CN110865709A - Flexible sensor-based gesture recognition system and method and glove - Google Patents
Flexible sensor-based gesture recognition system and method and glove Download PDFInfo
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- CN110865709A CN110865709A CN201911124166.3A CN201911124166A CN110865709A CN 110865709 A CN110865709 A CN 110865709A CN 201911124166 A CN201911124166 A CN 201911124166A CN 110865709 A CN110865709 A CN 110865709A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
Abstract
The embodiment of the invention discloses a gesture recognition system and method based on a flexible sensor and a glove. The flexible sensor based gesture recognition system includes: the glove comprises a glove body with five finger parts, a plurality of flexible sensors, a data acquisition card and a signal processing module, wherein the flexible sensors are arranged at joints of the finger parts and used for sensing action information of each finger part, the data acquisition card is connected with the flexible sensors, and the signal processing module is connected with the data acquisition card and used for recognizing gestures through electric signals. The gesture recognition system, method and glove provided by the embodiment of the invention have the advantages of low cost and simple and easy operation and recognition.
Description
Technical Field
The invention relates to the technical field of human-computer interaction, in particular to a gesture recognition system and method based on a flexible sensor and a glove.
Background
Gestures are a natural and intuitive interpersonal communication mode. Gestures can simulate language and behavior, expressing certain meanings and words. With the rise of intelligent mobile devices and wearable devices, emerging technologies such as gestures, eye movements and face recognition are widely applied. Gesture recognition plays an important role in numerous fields such as sign language recognition, man-machine interaction, robot control, intelligent monitoring, visual environment operation and the like. The system develops a hearing aid for hearing-impaired people, enables very young children to interact with a computer, observes the emotional state or stress level of a patient, and can also navigate or operate in a virtual environment, communicate in a video conference and remotely teach, so that the system naturally conforms to the development requirement for the research of gesture recognition and has great research significance.
At present, the gesture recognition is widely researched at home and abroad, and the structure design, preparation, subsequent algorithm and the like of the gesture recognition are included. Most of the domestic and foreign researches adopt a visual mode to perform gesture recognition. The gesture recognition based on vision needs a high-precision camera, is high in cost requirement and harsh in condition, and requires that the shielding condition cannot occur in the gesture recognition process, so that the application in the field of human-computer interaction is still limited to a certain extent.
Therefore, in order to solve the technical problems of high cost and harsh application conditions of vision-based gesture recognition in the prior art, it is necessary to provide a non-vision-based gesture recognition technology to reduce the application cost of the gesture recognition technology and widen the application conditions of the gesture recognition technology, thereby forming a simple human-computer interaction platform.
Disclosure of Invention
Aiming at the technical problems of high cost and harsh application conditions of vision-based gesture recognition in the prior art, the embodiment of the invention provides a non-vision-based gesture recognition technology, namely a gesture recognition system and method based on a flexible sensor and a glove. The gesture recognition system and method based on the flexible sensor provided by the embodiment of the invention do not need a high-precision camera, have lower cost and are simple and easy to operate and recognize.
In order to achieve the above object, an embodiment of the present invention provides the following technical solutions: a flexible sensor based gesture recognition system comprising: the glove comprises a glove body and a handle, wherein the glove body comprises five finger parts which are used for being worn respectively; a plurality of flexible sensors respectively disposed at joints of the five fingers for sensing motion information of each finger; the data acquisition card is connected with the plurality of flexible sensors and is used for acquiring the action information of each finger part sensed by the plurality of flexible sensors and converting the action information of each finger part into corresponding electric signals; and the signal processing module is connected with the data acquisition card and used for receiving the electric signals acquired by the data acquisition card and processing the electric signals according to a preset algorithm to recognize the current gesture.
As a further improvement of the invention, the flexible sensor is a flexible deformation sensor.
As a further improvement of the invention, the flexible deformation sensor comprises a substrate, a deformation layer and an electrode.
