WO2022043838A1 - A device for connecting motion tracking sensors to a hand - Google Patents

A device for connecting motion tracking sensors to a hand Download PDF

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Publication number
WO2022043838A1
WO2022043838A1 PCT/IB2021/057641 IB2021057641W WO2022043838A1 WO 2022043838 A1 WO2022043838 A1 WO 2022043838A1 IB 2021057641 W IB2021057641 W IB 2021057641W WO 2022043838 A1 WO2022043838 A1 WO 2022043838A1
Authority
WO
WIPO (PCT)
Prior art keywords
hand
finger
motion tracking
strain relief
housing
Prior art date
Application number
PCT/IB2021/057641
Other languages
French (fr)
Inventor
Hugo Elias
Paul Cross
Original Assignee
The Shadow Robot Company Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by The Shadow Robot Company Ltd filed Critical The Shadow Robot Company Ltd
Publication of WO2022043838A1 publication Critical patent/WO2022043838A1/en

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Classifications

    • 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

Definitions

  • the present invention relates to a device for connecting motion tracking sensors to a hand. More particularly, the present invention relates to a device for connecting motion tracking sensors to a hand that can be used to control a robot hand, a robot arm, or both.
  • the present invention further relates to a strain relief connector for cable connections or cable end units or similar.
  • Remote manipulators such as robot arms and hands are used for a number of purposes.
  • Devices of this type are usually connected or slaved to a remote control unit, where movement or manipulation of the controls in a certain manner produces equivalent movements in the remote manipulator.
  • the precise control of remote manipulators such as robot arms and hands is highly desirable, and substantial efforts have been made to make control systems as intuitively usable as possible.
  • One type of control system that is used is to have a control system that tracks the body or limb movements of an operator, with the remote manipulator slaved to the controller so as to mimic or reflect the movements of the operator.
  • a control system that tracks the body or limb movements of an operator, with the remote manipulator slaved to the controller so as to mimic or reflect the movements of the operator.
  • a user can wear a glove fitted with sensors, or an operator can wear sensors directly on their hand, so that movement of their hand and fingers can be tracked, and these movements replicated or reflected in a remotely- located robot hand slaved to the controller.
  • USS 342, 151 describes and shows a hand motion-capturing device with a force feedback system. Finger sensor modules are mounted on the back of a user’s fingers.
  • US9,717,644 describes and shows a fingerless glove having sensors mounted on and interconnected on the rear of the glove.
  • US10,317,997 describes and shows a glove that includes a plurality of digits and associated sensors, each configured to identify a degree of flexion and being associated with one of a plurality of predefined locations along the plurality of digits, wherein one of the plurality of sensors at each of the predefined locations is selected as an optimal sensor for the respective predefined location.
  • US10,362,989 describes and shows a sensor system integrated with a glove.
  • An array of sensors detects forces associated with action of a hand in the glove, and associated circuitry generates corresponding control information that may be used to control a wide variety of processes and devices.
  • the present invention may broadly be said to consist in a device for connecting motion tracking sensors to a hand, comprising: a base section configured to locate onto the back of the hand of a user, the base unit comprising a housing configured to contain a hand movement sensor; at least one finger unit, each of the one or more finger units configured to locate onto the back of a finger of the user, each finger unit configured to contain a finger motion tracking sensor; the base section and each of the one or more finger units configured so that a cable connection can be made between each of the one or more finger units and the base unit so that data from the finger motion tracking sensors can be transmitted to the base unit in use; each of the one or more finger units further comprising a housing which has a channel running at least partly therethrough, the channel configured so that a finger motion tracking sensor locates securely into the channel in use, the channel further comprising a first opening for insertion and removal of the finger motion tracking sensor and associated cable into the channel, and a second opening substantially opposed to the first opening and configured to allow insertion of
  • the housing further comprises a pair of circular sections located spaced apart along the length of the channel, and substantially co-incident with the axis of the channel, the sections configured to hold o-rings so that in use the finger motion tracking sensor is retained within the channel by the o-rings.
  • each of the one or more finger units is configured to locate onto the back of the distal phalanx of a user’s finger or thumb, and further comprises a grip pad formed from a high-friction material located on the underside thereof, the pad configured to locate against the fingernail of a wearer in use.
  • each of the one or more finger units further comprises a finger loop, the housing and finger loop configured for mutual connection, the finger loop extending in use around the joint of a user’s finger to retain the finger unit in position on the finger.
  • each of the one or more finger units further comprises a strain relief connector, connected to and extending from the rear of the housing, the strain relief connector comprising a body having a plurality of indented sections thereon, the body and indented sections configured to prevent bending of the strain relief connector beyond a minimum bend radius, the body comprising a split seam along the length of the body configured to allow insertion or removal of a cable from within the strain relief connector, the body configured to snugly retain the cable in position within the strain relief connector in use.
