Hand joint motion capture apparatus

Abstract

The invention discloses a hand joint motion capture apparatus. The apparatus comprises a hand surface fixing block (1) and five finger assemblies, each finger assembly comprises at least one knuckle (2), each two adjacent knuckles (2), and the knuckles (2) and the hand surface fixing block (1) are hinged through hinged connection parts (3), each hinged connection part (3) is provided with an anglesensor (4), and the five finger assemblies and the hand surface fixing block (1) are set 1:1 with the human palm respectively. The angle sensors are used to continuously capture bending angles of joints directly at 1:1 in real time, the capture accuracy is high, and at the same time, low cost, simple and easy operation, and low environmental requirements are taken into consideration.

Description

technical field [0001] The invention relates to the field of human hand joint motion capture, in particular to a hand joint motion capture device. Background technique [0002] According to the working principle of motion capture, it can be roughly divided into two types: venue-assisted and independent wearable. Acoustic motion capture, electromagnetic motion capture, and optical motion capture are field-assisted types; independent wearable types are divided into inertial sensor types, bending sensor types, and angle sensor types according to different sensors. [0003] The site-assisted type needs to be measured in a high-precision fixed physical field or geometric space base point as a reference point for motion capture, and a high-speed computer is used for calculation and degree of freedom analysis. Therefore, the equipment is relatively large and the cost is relatively high. It can only be used in high-additional In terms of value items, it cannot be used as an ordinar...

AI Technical Summary

Problems solved by technology

[0003] The site-assisted type needs to be measured in a high-precision fixed physical field or geometric space base point as a reference point for motion capture, and a high-speed computer is used for calculation and degree of freedom analysis. Therefore, the equipment is relatively large and the cost is relatively high. It can only be used in high-additional In terms of value items, it cannot be used as an ordinary laborer, especially in the case of high-risk, harsh environment, and low-educated users

[0004] The inertial sensor type uses an inertial navigation sensor. Due to the scale and weight of the human body, as well as the large number of degrees of freedom to be collected, it is not possible to use a gyroscope with a certain volume and weight and high precision (the high-precision gyroscope is particularly expensive), and the time Accumulated errors will result in insufficient collection accuracy, which is acceptable in a short period of time, but incapable of long-term production labor

[0005] The bending sensor type uses a resistive or optical fiber bending sensor. Although the capture mechanism using this type of sensor is light in weight and wearable, the accuracy of the bending sensor is poor and the price is high

[0006] At present, the existing capturing mechanism using angle sensor can also be called mechanical exoskeleton-type capturing mechanism. After the calculation of the position, the rotation angle of the key points can be obtained. Although it can be measured in real time, due to the different hand sizes of different people, or the different wearing positions of the same person, there will be errors in the calculation results, and the repeatability of the measurement results is poor.

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