the position, the attitude is calculated by integrating the rotational velocity of the CI with respect to the Earth.

[0132] As already mentioned, accelerations and rotational velocities are subject to measurement bias. This bias evolves over time, but an initial assessment of it makes it possible to considerably limit integration errors. A method according to the invention can therefore implement a preliminary assessment of this bias.

[0133] For this purpose, the IC can be placed in 3 different positions. It is possible to average the measurements at rest for a few minutes in each of these positions (gyroscopes measure zero rotational speed at rest and accelerometers measure gravity at rest). For each position, the measurement error can therefore be calculated as follows:

[0134] E^ posi = + (ay posi -ba y Ÿ+ (az^-ba z ) 2 -9.81|| [ J Eg yro i = ± -

[0136] Formulas in which:

[0137] ax = acceleration along x;

[0138] bax = acceleration bias along x;

[0139] wx = rotational speed about the x-axis;

[0140] wxposi = rotational speed about the x-axis when the IC is in position i;

[0141] bgx = bias of the rotational speed about the x-axis.

[0142] For calculating the attitude, two types of filters can be used: a Mahony filter or a Magdwick filter. The Mahony filter is faster but produces less accurate results than the Magdwick filter.

[0143] The calculations can be done by computing means or computer (for example a microcontroller 44), which can be integrated into the glove.

[0144] The CI measures accelerations in the CI frame. For the calculation of the position in the ground frame, the acceleration is projected into the ground frame using the attitude and then integrated twice.

[0145] Another aspect of the invention will now be described, particularly in relation to Figures 10A-1 IC: a glove according to the invention can be equipped with sensors for measuring finger deflection. For this purpose, it is preferable to use piezoresistive means made of, or using, a material whose electrical resistance varies when subjected to stress.

[0146] Unlike strain gauges where the sensor is placed on a test body that converts stress into a micro-deformation of the sensor's elongation, the piezoresistive sensor is itself the test body, and its resistance varies when a normal stress is applied to it. However, it is also possible for the resistance to vary during elongation of the sensor, a principle which allows for the measurement of contact force and / or finger flexion.

[0147] Strain gauges tolerate only microscopic displacements and must be rigidly fixed to the structure; moreover, their resistive variation range is very small since it depends only on the elongation of a metallic electrical conductor. They have the advantage of a very linear and repeatable electromechanical behavior.

[0148] A piezoresistive sensor offers a wider resistive range and better deformation tolerance, although it may exhibit hysteretic behavior and be less accurate than a strain gauge (particularly in metrology or electromechanical control applications). It can implement three physical effects: - A geometric effect ([Fig. 10A]): the electrodes 70, 72 are placed on either side of a resistive material 71 and the current flows through it transversely. A stress 73 applied to this material (lower part of Fig. OA) reduces its thickness, and therefore increases the equivalent resistance; - A surface effect ([Fig. 1OB]): the electrodes 76b 762 of such a sensor 74 are placed on each face of the resistive material 75, but they have a roughness and are therefore only partially in contact with it. The chosen roughness depends on the sensitivity and the desired measurement range and is related to the surface of the sensor; it can be adapted during the manufacturing of the sensor. The constraint (bottom part of figureOB) increases the contact area and therefore decreases the equivalent resistance. - A volumetric effect ([Fig. 1OC]): The electrodes 77b 772 are placed on each face or each side of the resistive material. This material is actually a composite because it contains conductive particles in a non-conductive matrix 79. The stress increases the probability that particles 77 will come into contact, and therefore decreases the equivalent resistance.

[0149] A piezoelectric sensor using one of the above effects can be used within the scope of the present invention. In the case of the surface effect, this is actually combined with a geometric effect that reduces the thickness through which the current flows, thereby reducing the resistance. Although the surface effect reaches a threshold when the entire electrode is in contact with the resistive material, the wide range of resistance variation resulting from the combination of these effects is very advantageous, particularly within the scope of the present invention.

[0150] The piezoresistive materials used in the context of the invention are, for example, conductive polymers or textiles comprising conductive fibers. Figure 1 IA shows an example of a polymer-based piezoresistive sensor. Figures 1 IB and 1 IC show two embodiments using a Velostat sheet sandwiched between two crossed electrodes. These two examples primarily utilize the surface effect.

[0151] As already mentioned above, such a sensor does not have high precision, but rather allows the detection of pressure variations or simply a binary response, and thus detects the presence or absence of a force at the sensor (for example, contact between the thumb and forefinger). The advantage of a piezoresistive sensor for creating a binary sensor is that the trigger threshold can be set electronically as needed, thus limiting false detections or the absence of detections, while avoiding precise mechanical adjustment.

