CN109901708A - A kind of flexible intelligent gloves - Google Patents
A kind of flexible intelligent gloves Download PDFInfo
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- CN109901708A CN109901708A CN201811623470.8A CN201811623470A CN109901708A CN 109901708 A CN109901708 A CN 109901708A CN 201811623470 A CN201811623470 A CN 201811623470A CN 109901708 A CN109901708 A CN 109901708A
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Abstract
The present invention relates to a kind of flexible intelligent gloves, specifically include: glove bulk and the flexible strain transducer, flexible circuit board and the centerablock that are fixed on glove bulk；Wherein, flexible strain transducer is using one of elastomer, elastomeric yarn and elastic string as substrate, and introduces solid-state conductive material and be made, the bending degree of real-time monitoring hand joint；It is connected between flexible strain transducer and centerablock by flexible circuit board；Centerablock is made of motional induction module, data processing module and power module, and the bending degree information for the hand joint for generating the spatial movement status information of palm in real time and transmitting with flexible strain transducer summarizes, and identifies gesture motion after collaboration processing.Flexible intelligent gloves disclosed by the invention, by the way that flexible strain transducer is arranged at hand joint, the comfortable degree and portability of Intelligent glove are improved, allows wearer that can neatly make various gesture motions, also reduces the technology difficulty and cost of production Intelligent glove.
Description
Technical field
The present embodiments relate to intelligence wearing technical field more particularly to a kind of flexible intelligent gloves.
Background technique
Wearable technology field is quickly grown in recent years, and the appearance of a large amount of intelligence wearable devices greatly enriches
The mode of people's productions, work, study, life.Wherein, Intelligent glove is as a kind of typical intelligent wearable device,
The fields such as gesture identification, man-machine interactive operation show huge applications potentiality.Traditional Intelligent glove is mostly or with micro machine
System (Micro-Electro-Mechanical System, MEMS) sensor is core sensing unit, is placed in glove bulk
The position of corresponding finger-joint or finger tip.
Since MEMS sensor is hard sensor, complex manufacturing technology, volume is usually larger, thus traditional intelligent hand
It is higher to cover cost of manufacture, it is more huge thick and heavy and foreign body sensation is obvious, comfort level is poor when dressing, largely limit wearing
Person neatly makes finger or hand motion.
Summary of the invention
To solve the above-mentioned problems, the embodiment of the present invention provides one kind and overcomes the above problem or at least be partially solved
State a kind of flexible intelligent gloves of problem.
According to a first aspect of the embodiments of the present invention, a kind of flexible intelligent gloves are provided, which includes: gloves
Ontology, flexible circuit board, centerablock and the flexible strain transducer being fixed in glove bulk outer surface or interlayer；Its
In, flexible strain transducer is arranged at the corresponding interphalangeal joint of glove bulk, at metacarpophalangeal joint and articulatio carpometacarpicus communis, flexible
Circuit board is arranged at the corresponding finger of glove bulk or at the back of the hand, and centerablock is arranged on the corresponding the back of the hand of glove bulk
The middle part of metacarpal bone,middle；
Flexible strain transducer, the motor behavior for real-time monitoring hand joint；Flexible circuit board, for guaranteeing flexibility
Strain transducer works normally and realizes the connection between flexible strain transducer and centerablock；Centerablock, for real
When monitor palm spatial movement state, and by the spatial movement status information of the palm of generation with flexibility strain transducer transmit
The bending degree information of hand joint summarized, finally identify gesture motion after collaboration processing.
Flexible intelligent gloves provided in an embodiment of the present invention, by interphalangeal joint, metacarpophalangeal joint and articulatio carpometacarpicus communis
Flexible strain transducer is arranged in place, significantly reduces the technology difficulty and cost of production Intelligent glove.In addition, in interphalangeal joint
The flexible strain transducer being arranged at place, metacarpophalangeal joint and articulatio carpometacarpicus communis can also form integrated fabric with glove bulk
Structure improves the comfortable degree and portability of Intelligent glove, wearer is allowed flexibly freely to make various gesture motions.Most
Afterwards, the centerablock and flexible strain transducer being arranged on Intelligent glove cooperate, and have expanded the type of identifiable gesture,
The accuracy and recognition speed of gesture identification are also greatly improved simultaneously.
Optionally, flexible strain transducer includes the substrate made of elastic material, is wrapped in outside substrate or uniformly divides
It is dispersed in the solid-state conductive material of base internal；Wherein, elastic material is including at least in elastomer, elastomeric yarn, elastic string
Any one, the material of elastic material is thermo-setting elastomer or thermoplastic elastomer (TPE)；Solid-state conductive material be metal nanometer line,
One of metal nanoparticle, electrical-conductive nanometer bead, redox graphene, graphene, carbon nanotube, carbon black are a variety of.