  • the housing further comprises at least one protrusion extending from the rear of the housing, the strain relief connector comprising at least one corresponding aperture, the protrusion(s) and aperture(s) configured to allow connection of the strain relief connector and housing.
  • the strain relief connector is substantially formed from printed polyurethane.
  • the base section comprises strap apertures configured to allow a strap to pass therethrough to attach the unit to the user’s hand, a pair of strap apertures at one side of the base unit arranged at an angle to one another and to the long axis of the hand of the user, and a single opposed strap aperture at the other side of the base unit, the opposed strap aperture aligned substantially in parallel to the long axis of the hand of the user.
  • the pair of strap apertures are arranged at an angle of substantially 45 degrees to the long axis of the hand of the user, the pair of strap apertures arranged to generally form two sides of a triangle with an outwardly-facing mutual corner.
  • the base section comprises a main housing sized and configured to locate onto the back of a user’s hand so that the front side of the main housing is located substantially over the top of the user’s metacarpophalangeal joints and the rear is substantially just forward of a user’s wrist, and a separate thumb section that in use rigidly connects to the side of the main housing to extend from the side of the main housing over the base of the thumb of a user.
  • the main housing and thumb section rigidly connect via a snap-connector.
  • the main housing comprises four cable ports at the front side of the housing and a rear cable port at the rear of the housing, and strain relief connectors associated with each of the cable ports, the strain relief connectors comprising a body having a plurality of indented sections thereon, the body and indented sections configured to prevent bending of the strain relief connector beyond a minimum bend radius, the body comprising a split seam along the length of the body configured to allow insertion or removal of a cable from within the strain relief connector, the body configured to snugly retain the cable in position within the strain relief connector in use.
  • the main housing further comprises protrusions extending from around the front and rear cable ports, the strain relief connectors comprising at least one corresponding aperture, the protrusion(s) and aperture(s) configured to allow connection of the strain relief connector and housing.
  • the strain relief connector is substantially formed from polyurethane.
  • the device for connecting motion tracking sensors to a hand further comprises a wrist mount, the wrist mount comprising a sensor mounting board and a strap, the strap comprising a housing section configured to sit on the top/outside of the user’s forearm in use, and a band connecting to the upper section and which in use forms a loop around the forearm of the user to hold the wrist mount in position, the housing section having a hollow centre configured to substantially enclose and hold the sensor mounting board, the mounting board comprising a board body and a connection bolt, the bolt passing upwards from the board through the outer part of the housing section away from the arm of a user, an arm motion tracking sensor mounted on the board.
  • the sensor mounting board is curved to follow the curve of a wearer’s forearm.
  • the housing section comprises a slit opening at one side to allow insertion and removal of the mounting board.
  • the sensor mounting board further comprises a hollow cylindrical section extending to one side of the board, the board and housing section configured so that in use the cylindrical section is located just outside the slit, extending to the side of the user’s forearm substantially in parallel with their forearm, the cylindrical section configured so that cables can be routed through the centre of the cylindrical section with the cylindrical section acting as a cable support and guide.
  • the cylindrical section comprises two paired parts that when paired and closed have the general overall form of a cylinder, an integral connection extension from one of the parts connecting the cylindrical section to the main body of the mounting board, the paired parts connected via a hinge at their outer part and held closed in use via a ring that passes around the top open parts to hold the two parts together.
  • the device for connecting motion tracking sensors to a hand further comprises a waist mount, the waist mount comprising a cable guide and a belt clip, the cable guide portion comprising a body formed of two paired parts that when paired and closed have the general overall form of a circle, a belt clip integrally formed with and extending from one of the two paired parts, the belt clip forming an inverted u-shaped loop configured to slip onto a belt or similar in use, the paired parts connected via a hinge at their lower end, and held closed at the top end via an o-ring that passes around the top bulge to hold the two parts together.
  • the present invention may broadly be said to consist in a strain relief connector, comprising a body having a plurality of indented sections thereon, the body and indented sections configured to prevent bending of the strain relief connector beyond a minimum bend radius, the body comprising a split seam along the length of the body configured to allow insertion or removal of a cable from within the strain relief connector, the body configured to snugly retain the cable in position within the strain relief connector in use.
  • the body of the strain relief connector is tapered away from a base, the base comprising at least one aperture, the aperture(s) configured to allow connection of the strain relief connector to corresponding protrusions.
  • the strain relief connector is substantially formed from polyurethane.
  • This invention may also be said broadly to consist in the parts, elements and features referred to or indicated in the specification of the application, individually or collectively, and any or all combinations of any two or more said parts, elements or features, and where specific integers are mentioned herein which have known equivalents in the art to which this invention relates, such known equivalents are deemed to be incorporated herein as if individually set forth.