As a further improvement of the invention, the flexible deformation sensor is a flexible sensor which takes Eco-flex as a substrate, takes ionic gel of 1-vinyl-3-ethylimidazole dinitrile amine salt and 0.5% -2% of ammonium persulfate as a deformation layer, and takes conductive silver paste as an electrode; or the flexible deformation sensor is a flexible stress-strain sensor which takes polyaniline and polyurethane composite material as flexible substrate material, takes a micron silver sheet as conductive filler, takes a mixed layer prepared by a simple mixed curing process as a deformation layer, and takes silver nanowires as electrodes; or the flexible deformation sensor is a flexible deformation sensor which takes a felt formed by filtering oxidized graphene as a substrate, takes graphene which is coated with conductive silver paste and is subjected to high-temperature furnace melting as a deformation layer, and takes conductive copper foil as an electrode; or the flexible substrate is a flexible deformation sensor which takes silica gel as a substrate, takes silica gel doped metal copper nanowires as a deformation layer and takes polyethylene glycol terephthalate deposited with indium tin oxide as an electrode.
As a further improvement of the invention, the glove body is made of flexible insulating material.
As a further improvement of the present invention, the signal processing module includes: the five analog electric signal channels are used for receiving the electric signals of the five finger parts, which are acquired by the data acquisition card; the signal-to-digital conversion unit is used for analyzing the electric signals of the five finger parts and converting the analysis result into a digital information matrix according to a preset algorithm; and the recognition unit is used for comparing the digital information matrix output by the signal-to-digital unit with a preset gesture matrix and recognizing a corresponding gesture.
As a further improvement of the present invention, the maximum value of the electrical signals received in the analog electrical signal channel is compared with a preset threshold value at each preset time, if the maximum value exceeds the preset threshold value, it is determined that the finger portion is bent, and a digital 1 is output, otherwise, it is determined that the finger portion is not bent, and a digital 0 is output.
The embodiment of the invention also provides a gesture recognition method based on the flexible sensor. The gesture recognition method based on the flexible sensor comprises the following steps: the method comprises the following steps that a glove is worn by an identified object, the glove comprises five finger parts, and each finger part joint of the five finger parts is provided with a flexible sensor; the flexible sensors sense the action information of the finger parts of all the finger parts and transmit the action information to the data acquisition card; the data acquisition card is connected with the plurality of flexible sensors, acquires the action information of each finger part sensed by the flexible sensors and converts the action information of each finger part into corresponding electric signals; and the signal processing module is connected with the data acquisition card, receives the electric signals acquired by the data acquisition card, and processes the electric signals according to a preset algorithm to identify the current gesture.
The embodiment of the invention also provides a gesture recognition glove based on the flexible sensor. The gesture recognition glove includes: the glove comprises a glove body and a handle, wherein the glove body comprises five finger parts which are used for being worn respectively; the flexible sensors are respectively arranged at joints of the five finger parts and used for sensing the action information of each finger part and using the action information as the input end of the data acquisition card.
The invention has the following advantages:
according to the gesture recognition system and method based on the flexible sensor, provided by the embodiment of the invention, gesture recognition can be completed only by wearing the glove on the test object, an expensive camera with harsh use conditions is not needed, the gesture recognition cost is effectively reduced, the gesture recognition simplicity is improved, and the interaction field of gesture recognition application is effectively widened. Furthermore, the embodiment of the invention respectively and independently senses the motion of each finger of the five fingers, and can effectively recognize various gestures through the preset gesture number matrix.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a gesture recognition system based on a flexible sensor according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an analog physical channel created based on the LABVIEW for obtaining electrical signal data of a data acquisition card according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a decision structure of a five-channel setup according to an embodiment of the present invention;
FIG. 4 is a matrix of permutation and combination corresponding to each gesture in the embodiment of the present invention;
fig. 5 is a schematic flowchart of a gesture recognition method based on a flexible sensor according to an embodiment of the present invention.
Description of the reference symbols in the drawings:
100. gesture recognition system 10, glove 11, thumb
12. Index finger 13, middle finger 14, ring finger
15. Thumb part 20, flexible sensor 30, data acquisition card
40. Data processing module
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, a schematic diagram of a gesture recognition system based on a flexible sensor according to an embodiment of the present invention is shown. In this embodiment, a flexible sensor based gesture recognition system 100 comprises a glove body 10, a plurality of flexible sensors 20, a data acquisition card 30 and a signal processing module 40.