Optionally, the quantity of flexible strain transducer is that multiple and both ends have electrode.
Optionally, the resistance value or capacitance of flexible strain transducer can change as arthrogryposis degree changes
Become；Flexible strain transducer, for monitoring interphalangeal joint, metacarpophalangeal joints and the bending degree of articulatio carpometacarpicus communis, and generate refer between close
The bending degree information of section, metacarpophalangeal joints and articulatio carpometacarpicus communis.
Optionally, centerablock includes motional induction module, data processing module and power module.
Optionally, motional induction module for the spatial movement state of real-time monitoring palm, and generates the space fortune of palm
Dynamic status information；Spatial movement status information includes any one or more in following four information, four information point below
It Wei not palm translational acceleration, palm movement speed, the mobile angular speed of palm and palm rotation angle；Motional induction module, is also used
In spatial movement status information is integrated at least one motion vector for being used to describe palm real time kinematics state.
Optionally, data processing module, for receiving the bending degree for the hand joint that flexible strain transducer perceives
Information and motional induction it is module integrated at motion vector, and based on the model pre-established to the bending journey of hand joint
Degree information and motion vector are analyzed and processed, and obtain the recognition result of gesture.
Optionally, power module, for powering for flexible circuit board, motional induction module and data processing module.
Optionally, flexible circuit board is internally integrated the flexibility for connecting flexible strain transducer and data processing module
Circuit, and integrate the flexible circuit that guaranteed flexible strain transducer works normally.
Optionally, data processing module also has wireless transmission function, for the analysis of data processing module to be handled knot
Fruit is sent to remote equipment.
It should be understood that above general description and following detailed description be it is exemplary and explanatory, can not
Limit the embodiment of the present invention.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of structural schematic diagram of flexible intelligent gloves provided in an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of flexible strain transducer provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of flexible strain transducer provided in an embodiment of the present invention；
Fig. 4 is a kind of internal component connection schematic diagram of flexible intelligent gloves provided in an embodiment of the present invention；
Fig. 5 is a kind of internal component connection schematic diagram of centerablock provided in an embodiment of the present invention；
Fig. 6 is a kind of schematic diagram of customized hand original state provided in an embodiment of the present invention；
Fig. 7 is a kind of schematic diagram of hand exercise state provided in an embodiment of the present invention；
Fig. 8 is a kind of schematic diagram of hand exercise state change provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Wearable technology field is quickly grown in recent years, and the appearance of a large amount of intelligence wearable devices greatly enriches
The mode of people's productions, work, study, life.Wherein, Intelligent glove is as a kind of typical intelligent wearable device,
The fields such as gesture identification, man-machine interactive operation show huge applications potentiality.Traditional Intelligent glove is mostly or with micro machine
System (Micro-Electro-Mechanical System, MEMS) sensor is core sensing unit, is placed in glove bulk
The position of corresponding finger-joint or finger tip.
Since MEMS sensor is hard sensor, complex manufacturing technology, volume is usually larger, thus traditional intelligent hand
It is higher to cover cost of manufacture, it is more huge thick and heavy and foreign body sensation is obvious, comfort level is poor when dressing, largely limit wearing
Person neatly makes finger or hand motion.
For said circumstances, the embodiment of the invention provides a kind of flexible intelligent gloves.For ease of description, first will herein
The present embodiments relate to various components and the labels of various components listed, it is specific as follows:
Glove bulk 11, flexible strain transducer 12, flexible circuit board 13, centerablock 14；
Elastic substrates 21, solid-state conductive material 22, electrode 23；
Elastic substrates 31, solid-state conductive material 32, electrode 33；
Constant voltage source 41, flexible resistor 42, data processing module 43；
Motional induction module 51, power module 52；
Hand state 81, hand state 82, moving direction 83；
Referring to Fig. 1, the flexible intelligent gloves include: glove bulk 11, flexible strain transducer 12, flexible circuit board 13 and
Centerablock 14；Wherein, flexible strain transducer 12 is fixed in outer surface or the interlayer of glove bulk 11, and is arranged on
At the corresponding interphalangeal joint of glove bulk 11, at metacarpophalangeal joint and articulatio carpometacarpicus communis；Flexible circuit board 13 is fixed on gloves sheet
In the outer surface of body 11 or interlayer, and it is arranged at the corresponding finger of glove bulk 11 or at the back of the hand；Centerablock 14 is fixed
In the outer surface of glove bulk 11 or interlayer, and it is arranged on the middle part of the corresponding the back of the hand metacarpal bone,middle of glove bulk 11；
Flexible strain transducer 12, the motor behavior for real-time monitoring hand joint；Flexible circuit board 13 is for guaranteeing
Flexible strain sensing 12 works normally, and the connection between flexible strain transducer 12 and centerablock 14；Centerablock 14,
The spatial movement state of real-time monitoring palm, and by the spatial movement status information of the palm of generation and flexible strain transducer 12
The bending degree information of the hand joint transmitted summarizes, and finally identifies gesture motion after collaboration processing.