[0152] An example of a glove according to the invention comprises, in addition to the glove itself:

[0153] - a plurality of sensors, which allow the quantification of gestures in terms of spatial displacement and associated dynamics;

[0154] - an inertial measurement unit;

[0155] - means for processing and / or conditioning signals from said plurality of the sensor.

[0156] The glove can be in communication with means for performing various calculations as explained in this application. Depending on the available space, these computing means can be located remotely from the glove; alternatively, they can be integrated into it. These computing means will, for example, allow the aggregation of data from sensors and / or antennas and / or the inertial measurement unit. and / or to process this data. An example of such processing is described below, in relation to [Fig. 14].

[0157] An example of a glove integrates flex sensors (preferably piezoresistive as explained above), antennas (enabling inductive measurement as explained above), and electronic processing means, some of which are for the inductive sensors and some of which may, for example, include a microcontroller, an inertial sensor, and means for receiving and possibly processing data from at least one flex sensor. This assembly can be miniaturized: [Fig. 12] illustrates this more miniaturized configuration of these means 38 (which therefore combines the processing functions for the inductive sensors, the microcontroller, the receiving means for the inertial sensor, etc.) applied to a glove according to the invention. In both cases, the microcontroller may include wireless communication means 53, for example radio or Bluetooth, thus enabling wireless communication with a computer 50.Furthermore, [Fig. 12] shows a lateral pressure sensor 23, for example of the piezoelectric type, also connected to the means 38 which can process the data provided by this sensor; this sensor, which can be placed inside or outside the glove, can thus provide additional information. Alternatively, part of the electronic means, for example the means 36, can be worn by the glove user, but in another part of their clothing, as illustrated in [Fig. 15]; a wired connection can be established between the sensors and the means disposed in the glove 100 and these means 36.

[0158] Figure 13A shows the external appearance of such a glove 100, which may include reinforced areas 102, 104 to protect the sensors and the electronic means or circuits integrated into the glove. Figure 13B represents a mitten 100a to which the invention can be applied. Here again, reinforced areas 102, 104 may be provided to protect the sensors and the electronic means or circuits integrated into the mitten; everything described above for a glove applies equally to a mitten.This can be equipped in the same way as the other gloves described in this application, except for the end sensors corresponding to the user's fingertips, possibly with a flex sensor and / or a coil common to fingers 101 b 1012 and / or a flex sensor and / or a coil common to fingers 1013, 1014 of the user (the various components, sensor(s) and board and / or microcontroller, are not shown in this figure).

[0159] The invention can be applied to a glove or mitten having 5 fingers, or fewer than 5 fingers. For example, a glove may have one finger, for example the thumb, and one or more recesses for accommodating one or more groups of fingers. Figure 13C thus represents another embodiment of the invention, in which the glove has less than 5 fingers (3 in this example), 2 fingers lOObi, 100b2 of the glove each able to accommodate 2 fingers 101 b 1012 and 1013, 1014 of the user, while one finger 100b0 of the glove is intended to accommodate only one finger of the user, for example the thumb 1015. This glove can be equipped in the same way as the other gloves described in this application, possibly with at least one flex sensor and / or a coil common to the fingers 1011, 1012 and / or at least one flex sensor and / or a coil common to the fingers 1013, 1014 of the user (the different components, sensor(s) and board and / or microcontroller, are not shown in this figure).

[0160] In a further variant ([Fig.13D]), the invention can be applied to a mitten 100c comprising a finger 100b0 intended to accommodate only one finger of the user, for example the thumb 1015, and a compartment 100c able to accommodate 4 fingers 101i, 1012, 1013 and 1014 of the user. Here again, this mitten can be equipped in the same way as the other gloves described in this application, possibly with at least one flex sensor and / or a coil common to the user's fingers 101i - 1014 and at least one flex sensor and / or a coil for the user's finger 1015 (the various components, sensor(s) and board and / or microcontroller, are not shown in this figure). By taking into account the characteristics measured by the different sensors, the expected sensor values ​​for each gesture can be determined and a corresponding dataset, database, or table can be constructed.

[0161] If several sensors or types of sensors are implemented, each gesture can be distinguished by the set of values ​​expected by these sensors.