  • Figure 1 shows a perspective view from above and to one side of the hand portion of a device for connecting motion tracking sensors to a hand according to an embodiment of the present invention, the hand portion of the device having a base section that sits on the back of the hand of an operator and which is in use is held in place by straps passing around the hand and palm of the operator, and five finger units which locate onto the back of the distal phalanx of each of a user’s fingers, the individual parts shown in approximately the same positions as they would be located in use, the individual parts linked in use by cables (not shown) to transfer data.
  • Figure 2a shows a close-up perspective view from above of the base section of figure 1 , from one side and above, the base section having a main section and a separable thumb section connecting to the thumb side of the main section, the main section having a base that includes apertures for the connecting straps that pass around the hand and palm.
  • Figure 2b shows an exploded view of the base section from the same angle as figure 2a.
  • Figure 3 shows a close-up perspective view from the front and to one side of a single finger unit according to the embodiment of figures 1 and 2, the finger unit comprising a sensor housing that locates on top of the distal phalanx in use, and a cable connection from the rear of the housing which is enclosed and protected by a strain relief connector, the sensor housing held in position via a loop formed from hook-and-loop material that connects from the housing around a user or wearer’s fingertip.
  • Figure 4 shows a close-up perspective view of a single finger unit according to an embodiment of the invention, showing internal or hidden detail of the inside the strain relief connector.
  • Figure 5a shows a cross section side view of the finger unit of figure 4.
  • Figure 5b shows a bottom or underside view of the finger unit of figure 5a.
  • Figure 5c shows a bottom or underside cross section view of the finger unit of figures 5a and 5b with the front portion of the strain relief connector shown, and the rear part not shown.
  • Figures 6a and 6b show, respectively, perspective section views of a variation or alternative embodiment of the main section and thumb section that form the base section of figure 2, separately from one another, the main section and thumb section substantially the same as for the embodiment of figures 1 and 2 except that the apertured base forms part of the thumb section rather than the main section.
  • Figure 7 shows a perspective view from the front of a wrist mount that can form part of the device for connecting motion tracking sensors to a hand, which is used with the embodiments of base and finger sections shown the preceding figures, the wrist mount in use worn on the forearm of a user, just behind the wrist of a user, the wrist mount providing a support for a sensor housing and cable management, the wrist mount having a base or wrist connection portion and a sensor mount portion.
  • Figure 8 shows a perspective view from above of the wrist mount of figure 7, showing detail of the wrist connection portion and a sensor mount portion, the sensor mount portion shown to one side of the wrist connection portion.
  • FIG 9 shows a front view of a waist mount that can form part of the device for connecting motion tracking sensors to a hand is used with the elements shown in figures 1 to 9, the waist mount assisting with management of the cable bundle from these elements and helping to support the weight of the cables and other elements from the user’s hand, arm and wrist on the user’s waist.
  • Figure 10 shows a top view of two of the finger units in use mounted on the fingers of a user, the strain relief connector having a layer of heat-shrink tubing around the base of the strain relief connector.
  • Figures 11a-c show a variation of the finger unit of the previous figures, the finger unit in this variation, having a rubber pad that is shaped and formed so as to extend under the housing and around the finger of a wearer.
  • FIGS 12a-c show detail of the pad of figures 11a-c.
  • FIG. 1 An embodiment of a device for connecting motion tracking sensors to a user’s hand is shown in figure 1.
  • the device as shown in figure 1 comprises a base section 1 that sits on the back of the hand of an operator and which is in use held in place by straps (not shown) passing around the hand and palm of the wearer/operator, and five finger units 2 which locate in use onto the back of the distal phalanx of each of a user’s fingers.
  • the base section 1 and finger units 2 are shown in figure 1 in the approximate relative locations as they would be located in use.
  • Other elements can be used with the base section 1 and finger units 2 to form an overall apparatus, such as the wrist mount 40 shown in figures 7 to 9, and the waist mount 50 shown in figure 9, which will be described in detail below.
  • the base section 1 is configured so that in use it can sit on the back of the hand of a user or operator.
  • the base section has straps (not shown) that connect with the base section 1 and pass around the hand and palm of the operator to hold the base section 1 in position.
  • the base section 1 comprises separate main and thumb sections 3, 4 that connect together in use as described below. However, as shown in figure 2 the base section 1 is shown with the main and thumb sections 3, 4 connected to one another.
  • the main section 3 comprises a main rigid housing that sits on top of the back of a wearer’s hand, and which has a main rear cable port or aperture 5, and four front finger cable ports 6.
  • the base section 1 is generally overall sized and shaped so that in use the four front cable ports 6 will be located over the top of the metacarpophalangeal joints, and the rear aperture 5 is located over the top of the wrist.
  • Each of the cable ports 6 has a strain relief connector 17 that extends therefrom, to protect cables and the attachment between the cables and the housing, the rear cable port 5 fitted with a strain relief connector 21 .
  • a pair of angled strap apertures 7 are formed through a base part that extends on the thumb side of the main section 3.
  • the strap apertures are located each side of the connection between the main section 3 and thumb section 4.
  • the strap apertures 7 allow a flat strap to pass therethrough in order to attach the unit to the hand of a wearer.