As shown in Figure 1, flexible strain transducer 12 be set on glove bulk 11 correspond at interphalangeal joint, metacarpophalangeal joints
At place and articulatio carpometacarpicus communis.Wherein, interphalangeal joint has at 9, metacarpophalangeal joints have at 5, articulatio carpometacarpicus communis has at 1, adds up to difference position at 15
It sets.The part of position at above-mentioned 15 can be arranged according to the needs of gesture identification in the setting position of flexible strain transducer 12
Or on whole positions, so that the bending degree of each interphalangeal joint, metacarpophalangeal joints or articulatio carpometacarpicus communis can be independent
Flexible strain transducer 12 is perceived.Wherein, thin, the soft elastic fabric system that glove bulk 11 can be excellent by tensile property
At guaranteeing comfortable wearing, elastic suitable, not easily to fall off.
Flexible intelligent gloves provided in an embodiment of the present invention, by the way that flexible strain transducer 12 is arranged at hand joint,
Significantly reduce the technology difficulty and cost of production Intelligent glove.In addition, the flexible strain transducer being arranged at hand joint
12 can also form integrated fabric construction with glove bulk 11, improve the comfortable degree and portability of Intelligent glove, allow and wear
Wearer flexibly can freely make various gesture motions.Finally, the centerablock 14 being arranged on Intelligent glove and flexible strain pass
Sensor 12 cooperate, expanded the type of identifiable gesture, at the same be also greatly improved gesture identification accuracy and
Recognition speed.
Content based on the above embodiment, as a kind of alternative embodiment, flexible strain transducer 12 includes by elastic material
Substrate made of expecting and the solid-state conductive material 22 being wrapped in outside substrate.Specifically, as shown in Fig. 2, elastic material at least
Including any one in elastomer, elastomeric yarn and elastic string.The material of elastic material is thermo-setting elastomer or thermoplastic
One of property elastomer, specifically include polyurethane, polyethylene, polyolefin, polyether ester, polyisoprene, polyamide, rubber,
One of elastomeric materials such as latex, silica gel, thermoplastic polyurethane, Styrene-Butadiene-Styrene Block Copolymer are more
Kind.Elastic substrates 21 have many advantages, such as good toughness, light weight, friendly to human body, can be with the reality of elastic fabric used in glove bulk 11
It is existing integrated weaved, it can optionally stretch and can restore to the original state automatically after pulling force is removed in a big way, not only can guarantee
Flexible strain transducer 12 has excellent strain sensing performance, and high degree improves the wearing comfort of Intelligent glove
Degree.In addition, the both ends of flexible strain transducer 12 are also provided with electrode 23.
Content based on the above embodiment, as a kind of alternative embodiment, the quantity of flexible strain transducer 12 is multiple
And both ends have electrode 23；Flexible strain transducer 12 is separately positioned at the corresponding interphalangeal joint of glove bulk 11, metacarpophalangeal
At joint and articulatio carpometacarpicus communis.Specifically, the both ends of flexible strain transducer 12 close respectively can twine plain conductor to prepare electrode
23, or electrode 23 is formed after flexible 12 both ends coated with nano composite conductive polymer of strain transducer is cured.
Content based on the above embodiment may be used also outside selected elastic substrates 21 as a kind of alternative embodiment
Coat metal nanometer line, metal nanoparticle, electrical-conductive nanometer bead, redox graphene, graphene, carbon nanotube, carbon black
One of or a variety of solid-state conductive materials 22.Wherein, brushing, spraying, drop can be used in the method for coating solid-state conductive material 22
The methods of painting, dip-coating or flow coat, the present invention is not especially limit this.Specifically, it is 650 microns that diameter, which can be used,
It insulate high-elastic double wrap yarns (core is rubber latex thread, and covering is polyethylene), is covered first with the mode of multiple dip-coating in high-elastic double-contracting
Yarn outer surface coats graphite oxide ene coatings, and after wet reducing graphene oxide, available outer surface is coated with reduction-oxidation
Flexible strain transducer 12 can be made after drying after a period of time in high-elastic double wrap yarns of graphene conductive coating.