[0162] To process certain gestures, it can be useful to analyze the dynamics captured by the inertial measurement unit, if one is present. In one embodiment, a double integration of the acceleration can be performed with projection into Cartesian space to obtain the 3D trajectory of the hand. Over a relatively short period of time (for example, the duration of a gesture), even if measurement biases are not well compensated, the trajectory will be estimated fairly well.

[0163] The different techniques present on each glove or mitten or glove provide information which may be independent of each other, in which case a fusion of sensor data is not carried out, but all available data can be used to discriminate the different gestures.

[0164] The general principle of a method that can be implemented within the scope of the invention is illustrated in [Fig. 14]: for each gesture, measurements are taken with the sensors (step S10), the result of these measurements being able to be compared with expected values ​​(step S12), which are, for example, previously stored in a non-volatile memory, for example in the form of a table or database; we can then identify the most probable gesture(s).

[0165] More precisely, for this comparison, the number of "inconsistencies" between the measured values ​​and the expected values ​​can be calculated for each gesture. Note that when a sensor is absent or no particular value is expected, this will not generate any inconsistencies.

[0166] Following this calculation, the most probable gesture(s) are those with the fewest inconsistencies (step S14). The recognized gesture(s) is / are selected and can / can be displayed (step S16), for example on a screen or a graphical interface.

[0167] Such a gesture recognition process, the means which implement it, can be connected, on the one hand, by measurements by sensors, for example via a serial link with a microcontroller 44 and, on the other hand, by expected values, for example via an Excel file.

[0168] A method according to the invention can be implemented, for example, by a computer 50 specially programmed for this purpose. Preferably, the communication between the means (for example, the circuit(s) or processor) that equip the glove, mitten, or glove and the computer is wireless, for example, radio or Bluetooth. Figure 15 represents a user of a pair of gloves, mittens, or gloves 100, 100' according to the invention, for example, according to the embodiment described above, with flex sensors (preferably piezoresistive as explained above), antennas (enabling inductive measurement as explained above), and electronic processing means, a part of which is for the inductive sensors and a part that may, for example, include a microcontroller, an inertial sensor, and means for receiving and possibly processing data from at least one flex sensor.It is also equipped with anchors or anchor points 60, 62, 64, the glove or mitten or glove 100 being fitted with a UWB beacon; in a part of its clothing other than the glove or mitten or glove, it may wear, or be fitted with, electronic means 36, capable of controlling one or more sensors of at least one of the gloves or mittens or gloves 100, 100' and / or of receiving and / or processing data from it. A wired connection may be established between the sensors and the means disposed in the glove or mitten or glove 100 and these means 36.

[0169] If a gesture of interest is performed with only one hand, a glove according to the invention, for example for the right hand, can be combined with a glove, mitten, or hand warmer, for example for the left hand, not having a function of a glove, mitten, or hand warmer according to the invention. Of course, for certain gestures or movements we will need a glove or a mitten or a glove depending on the invention for each of the 2 hands.

[0170] The electronic means 30, 36, 38 described above may be made from electronic components and / or circuits; they may include one or more processors or microprocessors and are preferably programmed or specially programmed to implement a method according to the invention. They may be capable of, or equipped with means for, wireless communication (for example, by radio communication or Bluetooth) with a remote receiver, for example, a computer 50 or a microcomputer, which may also include means for, and / or be programmed to, process and / or analyze all or part of the received data.

[0171] A glove, mitten, or hand warmer according to the invention may include vibrating means (for example, of the voice-coil or eccentric mass type) for receiving and / or delivering a message or information, for example, a confirmation indicating to the user that their action has been registered. These means may be included or integrated into a glove, as explained above. More specifically, they may be incorporated into the means 30, 32, and 36 described above. The means 50 may, for example, send such a message or confirmation information.

Claims

Claims

1. Glove or mitten or mitten type device (100, 100', 100a, 100b, 100c), comprising: - at least 2 inductive coils (20-28, 20a-28a), one located on or in a first finger or a first compartment of the glove or mitten or mitten, a compartment able to accommodate at least 2 fingers of a user and the other coil being located on or in a second finger or a second compartment (100b0, 100bi, 100b2, 100c0, 100ci) of the glove or mitten or mitten; - means (32, 41, 44) for generating an alternating current to be circulated in one of the coils, called the transmitting coil;- means (30, 32) for measuring the field generated in the other coil, called the receiving coil, and for estimating or calculating the distance and / or the spacing between, on the one hand, the first finger or the first compartment and, on the other hand, the second finger or the second compartment, this device further comprising means (41, 46, 44) for selecting an operation of the coils in a cyclic manner, alternately in transmission and in reception, the different switching operations being ensured by a selector (411) and a digital multiplexer (412) controlled by a microcontroller (44).;

2. Device according to claim 1, at least 2 fingers and / or 2 compartments and / or at least 1 finger and 1 compartment of the glove or mitten or mitten each being provided with an inductive transmitting coil and an inductive receiving coil.