As shown in fig. 1, the glove body 10 includes five finger portions for wearing, respectively, namely, a thumb portion 11, an index finger portion 12, a middle finger portion 13, a ring finger portion 14, and a little finger portion 15. The glove body 10 may be in the form of a glove or a glove having only five fingers. The material of the glove body 10 is a flexible insulating material, such as a flexible insulating knitted material, a flexible insulating leather material, etc. The glove body 10 adopts an insulation mode, so that the condition that the current in the flexible sensor 20 is not conducted with a human body to influence an electric signal can be ensured, and the appearance effect of the glove is improved.
The flexible sensors 20 are provided at joints of the five fingers, respectively, and the flexible sensors 20 of the respective fingers sense motion information of the respective fingers. The flexible sensor 20 is fixedly disposed at the joints of the fingers so as to maximally sense the deformation occurring due to the bending of the fingers. One or more flexible sensors 20 may be provided at the joints of each finger. The flexible sensor 20 is a flexible deformation sensor. The flexible deformation sensor includes a substrate, a deformation layer, and an electrode. In different embodiments, the materials of the substrate and the deformation layer can be different according to different requirements.
As shown in fig. 1-2, the data acquisition card 30 is connected to each flexible sensor 20, and is configured to acquire motion information of each finger sensed by each flexible sensor 20 and convert the motion information of each finger into a corresponding electrical signal. The electrical signal may be in the form of a voltage or a current.
The signal processing module 40 is connected to the data acquisition card 30, and is configured to receive the electrical signal acquired by the data acquisition card 30, and process the electrical signal according to a preset algorithm to identify a current gesture.
In a specific embodiment of the present invention, the data acquisition card 30 is an NI data acquisition card, and the signal processing module 40 is a signal processing module based on a Labview platform. As known to those skilled in the art, the data acquisition card 30 may also be based on a single-chip microcomputer, a current-voltage data acquisition source table; the signal processing module 40 may also be based on other processing platforms, such as a C language platform, a C # language platform, a VB language platform, a Java language platform, a Python language platform, and the like. The signal processing module 40 may be a general-purpose computer, a portable computer, or a dedicated signal processing device. The signal processing module 40 includes five analog electrical signal channels, a signal to digital unit, and an identification unit. The five analog electrical signal channels receive the electrical signals of the five finger portions acquired by the data acquisition card 30. The signal-to-digital conversion unit analyzes the electric signals of the five finger parts and converts the analysis result into a digital information matrix according to a preset algorithm; as shown in fig. 3, the preset algorithm specifically includes: and comparing the maximum value of the electric signals received in the analog electric signal channel with a preset threshold value in each preset time period, if the maximum value exceeds the preset threshold value, judging that the finger part is bent, and outputting a digital 1, otherwise, judging that the finger part is not bent and outputting a digital 0. As shown in fig. 4, the recognition unit compares the digital information matrix output by the signal-to-digital unit with a preset gesture matrix and recognizes a corresponding gesture.
The flexible sensor based gesture recognition system 100 is capable of recognizing a gesture "1" through a gesture "9" as specified by the system. The gesture recognition glove based on the flexible sensors can show a good recognition effect under the condition that various flexible deformation sensors are used as work carriers. In different embodiments, the substrate, the material of the deformation layer, and the electrode material of the flexible sensor 20 may be different materials according to different requirements. The substrate and deformation layer material of the flexible sensor 20 can be specifically a flexible sensor which takes Eco-flex as a substrate, 1-vinyl-3-ethylimidazole dinitrile amine salt and 0.5% -2% of ammonium persulfate ionic gel as a deformation layer and conductive silver paste as an electrode; or the flexible deformation sensor is a flexible stress-strain sensor which takes polyaniline and polyurethane composite material as flexible substrate material, takes a micron silver sheet as conductive filler, takes a mixed layer prepared by a simple mixed curing process as a deformation layer, and takes silver nanowires as electrodes; or the flexible deformation sensor is a flexible deformation sensor which takes a felt formed by filtering oxidized graphene as a substrate, takes graphene which is coated with conductive silver paste and is subjected to high-temperature furnace melting as a deformation layer, and takes conductive copper foil as an electrode; or the flexible substrate is a flexible deformation sensor which takes silica gel as a substrate, takes silica gel doped metal copper nanowires as a deformation layer and takes polyethylene glycol terephthalate deposited with indium tin oxide as an electrode.