Content based on the above embodiment, as a kind of alternative embodiment, flexible strain transducer 12 includes by elastic material
Substrate made of expecting and the solid-state conductive material 32 for being dispersed in base internal.Specifically, as shown in figure 3, flexible strain
Sensor 12 can regard one of elastomer, elastomeric yarn and elastic string as elastic substrates 31.The material of elastic substrates 31
Matter is one of thermo-setting elastomer or thermoplastic elastomer (TPE), specifically includes polyurethane, polyethylene, polyolefin, polyether ester, gathers
Isoprene, polyamide, rubber, latex, silica gel, thermoplastic polyurethane, Styrene-Butadiene-Styrene Block Copolymer etc.
One of elastomeric material is a variety of.Elastic substrates 31 have many advantages, such as good toughness, light weight, friendly to human body, can be with hand
It covers elastic fabric used in ontology and realizes integrated weaved, can optionally stretch in a big way and can be automatic after pulling force is removed
It restores to the original state, can not only ensure that flexible strain transducer has excellent strain sensing performance, and high degree improves intelligence
The wearing comfort degree of energy gloves.In addition, the both ends of flexible strain transducer 12 are also provided with electrode 33.
Content based on the above embodiment, it is also equal inside selected elastic substrates 31 as a kind of alternative embodiment
Even dispersed metal nano wire, metal nanoparticle, electrical-conductive nanometer bead, redox graphene, graphene, carbon nanotube, charcoal
One of black or a variety of solid-state conductive materials 32.Wherein, in the 31 evenly dispersed solid-state conductive material 32 in inside of elastic substrates
The methods of wet spinning can be used in method, and the present invention is not especially limit this.Specifically, by styrene-butadiene-
Styrene block copolymer (SBS) powder is poured into the tetrahydrofuran for uniformly mixing carbon nanotube and silver nano-grain in advance
In solution, make SBS be completely dissolved and be sufficiently mixed with carbon nanotube and silver nano-grain within magnetic agitation 24 hours, then by
The syringe needle that 400 microns of internal diameter squeezes out mixed solution into dehydrated alcohol coagulating bath, takes out after standing 30 minutes and forms elasticity fibre
Dimension, drying at room temperature 24 hours, 80 DEG C of baking oven baking 12 hours after flexible strain transducer 12 can be made.
Content based on the above embodiment, as a kind of alternative embodiment, the quantity of flexible strain transducer 12 is multiple
And both ends have electrode 33；Flexible strain transducer 12 is separately positioned at the corresponding interphalangeal joint of glove bulk 11, metacarpophalangeal
At joint and articulatio carpometacarpicus communis.Specifically, the both ends of flexible strain transducer 12 close respectively can twine plain conductor to prepare electrode
33, or electrode 33 is formed after flexible 12 both ends coated with nano composite conductive polymer of strain transducer is cured.
Content based on the above embodiment, as a kind of alternative embodiment, nano combined conducting polymer is by height
According to preset ratio in molecular flexibility body material, mixed carbon black, silver paste, graphene, metal nanometer line, metal nanoparticle etc. are led
What electric material obtained.Wherein, hybrid mode can for uniformly mixing, can also mix in proportion, the embodiment of the present invention to this not
Make specific limit.It specifically, can the close copper for twining 0.2 millimeter of diameter be led in a spiral manner at the both ends of flexible strain transducer 12
Line, winding length can be 2 millimeters, the present invention is not especially limit this.In addition, it is close twine copper conductor after flexibility answer
The total length for becoming sensor 12 can remain unchanged.
Wherein, the length of flexible strain transducer 12 can be 2~4 centimetres, and both ends can pass through sewing, weaving or gluing
Etc. modes be fixed in outer surface or the interlayer of glove bulk 11, the elastic substrates of flexible strain transducer 12 are made after fixed
21 in the state slightly tightened (tensile deformation is about 10%).At the same time, it is also ensured that flexible strain transducer 12 across
The entire joint and center of flexible strain transducer 12 is just bonded with joint.Since in this way, flexible strain transducer 12 is not only
It can be close to close glove bulk 11 well, and can more delicately respond subtle joint motions.Specifically, it first can slightly stretch soft
Property strain transducer 12 both ends stretch shape in holding 10% so that flexible strain transducer 12 is in 10% tensile deformation
Under change state, the both ends of flexible strain transducer 12 are sewn on to the glove bulk 11 of corresponding joint with the preferable litzendraht wire of toughness
The length of outer surface, flexible 12 both ends of strain transducer sewing region may be about 1-5 millimeters.
Content based on the above embodiment, as a kind of alternative embodiment, the resistance value or electricity of flexible strain transducer 12
Capacitance can change with arthrogryposis degree；Flexible strain transducer 12, for monitor interphalangeal joint, metacarpophalangeal joints and
The bending degree of articulatio carpometacarpicus communis, and generate the bending degree information of interphalangeal joint, metacarpophalangeal joints and articulatio carpometacarpicus communis.