  • a single strap port 8 is located on the opposite side of the main unit 3 (the right-hand side in the embodiment shown) to allow the strap or straps to pass therethrough for connection or wearing.
  • These straps can form part of, or connect with, a soft underside element attached to the underside of the base section 1 , that provides padding and protection between the back of the wearer’s hand and the harder, more rigid elements of the base section.
  • the base part forms part of the thumb section 4, and attaches and detaches with the thumb section as described below, with the pair of angled strap apertures 7 formed on the base of the thumb section 4 in a similar manner to that described above.
  • the thumb section 4 connects or clips into the side of the main section 3 so that these two units (3, 4) form a single rigid unit - base section 1 .
  • the base section 1 as shown in the figures is for a right-handed user, so the thumb section 4 connects with the left-hand side of the main section 3.
  • a thumb section cable port 10 extends from the thumb section 4 generally over the top of the thumb of a wearer.
  • the thumb section 4 comprises a base portion that connects with a port in the main section 3, as shown in figures 2a and 2b.
  • the base of the thumb section 4 is, when connected to the main section 3, located between and above the strap apertures 7 and that part of the main section 3 in which they are located.
  • the main unit 3 and thumb unit 4 are clipped together via a push-fit and squeeze-release snaphook connector 9. When attached, a connection is made between the cable port 10 on the thumb section and the housing of the main section 3.
  • the housing of the main section 3 is configured so that it can contain a separate motion tracking unit.
  • the cables for the sensors in the finger and thumb units 2 are routed through the main section 3, the wrist mount 40, and the waist mount 50, back to a remotely-located control unit on a desktop or table or similar.
  • the embodiment of the device comprises five finger sections or finger units 2, one for each of the fingers and the thumb, as shown in figure 1.
  • each of the individual finger sections 2 locates onto the back of the distal phalanx of a user’s finger or of the thumb, as appropriate.
  • Each finger unit 2 comprises a main housing 11 , a retention loop 12, and a strain relief connector 18 that connects with and extends from the rear of the housing 11.
  • the housing 11 is roughly rectangular or cuboid for the rear part or portion, with a wedge-shaped ‘bow’ that extends from the front to form the front of the housing 11.
  • a rubber pad 13 is located on the underside of the front wedge-shaped section, which is located in use above the fingernail of a user, so the rubber pad 13 sits on top of and is gently pressed against the wearer’s fingernail. This helps to keep the finger unit 2 is position in use.
  • a channel 14 is formed through the housing 11 , from the rear of the housing to close to the front end. The channel is substantially centrally located within the housing and aligned substantially in parallel with the sides of the cuboid portion.
  • the channel is substantially centrally located within the housing and aligned substantially in parallel with the sides of the cuboid portion.
  • o-ring 14 contains two wider circular sections or channels that in use contain rubber o-rings 15, the o- ring channels formed so that o-rings 15 that are located in these channels have a centre of rotation or circle centre that is co-incident with the axis of the channel 14.
  • a motion tracking sensor (not shown) locates into the channel 14 between the two o-rings 15 in use.
  • the motion tracking sensor 15 assist with holding the motion tracking sensor in position, and allow the quick and easy removal and replacement of the motion tracking sensor when required.
  • the motion tracking sensor can be removed by pushing it out via a tool inserted into the narrow front aperture or opening 16 at the front of the housing 11 , that connects with the front of the channel 14.
  • a cable extends from the rear of the housing 11 with its outer or front end connecting to the sensor in the channel 14.
  • the cable runs between the sensor in channel 14, through the main section 3, the wrist mount 40, and the waist mount 50, back to a remotely-located control unit (not shown).
  • the cable runs via the finger unit strain relief connector 18 that is connected to and which extends from the rear of the housing 11 , and a base section strain relief connector 17 that extends from the base section 1 (either the main section 3, or the thumb section 4) .
  • the cables from the finger units are held together by cable wrap as a bundle from the rear cable port 5 to a remotely- located control unit (not shown).
  • the finger section housing 11 has channels 19 formed therethrough that allow the retention loop 12 to be threaded through the channels to form a loop around the finger joint of a user.
  • the loop 12 is at least partly formed with hook-and-loop fastening material, allowing it to be tightened or loosened as required.
  • the housing 11 and strain relief connector 18 are mutually configured to fit together via a snap fit male/female connector or similar, with protrusions or lugs 20 extending from the rear of the housing 11 to fit into corresponding apertures in the strain relief connector 18.
  • the rubber pad (rubber pad 113 in this embodiment) is shaped and formed so as to extend under the ‘bow’ of the housing 11 (as for the embodiment described above), and also under the rectangular/cuboid section of the housing behind the ‘bow’.