The implementation process of the gesture is illustrated by taking a flexible sensor which takes Eco-flex as a substrate, takes 1-vinyl-3-ethylimidazole dinitrile amine salt and 0.5% -2% of ammonium persulfate as deformation layers and takes conductive silver paste as an electrode as a specific embodiment. Other types of flexible deformation sensors are similarly implemented and will not be described in detail herein.
The specific implementation steps are as follows: firstly, adhering a flexible ionic gel sensor to joints of five fingers of an insulating glove body 10, then leading out the sensor by using a lead, stripping an insulating layer of the lead, connecting an internal conducting layer with a port of a data acquisition card 30, fixing by using a screwdriver, and finally sealing the connecting end by using insulating glue.
The data acquisition card 30 is connected to the LABVIEW system (i.e. the signal processing module 40) of the computer by using wireless connection or wired connection such as Bluetooth and wifi. Five simulated physical channels are set in the LABVIEW program to obtain the electrical signal waveforms corresponding to the five fingers in the data acquisition card 30. In this particular embodiment, the sampling frequency is set to 10 times per second in the range of-5V to 5V, and the waveform components are acquired to obtain specific electrical signal data. For gesture "1", we bend the fingers except the index finger, and the waveform of the electrical signal returned to LABVIEW fluctuates in all channels except the second channel. Acquiring the electric signal value of the gesture "1" by using the LABVIEW, and repeating the operation for more than three times. By analyzing these analysis electric signal data, the threshold value corresponding to each finger (except the index finger) when bent is obtained. And arranging a judgment structure in the five channels, wherein the condition is that the electric signal value is greater than or equal to the threshold value. In the test, the above finger operation is repeated, five channels are set, and the maximum value in the waveform data is compared with the threshold value set by the user every 20ms, once the value exceeds the threshold value, the system considers that the finger is bent, the channel outputs 1, and otherwise, the channel is 0. After five channels, we set a decision structure again, and store the matrix specified by each gesture into the decision structure in advance. For five values returned by five channels, the five values are converted into a matrix, and the matrix enters a judgment structure to be matched with the stored matrix. The gesture "1" returns to the matrix of the determination structure as [10111], and through matching, the LABVIEW final interface displays "1", and the remaining "2" - "9" processes follow the "1" process, which is not described herein again.
The gesture recognition system and method based on the flexible sensor can complete gesture recognition only by wearing gloves on a test object, does not need expensive cameras with harsh use conditions, effectively reduces the cost of gesture recognition, improves the simplicity of gesture recognition, and effectively widens the interaction field of gesture recognition application.
Furthermore, the embodiment of the invention respectively and independently senses the motion of each finger of the five fingers, and can effectively recognize various gestures through the preset gesture number matrix.
As shown in fig. 5, an embodiment of the present invention further provides a gesture recognition method based on a flexible sensor. The gesture recognition method based on the flexible sensor comprises four steps, wherein the specific content of each step is as follows:
step S1: the identified object wears a glove which comprises five finger parts, and each finger part joint of the five finger parts is provided with a flexible sensor. The glove and flexible sensor features are as described above in the flexible sensor based gesture recognition system.
Step S2: the flexible sensor senses the action information of the finger parts of all the finger parts and transmits the action information to the data acquisition card.
Step S3: the data acquisition card is connected with the flexible sensors, acquires the action information of each finger part sensed by the flexible sensors, and converts the action information of each finger part into corresponding electric signals.
Step S4: and the signal processing module is connected with the data acquisition card, receives the electric signals acquired by the data acquisition card, and processes the electric signals according to a preset algorithm to identify the current gesture.
The embodiment of the invention also provides a gesture recognition glove 10 based on the flexible sensor. The gesture recognition glove includes: the glove comprises a glove body and a handle, wherein the glove body comprises five finger parts which are used for being worn respectively; the flexible sensors are respectively arranged at joints of the five finger parts and used for sensing the action information of each finger part and using the action information as the input end of the data acquisition card.