Wherein, flexible strain transducer 12 can be tightly attached to glove bulk 11 and correspond on the position of swivel of hand, to respond hand
The different degrees of bending change in joint.At the interphalangeal joint of wearer, when bending at metacarpophalangeal joint, articulatio carpometacarpicus communis,
Flexible strain transducer 12 is also stretched therewith, to generate certain deformation quantity, and then causes its solid-state conductive material 22
Resistance value or capacitance change, so that flexible strain transducer 12 can make the motion change in human hands joint
Quick response.
Specifically, soft made from upper redox graphene conductive coating as being coated in the outer surface of high-elastic double wrap yarns
Property strain transducer 12, working principle be mainly pass through the resistance of redox graphene conductive coating to change, thus
Quick response is made to the bending in human hands joint.Wherein, the response time is 60 milliseconds.Hand joint is bent so that flexibility is answered
Become sensor 12 to be stretched, the resistance value of redox graphene conductive coating increases.Hand joint bending angle is bigger, also
The resistance value of former graphene oxide conductive coating is higher.
It is carried out it should be noted that the edge of flexible circuit board 13 can be reserved with the electrode 23 of flexible strain transducer 12
The position of electrical connection, in the position by modes such as conducting resinls by the electrode 23 and flexible circuit board of flexible strain transducer 12
13 bondings.At the same time, it can also be powered by external power module 52 to flexible circuit board 13 and flexible strain transducer 12.
Flexible strain transducer 12, flexible circuit board 13 and power module 52 constitute a closed circuit, and formation sensing circuit makes soft
Property strain transducer 12 work normally.It, can be by flexible strain transducer by designing reasonable circuit on flexible circuit board 13
The variation of 12 resistance value or capacitance is converted to the potential difference variation at flexible 12 both ends of strain transducer.
Content based on the above embodiment, as a kind of alternative embodiment, as shown in figure 4, power module 52 used can
It (is powered by 3V button battery) comprising a constant voltage source 41, the output voltage of constant voltage source 41 is constant direct current
Voltage.Flexible strain transducer 12 is connected by flexible circuit board 13 with a flexible resistor 42, and a local line is formed.It is soft
Property resistance 42 the initial resistivity value of resistance value and hand joint without strain transducer 12 flexible under bending state it is close and fixed
It is constant.If n flexible strain transducer is arranged to monitor joint motions state in Intelligent glove of the invention, corresponding, entirely soft
Property sensing circuit includes the identical local line of n item altogether.This n local line takes mode and constant voltage source 41 in parallel to connect
It is connected together.When the resistance value of flexible strain transducer 12 changes as hand joint is bent, flexible strain sensing
The potential difference of 12 two end electrodes 23 of device can also change.Therefore, the impedance variations of flexible strain transducer 12 can pass through flexibility
The potential differences of 12 two end electrodes 23 of strain transducer reflects.Data processing module 43 is in the signal for receiving potential difference variation
Afterwards, the heat transfer agent of flexible 12 resistance variations of strain transducer can be obtained.
Content based on the above embodiment, as a kind of alternative embodiment, centerablock 14 includes following three components；Three
A component is respectively motional induction module 51, data processing module 43 and power module 52.The internal component of centerablock 14 connects
Connecing can be as shown in Figure 5: data processing module 43 is connected to motional induction module 51, and power module 52 is used for flexible circuit board
13, data processing module 43 and motional induction module 51 are powered.
Wherein, the spatial movement state of 51 real-time monitoring palm of motional induction module, and generate the spatial movement shape of palm
State information；Spatial movement status information include it is any one or more in following four information, four information are respectively below
The mobile angular speed of palm translational acceleration, palm movement speed, palm and palm rotation angle.51 pieces of motional induction mould is by palm
Spatial movement status information is integrated at least one for describing the motion vector of palm real time kinematics state.Data processing module
43, the bending degree information and motional induction module 51 for receiving the hand joint that flexible strain transducer 12 perceives are whole
The motion vector of synthesis, and carried out based on bending degree information and motion vector of the model pre-established to hand joint
Analysis processing, obtains the recognition result of gesture.Power module 52 can be used for powering to the needs installed on glove bulk 11
Flexible circuit board 13, motional induction module 51 and data processing module 43 are powered.
Specifically, as shown in figure 5, data processing module 43 passes through flexible circuit board 13 and 12 phase of flexible strain transducer
Even, for receive transducing signal I_1, I_2, I_3 ..., I_n.Transducing signal I_1, I_2, I_3 ..., I_n be simulation electricity
Signal is pressed, the voltage at different 12 both ends of flexible strain transducer is respectively corresponded.For example, I_1 can correspond to thumb joint sensing
The voltage value at device both ends, I_2 can correspond to the voltage value at wrist joint sensor both ends.The quantity n of signal is equal to set
The quantity of flexible strain transducer 12.The impedance variations of flexible strain transducer 12 lead to the voltage Development pattern at its both ends
Variation, thus analog voltage signal includes the information of sensor resistance variation, has been described in detail in foregoing teachings, not in this
It repeats again.
