CN109771905A - Virtual reality interactive training restoring gloves based on touch driving - Google Patents
Virtual reality interactive training restoring gloves based on touch driving Download PDFInfo
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- CN109771905A CN109771905A CN201910082952.5A CN201910082952A CN109771905A CN 109771905 A CN109771905 A CN 109771905A CN 201910082952 A CN201910082952 A CN 201910082952A CN 109771905 A CN109771905 A CN 109771905A
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Abstract
The present invention relates to biomedical rehabilitation field and field of virtual reality, a set of achievable hand pressure acquisition is built, the Intelligent glove device being trained in conjunction with virtual scene is to realize the rehabilitation training to apoplexy patient hand function.For the existing rehabilitation data glove deficiency that structure is complicated, wearing is troublesome, cost is high, the present invention provides a kind of simple intelligent rehabilitation gloves apparatus of structure, realize the rehabilitation training of opponent's function, the including but not limited to acquisition of hand pressure, the acquisition of upper limb posture, hand tactile vibrational feedback.Intracapsular pressure on gloves can be set to carry out grasping apoplexy patient of the hardness adjusting to adapt to the different rehabilitation stages.For package unit with low cost, simple structure realizes the Intelligent glove equipment for apoplexy patient healing hand function.
Description
Technical field
The present invention relates to biomedical rehabilitation field and field of virtual reality, build a set of achievable hand pressure acquisition,
The Intelligent glove device being trained in conjunction with virtual scene is to realize the rehabilitation training to apoplexy patient hand function.
Background technique
In existing rehabilitation intelligence wearing gloves equipment, often in the presence of structure is complicated, wearing is troublesome, cost is high not
Foot, so that device applicability and poor user experience, fancy price should not also be promoted.
Existing rehabilitation intelligence wearing gloves equipment is divided into photoelectric sensing type, machinery by the unusual of acquisition mode
Sensor-type and angle sensor formula.Photoelectric sensing type captures mark point by camera and carries out information collection, be easy to cause and blocks
Problem；The general overall structure of mechanical sensing type is huge many and diverse, and cost is high, and portability is poor；Angle sensor formula generally use optical fiber or
Electromagnetic principle carries out information collection, and cost is high.
Summary of the invention
For the existing rehabilitation data glove deficiency that structure is complicated, wearing is troublesome, cost is high, the present invention provides a kind of knots
The simple intelligent rehabilitation gloves apparatus of structure, the rehabilitation training of realization opponent's function, the including but not limited to acquisition of hand pressure, on
The acquisition of limb posture, hand tactile vibrational feedback.The present invention can also be arranged intracapsular pressure on gloves and carry out grasping hardness tune
It saves to adapt to the apoplexy patient in different rehabilitation stages.Particular content is as follows:
The technical solution adopted by the present invention is to facilitate in autonomous Design and paste an oval air bag on the gloves 1 of wearing
2, it is based on this, user can carry out grasp motion；Diaphragm pressure sensing 7 is pasted on gloves 1 to be used to acquire hand pressure data, it is thin
Film pressure sensing 7 is connected by conducting wire with microcontroller development board 3, is carried out data transmission；Vibrating motor 8 is also furnished on gloves 1,
User can provide vibrational feedback when grasping, vibrating motor 8 is connect by conducting wire with microcontroller development board 3；Single-chip microcontroller is opened
Hair plate 3 is mainly used for the data transmission of diaphragm pressure sensor 7 and vibrating motor 8, and control and display to gasbag pressure pass through
Self-programming and bluetooth module 13 realize single-chip microcontroller 3 and host computer PC end communication, and pressure data is transferred to computer and is handled,
Realize the control to virtual hand gesture in virtual scene；In large arm, forearm and on hand three inertial sensors 4 are dressed for acquiring
The position of entire upper limb and posture information, inertial sensor 4 is realized by USB and the communication of PC host computer, realizes to virtual field
The Pose Control of virtual arm in scape.Based on gloves 1, air bag 2, inertial sensor 4 and microcontroller development board 3,5 and of air pressure module
The hardware system combination host computer virtual environment that the VR helmet 6 forms can carry out the healing hand function training of apoplexy patient.