3. Device according to claim 1, at least 2 fingers and / or 2 compartments and / or at least 1 finger and 1 compartment each being provided with a receiving inductive coil, the device further comprising means (32), for example a transmitting coil, for transmitting to each of the receiving inductive coils.

4. Device according to one of claims 1 to 3, the glove further comprising switching means, for selecting a transmitting coil, and / or multiplexer-type means, for selecting a receiving coil (41, 46, 44) and possibly means forming an amplifier of the signals generated by the receiving coil.

5. Device according to one of claims 1 to 4, at least part of the means (32, 41, 44) for generating an alternating current and means (30, 32) for measuring the field generated in the other coil and for estimating or calculating the distance and / or the spacing between the 2 fingers or between the 2 compartments or between said finger and the compartment of the glove or mitten or mitten, being located in the back and / or the palm of the glove or mitten or mitten.

6. Glove-type device according to one of claims 1 to 5, said inductive coils (20-28, 20a-28a) being emitting or receiving along at least 2 different axes of space.

7. Device according to one of claims 1 to 6, further comprising at least one flexion sensor positioned on or in a finger or a compartment of the glove or mitten or mitten.

8. Device according to claim 7, further comprising means for, from data from said flexion sensors, estimating or quantifying the extension and flexion of this finger or this compartment.

9. Device according to claim 7 or 8, at least one bending sensor being of the piezo-resistive type, preferably of the surface type.

10. Device according to one of claims 1 to 9, further comprising at least one inertial unit.

11. Device according to claim 10, said inertial unit being provided to estimate and / or calculate at least one acceleration and at least one rotation speed of the glove or mitten or mitten.

12. Device according to one of claims 1 to 11, the glove or mitten or mitten comprising electrical supply means (31) supplying at least: - the means (32, 41, 44) for generating an alternating current to be circulated in one of the coils; - the means (30, 32) for measuring the field generated in the other coil and for estimating or calculating the distance and / or the spacing between the two fingers or between the 2 compartments or between said finger and the compartment of the glove or mitten or mitten.

13. Device according to one of claims 1 to 12, the glove or mitten or mitten comprising means, for example a vibrator, for receiving confirmation information intended for the user indicating that his gesture has been taken into account.

14. Location system, comprising a glove or mitten or mitten type device according to one of claims 1 to 13, the glove or mitten or mitten comprising at least one positioning beacon (a, b), for example of the UWB type, this system further comprising at least one beacon to form an anchoring point (60, 62, 64).

15. A system according to claim 14, further comprising means for estimating a position of said beacon.

16. System according to one of claims 14 or 15, comprising at least 3 beacons to form at least 3 anchor points (60, 62, 64).

17. System according to one of claims 14 to 16, comprising means (a, b, 60, 62, 64) implementing a trilateration positioning technique.

18. System comprising a glove according to one of claims 14 to 17, comprising means (a, b, 60, 62, 64) implementing a technique of the bidirectional time-of-flight measurement type between at least 2 beacons.

19. Gesture recognition system, comprising: - a glove or mitten or mitten type device according to one of claims 1 to 13, - means (44, 50) for comparing the result of at least one measurement of distance and / or spacing between the two fingers or between the 2 compartments or between the finger and the compartment of the glove or mitten or mitten and previously stored values ​​and for identifying a gesture on the basis of this comparison.

20. Method for identifying the distance and / or the spacing between two fingers or between 2 compartments or between a finger and a compartment of a glove or mitten or mitten type device, a compartment being able to accommodate at least 2 fingers of a user, this glove or this mitten or this mitten, comprising at least 2 inductive coils (20-28, 20a-28a), located on or in different fingers or compartments or on or in a finger and on or in a compartment, this method comprising: - generating an alternating current in one of the coils, called the transmitting coil; - measuring the field generated in the other coil, called the receiving coil, and estimating or calculating the distance and / or the spacing between the two fingers or between the 2 compartments or between the finger and the compartment of the glove or mitten or mitten, this method comprising operation of the coils in a cyclic manner, alternately in transmission and in reception, the different switching operations being ensured by a selector (411) and a digital multiplexer (412) controlled by a microcontroller (44).

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