  • the pad 113 is further adapted so that two arms or wings 114 that are integrally formed as part of the pad extend from the sides of that part of the pad 113 that is located under the rectangular/cuboid section, and partway under/around the inside of the retention loop 12 in use, so that the rubber material of the pad 113 will be between the skin of a wearer’s finger and the material of the retention loop in use, around at least the top part of the finger, and also between the underside of the rectangular/cuboid section and the skin of a wearer’s finger.
  • That part of the pad locating under the ‘bow’ in use is thicker than the central part under the rectangular/cuboid section, this portion of the pad friction fitting into a recess in the rectangular/cuboid section.
  • the thinner central section under the rectangular/cuboid section comprises a pair of upwardly-facing protrusions that friction-fit into corresponding apertures in the underside of the housing 11.
  • the pad can also, or instead of, be glued to the underside of the housing.
  • a tongue or lip 115 at the rear of the pad 113 is angled to extend upwards over and around the lower rear edge of the housing 11.
  • the rubber pads in both embodiments provide a non-slip, high friction material that both provides padding and helps to keep the unit in position in use.
  • strain relief connectors used in the device of the present invention each have similar structures, although they can differ in detail such as the overall size.
  • Each strain relief connector has an overall slightly tapered shape from a wider base where it connects with the housing around the cable aperture to a narrower tail end where the cable extends out.
  • the body has a number of indented rib sections 24 along its length, on the top and sides, that provide room so that the connector (and cable inside) can bend and flex. These are configured so that when the strain relief connector is in use with a cable of a size intended for use with that strain relief connector, it will not reach beyond a minimum bend radius if bent.
  • the cut-out sections in the preferred form are integrally formed with the connector at the time of manufacture, as part of the forming process (a single step). These are not formed by machining or moulding or any other process as a subsequent ‘finishing’ step.
  • the strain relief connector is formed in a single action or operation by 3-D printing or a similar process, substantially in it’s finished form. This process allows customisation of the connectors, and allows these to be formed with integral attachment apertures that allow connection with the housing 11 via the protrusions 20, and also allows integral forming of the seam, as described below.
  • the strain relief connectors have a seam or opening running along the length of the underside, that allows the strain relief connector to be opened along the length of the seam.
  • a cable can be inserted or removed from the strain relief connector via the seam.
  • a layer of wrap 60 is added around the base of the strain relief connector, and heat-shrunk into place, as shown in figure 10. This assists with retaining the cable within the strain relief connector.
  • the wrist mount 40 is intended to provide a platform for additional motion tracking sensors, or a control system, or both.
  • the wrist mount 40 also assists with cable management of the cable or cables that extend from the rear of the base section 1 .
  • the wrist mount 40 is worn in use on the forearm of a user, behind the wrist, slightly below midway up the forearm (e.g. the right forearm for the embodiment of the device described above, to match with the finger and thumb configuration).
  • a motion tracking sensor 41 in the wrist mount acts to assist with tracking arm movement and wrist movement.
  • the wrist mount 40 of this embodiment has two main parts: the wrist strap 43, and the sensor mounting board 42.
  • the wrist strap comprises an upper section or housing section 30 that sits on the top or outside of the user’s forearm in use, and which has a hollow centre that is adapted to substantially enclose and hold the mounting board 42 in use as shown in figure 8.
  • the upper section 30 has a slit opening at one side to allow insertion of the mounting board 42.
  • a band 27 connects to each side of the upper section, the band 27 forming a loop around the forearm of the user in use to hold the wrist mount 40 in position.
  • the band 27 is at least partly formed with hook-and-loop material so that the size of the loop can be adjusted for different users.
  • the mounting board 42 is generally square or rectangular in plan view, and is slightly curved when viewed from the front or back, to follow the curve of a wearer’s forearm.
  • An aperture in the centre of the mounting board 42 passing through the mounting board from bottom to top, allows the insertion of a bolt 45 from the underside of the board 42 so that the threaded portion of the bolt 45 extends upwards from the top of the mounting board 42.
  • the free end of the bolt 45 passes through an aperture in the top of the upper section 30 when the board 42 is located in the hollow central part of the upper section 30 so that items such as the tracker unit 29 can be screwed onto the bolt 45 to connect these with the wrist mount 40.
  • the mounting board 42 further comprises a hollow cylindrical section 31 that is integrally formed with the board, and which extends to one side, so that in use it is just outside the slit in the side of the hollow central section of the upper section 30. I n use, the hollow cylindrical section 31 extends to the side of the user’s wrist, roughly in parallel with their forearm.
  • the cylindrical section 31 acts as a cable support and guide, and cables can be routed through the centre of the cylindrical section 31 .
  • the cylindrical section comprises two paired parts 31a, 31 b that when paired and closed have the general overall form of a cylinder, with a connection extension to one side that connects the cylindrical section with the main part of the mounting board 42.
  • the two paired parts are connected via a hinge 46 at their outer part, and are held closed at the top end via a ring 47 that passes around the top open parts at the connection extension to hold the two parts together.
  • the paired parts are opened so that the cables can be inserted for routing, and then closed to hold the cables in place.