Content based on the above embodiment, as a kind of alternative embodiment, data processing module 43 is answered for receiving flexibility
Become the arthrogryposis information that sensor 12 perceives and the motion vector that motional induction module 51 generates, and is based on pre-establishing
Good model is analyzed and processed arthrogryposis information and motion vector, to obtain the recognition result of gesture.
Content based on the above embodiment, as a kind of alternative embodiment, data processing module 43 also has wireless transmission
The analysis and processing result of data processing module 43 can be sent to remote equipment by function.Specifically, data processing module 43 can be adopted
With any one wireless transmission methods such as bluetooth, wifi, near-field communications (NFC).
Content based on the above embodiment, as a kind of alternative embodiment, motional induction module 51 may include gyroscope, add
The combination of one or both of velocity sensor and an expansible digital moving processor.Motional induction module 51 is used
In the spatial movement status information for monitoring entire palm, spatial movement status information includes any one in following four information
Or it is multinomial, four information are respectively palm translational acceleration, palm movement speed, the mobile angular speed of palm and palm rotation below
Angle.
Specifically, motional induction module 51 can monitor the rotary state of entire palm, generate rotation angle, the angular speed of palm
Etc. one or more motion informations, and these information are integrated into rotating vector with the customized specification of user and are transmitted at data
Manage module 43.Rotation operation of the 51 energy inducing palm of motional induction module on three axial directions (tri- directions x, y and z), it is each
There is positive and negative both direction in a axial direction, palm can be corresponded respectively to and rotate clockwise in the axial direction, rotate counterclockwise.Certainly,
The axial-rotation that can be sensed also is not limited only to this, can be defined by Intelligent glove program developer oneself.
Specifically, it is illustrated in conjunction with Fig. 6 and Fig. 7.In the beginning that Intelligent glove uses, wearer's hand is remain stationary,
Hand state at this time can be defined as " original state " by system." original state " may be defined as state shown in Fig. 6: wearer's
Hand is laid flat, and downward, finger stretches to be directed toward immediately ahead of wearer the palm of the hand.The present invention is not especially limit this.At this point,
Three axially can be as given a definition: positive direction of the x-axis is defined as the front of finger direction, and x/y plane is parallel with facies palmaris, positive direction of the y-axis
It is defined as vertical with x-axis and is directed toward on the right side of wearer, for z-axis then perpendicular to x/y plane, i.e. x, y, z direction respectively corresponds wearer's
Front and rear, left and right, up and down.
The rotary state of palm can be indicated with one or more information such as the rotation angle of rotation, angular speed, with user
Customized specification is integrated into rotating vector.For example, three axis rotation angle vectors can be integrated into the rotation angle in three axial directions
(θ _ x, θ _ y, θ _ z), to monitor the degree of rotation of palm.When palm is in original state, corresponding three axis rotation angle vector
For (0,0,0).When wearer's hand rotates β _ x angle around x-axis, corresponding three axis rotation angle vector is (β _ x, 0,0).When wearing
When wearer's hand rotates β _ y angle around y-axis, corresponding three axis rotation angle vector is (0, β _ y, 0).When wearer's hand is around z-axis
When rotating β _ z angle, corresponding three axis rotation angle vector is (0,0, β _ z).Specifically, the initial shape when hand as shown in Figure 6
When state changes to state shown in Fig. 7, hand has rotated α _ x angle around x, has rotated 0 angle around y-axis, has rotated the angle α _ z around z-axis
Degree, the corresponding three axis rotation angle vector of Fig. 7 state is (α _ x, 0, α _ z) at this time.
Finally, the moving condition of palm can be indicated with one or more information such as acceleration, speed of palm movement,
It is integrated into motion-vector with the customized specification of user.For example, the acceleration of three axis can be integrated into the acceleration in three axial directions
It spends vector (a_x, a_y, a_z), monitors the motion state of palm.When palm is in " original state ", corresponding three axis accelerates
Spending vector is (0,0,0).When wearer's hand moves forward and backward (along x-axis), there can be real-time change during hand exercise
Acceleration a_x, real-time corresponding 3-axis acceleration vector are (a_x, 0,0).When wearer's hand side-to-side movement (along y-axis),
There can be the acceleration a_y of real-time change during hand exercise, corresponding 3-axis acceleration vector is (0, a_y, 0).When wearing
(along z-axis) when wearer's hand moves up and down, can there are the acceleration a_z of real-time change, corresponding three axis during hand exercise
Vector acceleration is (0,0, a_z).