The glove provided by the embodiment of the invention is easy to realize gesture judgment, and a simple human-computer interaction platform is provided.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (9)
1. A flexible sensor based gesture recognition system, the system comprising:
the glove comprises a glove body and a handle, wherein the glove body comprises five finger parts which are used for being worn respectively;
a plurality of flexible sensors respectively disposed at joints of the five fingers for sensing motion information of each finger;
the data acquisition card is connected with the plurality of flexible sensors and is used for acquiring the action information of each finger part sensed by the plurality of flexible sensors and converting the action information of each finger part into corresponding electric signals;
and the signal processing module is connected with the data acquisition card and used for receiving the electric signals acquired by the data acquisition card and processing the electric signals according to a preset algorithm to recognize the current gesture.
2. The flexible sensor based gesture recognition system of claim 1, wherein the flexible sensor is a flexible deformation sensor.
3. The flexible sensor based gesture recognition system of claim 2, wherein the flexible deformation sensor comprises a substrate, a deformation layer, and electrodes.
4. The gesture recognition system based on the flexible sensor, according to claim 3, characterized in that the flexible deformation sensor is a flexible sensor which takes Eco-flex as a substrate, 1-vinyl-3-ethylimidazole dinitrile amine salt and 0.5% -2% ammonium persulfate ionic gel as a deformation layer, and conductive silver paste as an electrode; or the flexible deformation sensor is a flexible stress-strain sensor which takes polyaniline and polyurethane composite material as flexible substrate material, takes a micron silver sheet as conductive filler, takes a mixed layer prepared by a simple mixed curing process as a deformation layer, and takes silver nanowires as electrodes; or the flexible deformation sensor is a flexible deformation sensor which takes a felt formed by filtering oxidized graphene as a substrate, takes graphene which is coated with conductive silver paste and is subjected to high-temperature furnace melting as a deformation layer, and takes conductive copper foil as an electrode; or the flexible substrate is a flexible deformation sensor which takes silica gel as a substrate, takes silica gel doped metal copper nanowires as a deformation layer and takes polyethylene glycol terephthalate deposited with indium tin oxide as an electrode.
5. The flexible sensor based gesture recognition system of claim 1, wherein the material of the glove body is a flexible insulating material.
6. The flexible sensor based gesture recognition system of claim 1, wherein the signal processing module comprises: the five analog electric signal channels are used for receiving the electric signals of the five finger parts, which are acquired by the data acquisition card;
the signal-to-digital conversion unit is used for analyzing the electric signals of the five finger parts and converting the analysis result into a digital information matrix according to a preset algorithm;
and the recognition unit is used for comparing the digital information matrix output by the signal-to-digital unit with a preset gesture matrix and recognizing a corresponding gesture.
7. The flexible sensor based gesture recognition system according to claim 6, wherein the preset algorithm comprises: and comparing the maximum value in the electric signals received in the analog electric signal channel with a preset threshold value at each preset time, if the maximum value exceeds the preset threshold value, judging that the finger part is bent, and outputting a digital 1, otherwise, judging that the finger part is not bent and outputting a digital 0.
8. A gesture recognition method based on a flexible sensor is characterized by comprising the following steps:
the method comprises the following steps that a glove is worn by an identified object, the glove comprises five finger parts, and each finger part joint of the five finger parts is provided with a flexible sensor;
the flexible sensors sense the action information of the finger parts of all the finger parts and transmit the action information to the data acquisition card;
the data acquisition card is connected with the plurality of flexible sensors, acquires the action information of each finger part sensed by the flexible sensors and converts the action information of each finger part into corresponding electric signals;
and the signal processing module is connected with the data acquisition card, receives the electric signals acquired by the data acquisition card, and processes the electric signals according to a preset algorithm to identify the current gesture.
9. A flexible sensor-based gesture recognition glove, comprising:
the glove comprises a glove body and a handle, wherein the glove body comprises five finger parts which are used for being worn respectively;
the flexible sensors are respectively arranged at joints of the five finger parts and used for sensing the action information of each finger part and using the action information as the input end of the data acquisition card.
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| CN112577651A (en) * | 2020-11-02 | 2021-03-30 | 中南大学 | Finger sensor for manipulator sensor |
| CN114997227A (en) * | 2022-05-30 | 2022-09-02 | 中国科学院长春应用化学研究所 | Gesture recognition system based on muscle stress |
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