  • the waist mount 50 is in use worn at a user’s waist - e.g. clipped to their belt or similar - and is intended to assist with management of the cable bundle, and weight management.
  • the waist mount 50 comprises a cable guide portion 32 and a belt clip 33.
  • the cable guide portion comprises a body formed of two paired parts 32a, 32b that when paired and closed have the general overall form of a circle with an upper extension, and a circular central opening.
  • the two paired parts are connected via a hinge 34 at their lower end, and are held closed at the top end via a loop or o-ring 35 that passes around the top bulge to hold the two parts together. Cables are routed through the hollow central opening in use.
  • the paired parts are swivelled open around the hinge 34 so that the cables can be inserted, and then closed and held shut by the loop 35, to hold the cables in place.
  • the belt clip 33 32 extends from and is integrally formed with the top of the inner one of the two paired parts - part 32b in figure 9 - and forms and inverted u-shaped loop that doubles back on itself so that it has the general form of a narrow, inverted ‘U ’. This can be slid onto the top of a belt or similar in use to hold the waist mount 5 in position.

Abstract

A device for connecting motion tracking sensors to a hand A device for connecting motion tracking sensors to a hand, comprising: a base section 1 configured to locate onto the back of the hand of a user, the base unit 1 comprising a housing configured to contain a hand movement sensor; at least one finger unit 2, each of the one or more finger units 2 configured to locate onto the back of a finger of the user, each finger unit 2 containing a motion tracking sensor; the base section 1 and each of the one or more finger units 2 configured so that a cable connection can be made between each of the one or more finger units 2 and the base unit 1 so that data from the finger movement sensors can be transmitted to the base unit 1 in use; each of the one or more finger units 2 comprising a housing 11 which has a channel 14 running at least partly therethrough, the channel 14 and configured so that a finger movement sensor locates securely into the channel 14 in use, the channel 14 further comprising a first opening for insertion and removal of the finger movement sensor and associated cable into the channel 14, and a second opening substantially opposed to the first opening and configured to allow insertion of a tool for pushing the finger movement sensor out of the channel 14 via the first opening.

Description

A device for connecting motion tracking sensors to a hand
FIELD
The present invention relates to a device for connecting motion tracking sensors to a hand. More particularly, the present invention relates to a device for connecting motion tracking sensors to a hand that can be used to control a robot hand, a robot arm, or both.
The present invention further relates to a strain relief connector for cable connections or cable end units or similar.
BACKGROUND
Remote manipulators such as robot arms and hands are used for a number of purposes.
Devices of this type are usually connected or slaved to a remote control unit, where movement or manipulation of the controls in a certain manner produces equivalent movements in the remote manipulator. The precise control of remote manipulators such as robot arms and hands is highly desirable, and substantial efforts have been made to make control systems as intuitively usable as possible.
One type of control system that is used is to have a control system that tracks the body or limb movements of an operator, with the remote manipulator slaved to the controller so as to mimic or reflect the movements of the operator. For example, a user can wear a glove fitted with sensors, or an operator can wear sensors directly on their hand, so that movement of their hand and fingers can be tracked, and these movements replicated or reflected in a remotely- located robot hand slaved to the controller.
An example of this type of controller is shown and described in document DE102014019582A1 , which describes and shows a haptic glove with sensor units mounted on the back of the finger joints, with a connection to a hub unit mounted on the back of the hand.
USS), 342, 151 describes and shows a hand motion-capturing device with a force feedback system. Finger sensor modules are mounted on the back of a user’s fingers.
US9,717,644 describes and shows a fingerless glove having sensors mounted on and interconnected on the rear of the glove.
US10,317,997 describes and shows a glove that includes a plurality of digits and associated sensors, each configured to identify a degree of flexion and being associated with one of a plurality of predefined locations along the plurality of digits, wherein one of the plurality of sensors at each of the predefined locations is selected as an optimal sensor for the respective predefined location.
US10,362,989 describes and shows a sensor system integrated with a glove. An array of sensors detects forces associated with action of a hand in the glove, and associated circuitry generates corresponding control information that may be used to control a wide variety of processes and devices.
In this specification where reference has been made to patent specifications, other external documents, or other sources of information, this is generally for the purpose of providing a context for discussing the features of the invention. Unless specifically stated otherwise, reference to such external documents is not to be construed as an admission that such documents, or such sources of information, in any jurisdiction, are prior art, or form part of the common general knowledge in the art.
SUMMARY
It is an object of the present invention to provide a device for connecting motion tracking sensors to a hand which goes some way to overcoming the abovementioned disadvantages or which at least provides the public or industry with a useful choice.
It is a further object of the invention to provide a strain relief connector which goes some way to overcoming the abovementioned disadvantages or which at least provides the public or industry with a useful choice.