Detailed description of the invention
Fig. 1 are as follows: Intelligent glove system diagram
Fig. 2 are as follows: Intelligent glove diagram
Fig. 3 are as follows: air pressure module diagram
Fig. 4 are as follows: microcontroller development board diagram
Specific embodiment
Rehabilitation Intelligent glove device systems provided by the present invention as shown in Figure 1, include to realize data transmission and it is soft
The independent procedure of hardware combined control.It mainly include gloves 1, spheroid shape air bag 2, microcontroller development board 3, inertial sensor 4, gas
Die block 5 and the VR helmet 6.
Gloves: as shown in Fig. 2, mainly including nylon buckles 7, diaphragm pressure sensor 8 and vibrating motor 9.Gloves are using half
Packaging type structure, facies palmaris have fabric package, have nylon to buckle 7 at five finger tips, palm back and wrist, are more convenient for dressing.With
Hand is placed on gloves by family to be fastened nylon buckles 7 wearing can be completed；The embossed channel that the useful cloth in 1 back of gloves is formed, is used for
The wiring of diaphragm pressure sensor 8 and vibrating motor 9；It is quick that diaphragm pressure sensor 8 carries out hand when grasp motion for acquiring
The pressure for feeling point, is converted into gesture angle-data after being handled by host computer, realize control to virtual hand in virtual environment,
The metacarpophalangeal of fingertip location including five fingers, the proximal joint position of thumb, tiger's jaw position and index finger, middle finger and the third finger
Joint position totally 10 pressure acquisition points.Diaphragm pressure sensor 8 is fixedly connected by glue with vibrating motor 9, and conducting wire is passed through
It is connect with microcontroller development board 4, realizes data transmission；Vibrating motor 9 is used to provide the touch feedback during user grasps.When
Collected hand pressure is more than after the threshold value of setting, and the vibration offer touch feedback of vibrating motor 9 can be real by self-programming
Existing nine grades of different grades of oscillation intensities.9 placement location of vibrating motor is identical as diaphragm pressure sensor 8, passes through therebetween
Glue is connected, and vibrating motor 9 is equally pasted onto 1 back of gloves by glue, is connect by conducting wire with microcontroller development board 4；
Ellipsoid air bag 2 is used for the entity that user grasps, and is silica gel air bag, harmless and more comfortable.Outside air bag
One layer of nylon tape is wrapped up, gloves different location can be pasted according to the position of user hand, improve applicability.Gas built in air bag
Pressure sensor can acquire gas pressure, be connected to air pressure module 5 (as shown in Figure 3) by tracheae, and air pressure module 5 is used for ellipsoid
Shape air bag 2 is filled and deflated by, mainly by battery 18, air pump 19, the composition of air valve 20.User can be by microcontroller development board 3
Air pressure adjustment button 12 can be filled and deflated by, and air bag hardness is adjusted；
Microcontroller development board 3: as shown in figure 4, the acquisition of 8 data of diaphragm pressure sensor is realized by burning program, it is right
The publication that vibrating motor 9 instructs.Mainly by Arduino16, voltage changing module 15, outlet 13, power switch 11, bluetooth module
14, usb 10, LED display 17, air pressure adjustment button 12 etc..Arduino16 is mainly used for the processing and instruction of data
Transmission；Voltage changing module 14 carries out voltage conversion；The on-off of the realization power supply of power switch 11；Bluetooth module 14 for development board with
The communication of position machine；LED display 17 is for showing inside air bag pressure；Air pressure adjustment button 12 cooperates air valve 20 by air pump 19
It realizes to the inflatable and deflatable of air bag；
Inertial sensor 4: for the acquisition of user's upper limb position and attitude data, being connect by USB with host computer, is carried out
For controlling the pose of arm in virtual environment after data transmission and processing.Mainly there are three modules for inertial sensor, put respectively
It is placed in palm back, forearm and large arm medium position, corresponding position is fixed to by nylon bandage；
The VR helmet 5: by dressing the VR helmet 5, user can see virtual environment true to nature, carry out the virtual of task based access control
Scene training.
Claims (5)
1. the Intelligent glove device of a set of achievable hand pressure acquisition and rehabilitation training, it is characterised in that: gloves 1, spheroid shape
Air bag 2, inertial sensor 3, microcontroller development board 4, air pressure module 5 and the VR helmet 6 and to realize data transmission and software and hardware
The independent procedure jointly controlled.