Illustrate in conjunction with Fig. 6 and Fig. 8: hand state 81 is consistent with original state shown in fig. 6, moving direction 83 and xy
Plane is parallel, has a certain degree γ with x-axis forward direction.Hand is added by hand state 81 along the direction of moving direction 83 with constant
During speed (size a, direction are consistent with the direction of moving direction 83) is moved to hand state 82, real-time monitored
Vector acceleration perseverance be (a*cos γ, a*sin γ, 0).
In conclusion Intelligent glove provided in an embodiment of the present invention passes through 43 pairs of data processing module flexible strain transducers
12 and the data of motional induction module 51 be acquired, obtain the information for being enough to identify entire hand activities state.Further
Ground is analyzed these data, is handled, and a variety of static gestures can not only be recognized accurately, additionally it is possible to identify dynamic gesture.
By the way that the established model of developer is stored in processing chip, which can complete special according to the wish of developer
Fixed function.In this mode, which has many application scenarios.
For example, using the gloves as a kind of man-machine interactive interface, for manipulating mechanical equipment etc..Developer is pre-designed
A set of gesture trains identification model as operational order, by the data set that a large amount of gesture datas are constituted.Equipment operation people
Member is worn by the flexible intelligent gloves and makes gesture, and glove system can real-time monitor the motion state of hand entirety and hand closes
The information such as the bending degree of section, data processing module 34 are analyzed and processed these information with trained model, identification
Operational order expressed by the gesture out.Recognition result (i.e. operational order) is sent mechanical equipment by wireless transmission unit, if
It is standby to receive after instruction i.e. completion corresponding operation.Using Intelligent glove provided in an embodiment of the present invention, pass through this nature of gesture
Easy mode interacts operation, it is convenient to complete the control to mechanical equipment.
The apparatus embodiments described above are merely exemplary, wherein unit can be as illustrated by the separation member
Or may not be and be physically separated, component shown as a unit may or may not be physical unit, i.e.,
It can be located in one place, or may be distributed over multiple network units.It can select according to the actual needs therein
Some or all of the modules achieves the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creative labor
In the case where dynamic, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of flexible intelligent gloves characterized by comprising glove bulk, flexible circuit board, centerablock and be fixed on
Flexible strain transducer in the glove bulk outer surface or interlayer；Wherein, the flexible strain transducer is arranged on institute
It states at the corresponding interphalangeal joint of glove bulk, at metacarpophalangeal joint and articulatio carpometacarpicus communis, the flexible circuit board is arranged on described
At the corresponding finger of glove bulk or at the back of the hand, the centerablock is arranged on the corresponding the back of the hand third palm of the glove bulk
The middle part of bone；
The flexibility strain transducer, the motor behavior for real-time monitoring hand joint；The flexible circuit board, for guaranteeing
The flexibility strain transducer works normally and realizes the connection between the flexible strain transducer and the centerablock；
The centerablock, for the spatial movement state of real-time monitoring palm, and by the spatial movement status information of the palm of generation
The bending degree information of the hand joint transmitted with the flexible strain transducer is summarized, and is finally identified after collaboration processing
Gesture motion.
2. flexible intelligent gloves according to claim 1, which is characterized in that the flexibility strain transducer includes by elasticity
Substrate made of material, the solid-state conductive material for being wrapped in outside the substrate or being dispersed in the base internal；Wherein,
The elastic material is thermosetting including at least any one in elastomer, elastomeric yarn, elastic string, the material of elastic material
Property elastomer or thermoplastic elastomer (TPE)；The solid-state conductive material is that metal nanometer line, metal nanoparticle, electrical-conductive nanometer are small
One of ball, redox graphene, graphene, carbon nanotube, carbon black are a variety of.
3. flexible intelligent gloves according to claim 1, which is characterized in that the quantity of the flexibility strain transducer is more
A and both ends have electrode.
4. flexible intelligent gloves according to claim 1, which is characterized in that it is described flexibility strain transducer resistance value or
Capacitance can change as arthrogryposis degree changes；The flexibility strain transducer, for monitoring interphalangeal joint, the palm
The bending degree of articulations digitorum manus and articulatio carpometacarpicus communis, and generate the bending degree information of interphalangeal joint, metacarpophalangeal joints and articulatio carpometacarpicus communis.
5. flexible intelligent gloves according to claim 1, which is characterized in that the centerablock includes motional induction mould
Block, data processing module and power module.