The term “comprising” as used in this specification and indicative independent claims means “consisting at least in part of”. When interpreting each statement in this specification and indicative independent claims that includes the term “comprising”, features other than that or those prefaced by the term may also be present. Related terms such as “comprise” and “comprises” are to be interpreted in the same manner.
As used herein the term “and/or” means “and” or “or”, or both.
As used herein “(s)” following a noun means the plural and/or singular forms of the noun.
Accordingly, in a first aspect the present invention may broadly be said to consist in a device for connecting motion tracking sensors to a hand, comprising: a base section configured to locate onto the back of the hand of a user, the base unit comprising a housing configured to contain a hand movement sensor; at least one finger unit, each of the one or more finger units configured to locate onto the back of a finger of the user, each finger unit configured to contain a finger motion tracking sensor; the base section and each of the one or more finger units configured so that a cable connection can be made between each of the one or more finger units and the base unit so that data from the finger motion tracking sensors can be transmitted to the base unit in use; each of the one or more finger units further comprising a housing which has a channel running at least partly therethrough, the channel configured so that a finger motion tracking sensor locates securely into the channel in use, the channel further comprising a first opening for insertion and removal of the finger motion tracking sensor and associated cable into the channel, and a second opening substantially opposed to the first opening and configured to allow insertion of a tool for pushing the finger motion tracking sensor out of the channel via the first opening.
In an embodiment, the housing further comprises a pair of circular sections located spaced apart along the length of the channel, and substantially co-incident with the axis of the channel, the sections configured to hold o-rings so that in use the finger motion tracking sensor is retained within the channel by the o-rings.
In an embodiment, each of the one or more finger units is configured to locate onto the back of the distal phalanx of a user’s finger or thumb, and further comprises a grip pad formed from a high-friction material located on the underside thereof, the pad configured to locate against the fingernail of a wearer in use.
In an embodiment, each of the one or more finger units further comprises a finger loop, the housing and finger loop configured for mutual connection, the finger loop extending in use around the joint of a user’s finger to retain the finger unit in position on the finger.
In an embodiment, each of the one or more finger units further comprises a strain relief connector, connected to and extending from the rear of the housing, the strain relief connector comprising a body having a plurality of indented sections thereon, the body and indented sections configured to prevent bending of the strain relief connector beyond a minimum bend radius, the body comprising a split seam along the length of the body configured to allow insertion or removal of a cable from within the strain relief connector, the body configured to snugly retain the cable in position within the strain relief connector in use.
In an embodiment, the housing further comprises at least one protrusion extending from the rear of the housing, the strain relief connector comprising at least one corresponding aperture, the protrusion(s) and aperture(s) configured to allow connection of the strain relief connector and housing.
In an embodiment, the strain relief connector is substantially formed from printed polyurethane.
In an embodiment, the base section comprises strap apertures configured to allow a strap to pass therethrough to attach the unit to the user’s hand, a pair of strap apertures at one side of the base unit arranged at an angle to one another and to the long axis of the hand of the user, and a single opposed strap aperture at the other side of the base unit, the opposed strap aperture aligned substantially in parallel to the long axis of the hand of the user. In an embodiment, the pair of strap apertures are arranged at an angle of substantially 45 degrees to the long axis of the hand of the user, the pair of strap apertures arranged to generally form two sides of a triangle with an outwardly-facing mutual corner.
In an embodiment, the base section comprises a main housing sized and configured to locate onto the back of a user’s hand so that the front side of the main housing is located substantially over the top of the user’s metacarpophalangeal joints and the rear is substantially just forward of a user’s wrist, and a separate thumb section that in use rigidly connects to the side of the main housing to extend from the side of the main housing over the base of the thumb of a user.
In an embodiment, the main housing and thumb section rigidly connect via a snap-connector.
In an embodiment, the main housing comprises four cable ports at the front side of the housing and a rear cable port at the rear of the housing, and strain relief connectors associated with each of the cable ports, the strain relief connectors comprising a body having a plurality of indented sections thereon, the body and indented sections configured to prevent bending of the strain relief connector beyond a minimum bend radius, the body comprising a split seam along the length of the body configured to allow insertion or removal of a cable from within the strain relief connector, the body configured to snugly retain the cable in position within the strain relief connector in use.
In an embodiment, the main housing further comprises protrusions extending from around the front and rear cable ports, the strain relief connectors comprising at least one corresponding aperture, the protrusion(s) and aperture(s) configured to allow connection of the strain relief connector and housing.
In an embodiment, the strain relief connector is substantially formed from polyurethane.
In an embodiment, the device for connecting motion tracking sensors to a hand further comprises a wrist mount, the wrist mount comprising a sensor mounting board and a strap, the strap comprising a housing section configured to sit on the top/outside of the user’s forearm in use, and a band connecting to the upper section and which in use forms a loop around the forearm of the user to hold the wrist mount in position, the housing section having a hollow centre configured to substantially enclose and hold the sensor mounting board, the mounting board comprising a board body and a connection bolt, the bolt passing upwards from the board through the outer part of the housing section away from the arm of a user, an arm motion tracking sensor mounted on the board.