2. gloves 1 according to claim 1, it is characterised in that: including nylon buckles 7, diaphragm pressure sensor 8 and vibration horse
Up to 9.Gloves use semi-packing type structure, and facies palmaris has fabric package, have nylon to buckle 7 at five finger tips, palm back and wrist,
It is more convenient for dressing.Hand is placed on gloves by user to be fastened nylon buckles 7 wearing can be completed；The useful cloth in 1 back of gloves is formed
Embossed channel, the wiring for diaphragm pressure sensor 8 and vibrating motor 9；Diaphragm pressure sensor 8 is grasped for acquiring
The pressure of hand sensitive spot when movement, is converted into gesture angle-data after being handled by host computer, to empty in virtual environment
Quasi- hand realizes control, the fingertip location including five fingers, the proximal joint position of thumb, tiger's jaw position and index finger, middle finger
With nameless metacarpophalangeal joints position totally 10 pressure acquisition points.Vibrating motor 9 is used to provide the tactile during user grasps
Feedback.After collected hand pressure is more than the threshold value of setting, the vibration of vibrating motor 9 provides touch feedback, by editing certainly
Nine grades of different grades of oscillation intensities may be implemented in journey.9 placement location of vibrating motor is identical as diaphragm pressure sensor 8, the two
Between be connected by glue, vibrating motor 9 is equally pasted by 1 back of gloves by glue, passes through conducting wire and microcomputer development
Plate 4 connects.
3. ellipsoid air bag 2 according to claim 1, it is characterised in that: one layer of nylon tape is wrapped up outside air bag, it can basis
The position of user hand pastes gloves different location, improves applicability.Baroceptor built in air bag can acquire gas pressure,
It is connected to air pressure module 5 by tracheae, user can carry out by the air pressure adjustment button 12 in microcontroller development board 3
It is filled and deflated by, adjusts air bag hardness.
4. microcontroller development board 3 according to claim 1, it is characterised in that: realize that diaphragm pressure passes by burning program
The acquisition of 8 data of sensor, the publication that vibrating motor 9 is instructed.Mainly by Arduino16, voltage changing module 15, outlet 13,
Switch 11, bluetooth module 14, usb 10, LED display 17, air pressure adjustment button 12 etc..Arduino16 is mainly used for counting
According to processing and instruction transmission；Voltage changing module 14 carries out voltage conversion；The on-off of the realization power supply of switch 11；Bluetooth module 14 is used
In the communication of development board and host computer；LED display 17 is for showing inside air bag pressure；Air pressure adjustment button 12 passes through air pump
19 cooperation air valves 20 are realized to the inflatable and deflatable of air bag.
5. inertial sensor 4 according to claim 1, it is characterised in that: for user's upper limb position and attitude data
Acquisition, is connect by USB with host computer, for controlling the pose of arm in virtual environment after carrying out data transmission and handling.It is used
Property sensor mainly there are three module, be respectively placed in palm back, forearm and large arm medium position, it is solid by nylon bandage
Surely corresponding position is arrived.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910082952.5A CN109771905A (en) | 2019-01-25 | 2019-01-25 | Virtual reality interactive training restoring gloves based on touch driving |
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| CN201910082952.5A CN109771905A (en) | 2019-01-25 | 2019-01-25 | Virtual reality interactive training restoring gloves based on touch driving |
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Cited By (4)
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| CN111061368A (en) * | 2019-12-09 | 2020-04-24 | 华中科技大学鄂州工业技术研究院 | Gesture detection method and wearable device |
| CN112230778A (en) * | 2020-10-30 | 2021-01-15 | 北京京东方显示技术有限公司 | Operation virtual reality equipment |
| CN112370311A (en) * | 2019-12-11 | 2021-02-19 | 上海司羿智能科技有限公司 | Data glove, manufacturing method and finger joint rehabilitation training device |
| CN112870654A (en) * | 2021-02-10 | 2021-06-01 | 深圳讯丰通医疗股份有限公司 | Hand rehabilitation training system and implementation method thereof |
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| CN112230778A (en) * | 2020-10-30 | 2021-01-15 | 北京京东方显示技术有限公司 | Operation virtual reality equipment |
| CN112870654A (en) * | 2021-02-10 | 2021-06-01 | 深圳讯丰通医疗股份有限公司 | Hand rehabilitation training system and implementation method thereof |
| CN112870654B (en) * | 2021-02-10 | 2022-04-19 | 深圳讯丰通医疗股份有限公司 | Hand rehabilitation training system and implementation method thereof |
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