6. flexible intelligent gloves according to claim 5, which is characterized in that the motional induction module, for supervising in real time
The spatial movement state of palm is surveyed, and generates the spatial movement status information of palm；The spatial movement status information include with
Any one or more in lower four information, following four information are respectively palm translational acceleration, the mobile speed of palm
The mobile angular speed of degree, palm and palm rotation angle；The motional induction module is also used to the spatial movement status information is whole
At least one is synthesized for describing the motion vector of palm real time kinematics state.
7. flexible intelligent gloves according to claim 5, which is characterized in that the data processing module, for receiving
State the hand joint that flexible strain transducer perceives bending degree information and the motional induction it is module integrated at fortune
Moving vector, and the bending degree information of the hand joint and the motion vector are carried out based on the model pre-established
Analysis processing, obtains the recognition result of gesture.
8. flexible intelligent gloves according to claim 5, which is characterized in that the power module, for being the flexibility
Circuit board, the motional induction module and data processing module power supply.
9. flexible intelligent gloves according to claim 5, which is characterized in that the flexible circuit board, which has been internally integrated, to be used for
The flexible circuit of the flexible strain transducer and the data processing module is connected, and integrates the guaranteed flexible strain and passes
The flexible circuit that sensor works normally.
10. the flexible intelligent gloves according to any one of claim 5 to 9, which is characterized in that the data processing module
Also there is wireless transmission function, for the analysis and processing result of the data processing module to be sent to remote equipment.
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| CN201811623470.8A CN109901708A (en) | 2018-12-28 | 2018-12-28 | A kind of flexible intelligent gloves |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811623470.8A CN109901708A (en) | 2018-12-28 | 2018-12-28 | A kind of flexible intelligent gloves |
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| CN109901708A true CN109901708A (en) | 2019-06-18 |
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| CN110313663A (en) * | 2019-07-31 | 2019-10-11 | 宁波韧和科技有限公司 | A kind of Intelligent glove |
| CN110361119A (en) * | 2019-07-11 | 2019-10-22 | 南京大学 | A kind of flexibility stress sensor of composite microstructure and preparation method thereof |
| CN110491251A (en) * | 2019-08-29 | 2019-11-22 | 西安交通大学 | A kind of standardization sign language simulation Intelligent glove |
| CN110623673A (en) * | 2019-09-29 | 2019-12-31 | 华东交通大学 | Fully-flexible intelligent wrist strap for recognizing gestures of driver |
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| CN110313663A (en) * | 2019-07-31 | 2019-10-11 | 宁波韧和科技有限公司 | A kind of Intelligent glove |
| CN110491251A (en) * | 2019-08-29 | 2019-11-22 | 西安交通大学 | A kind of standardization sign language simulation Intelligent glove |
| CN110491251B (en) * | 2019-08-29 | 2021-05-28 | 西安交通大学 | Standardized sign language simulation intelligent glove |
| CN110623673A (en) * | 2019-09-29 | 2019-12-31 | 华东交通大学 | Fully-flexible intelligent wrist strap for recognizing gestures of driver |
| CN110623673B (en) * | 2019-09-29 | 2022-01-28 | 华东交通大学 | Fully-flexible intelligent wrist strap for recognizing gestures of driver |
| CN110888528A (en) * | 2019-11-14 | 2020-03-17 | 南京航空航天大学 | Wearable interphalangeal opening angle measuring device |
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| CN111722723A (en) * | 2020-06-29 | 2020-09-29 | 北京化工大学 | Bidirectional bending flexible sensor, sign language recognition system and method |
| CN111722723B (en) * | 2020-06-29 | 2021-07-13 | 北京化工大学 | Bidirectional bending flexible sensor, sign language recognition system and method |
| CN114077301B (en) * | 2020-08-20 | 2023-10-10 | 鹏鼎控股(深圳)股份有限公司 | Virtual reality glove and manufacturing method thereof |
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| CN112764533A (en) * | 2020-12-30 | 2021-05-07 | 电子科技大学 | Flexible carbon strain sensor array for glove type keyboard |
| CN112860066A (en) * | 2021-02-07 | 2021-05-28 | 北京中电智博科技有限公司 | Electronic equipment and method for generating hand action information |
| CN113654695A (en) * | 2021-08-11 | 2021-11-16 | 东南大学 | Novel spandex fiber strain type resistance sensor and preparation method thereof |
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| CN114376565A (en) * | 2022-01-18 | 2022-04-22 | 法罗适(上海)医疗技术有限公司 | Data glove and manufacturing method thereof |
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| CN114543650A (en) * | 2022-01-25 | 2022-05-27 | 江苏新澄瑞材料科技有限公司 | Flexible strain stretchable sensor and intelligent gloves |
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| CN114983398A (en) * | 2022-06-06 | 2022-09-02 | 河北工业大学 | Wearable self-driven bending sensor and finger joint bending monitoring system |
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Application publication date: 20190618 |