In an embodiment, the sensor mounting board is curved to follow the curve of a wearer’s forearm. In an embodiment, the housing section comprises a slit opening at one side to allow insertion and removal of the mounting board.
In an embodiment, the sensor mounting board further comprises a hollow cylindrical section extending to one side of the board, the board and housing section configured so that in use the cylindrical section is located just outside the slit, extending to the side of the user’s forearm substantially in parallel with their forearm, the cylindrical section configured so that cables can be routed through the centre of the cylindrical section with the cylindrical section acting as a cable support and guide.
In an embodiment, the cylindrical section comprises two paired parts that when paired and closed have the general overall form of a cylinder, an integral connection extension from one of the parts connecting the cylindrical section to the main body of the mounting board, the paired parts connected via a hinge at their outer part and held closed in use via a ring that passes around the top open parts to hold the two parts together.
In an embodiment, the device for connecting motion tracking sensors to a hand further comprises a waist mount, the waist mount comprising a cable guide and a belt clip, the cable guide portion comprising a body formed of two paired parts that when paired and closed have the general overall form of a circle, a belt clip integrally formed with and extending from one of the two paired parts, the belt clip forming an inverted u-shaped loop configured to slip onto a belt or similar in use, the paired parts connected via a hinge at their lower end, and held closed at the top end via an o-ring that passes around the top bulge to hold the two parts together. in a second aspect the present invention may broadly be said to consist in a strain relief connector, comprising a body having a plurality of indented sections thereon, the body and indented sections configured to prevent bending of the strain relief connector beyond a minimum bend radius, the body comprising a split seam along the length of the body configured to allow insertion or removal of a cable from within the strain relief connector, the body configured to snugly retain the cable in position within the strain relief connector in use.
In an embodiment, the body of the strain relief connector is tapered away from a base, the base comprising at least one aperture, the aperture(s) configured to allow connection of the strain relief connector to corresponding protrusions.
In an embodiment, the strain relief connector is substantially formed from polyurethane.
With respect to the above description then, it is to be realised that the optimum dimensional relationships for the parts of the invention, to include variations in size, materials, shape, form, function and manner of operation, assembly and use, are deemed readily apparent and obvious to one skilled in the art, and all equivalent relationships to those illustrated in the drawings and described in the specification are intended to be encompassed by the present invention.
This invention may also be said broadly to consist in the parts, elements and features referred to or indicated in the specification of the application, individually or collectively, and any or all combinations of any two or more said parts, elements or features, and where specific integers are mentioned herein which have known equivalents in the art to which this invention relates, such known equivalents are deemed to be incorporated herein as if individually set forth.
Therefore, the foregoing is considered as illustrative only of the principles of the invention. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the invention to the exact construction and operation shown and described, and accordingly, all suitable modifications and equivalents may be resorted to, falling within the scope of the invention.
BRIEF DESCRIPTION OF THE FIGURES
Further aspects of the invention will become apparent from the following description which is given by way of example only and with reference to the accompanying drawings which show an embodiment of the device by way of example, and in which:
Figure 1 shows a perspective view from above and to one side of the hand portion of a device for connecting motion tracking sensors to a hand according to an embodiment of the present invention, the hand portion of the device having a base section that sits on the back of the hand of an operator and which is in use is held in place by straps passing around the hand and palm of the operator, and five finger units which locate onto the back of the distal phalanx of each of a user’s fingers, the individual parts shown in approximately the same positions as they would be located in use, the individual parts linked in use by cables (not shown) to transfer data.
Figure 2a shows a close-up perspective view from above of the base section of figure 1 , from one side and above, the base section having a main section and a separable thumb section connecting to the thumb side of the main section, the main section having a base that includes apertures for the connecting straps that pass around the hand and palm.
Figure 2b shows an exploded view of the base section from the same angle as figure 2a.
Figure 3 shows a close-up perspective view from the front and to one side of a single finger unit according to the embodiment of figures 1 and 2, the finger unit comprising a sensor housing that locates on top of the distal phalanx in use, and a cable connection from the rear of the housing which is enclosed and protected by a strain relief connector, the sensor housing held in position via a loop formed from hook-and-loop material that connects from the housing around a user or wearer’s fingertip. Figure 4 shows a close-up perspective view of a single finger unit according to an embodiment of the invention, showing internal or hidden detail of the inside the strain relief connector.
Figure 5a shows a cross section side view of the finger unit of figure 4.
Figure 5b shows a bottom or underside view of the finger unit of figure 5a.
Figure 5c shows a bottom or underside cross section view of the finger unit of figures 5a and 5b with the front portion of the strain relief connector shown, and the rear part not shown.
Figures 6a and 6b show, respectively, perspective section views of a variation or alternative embodiment of the main section and thumb section that form the base section of figure 2, separately from one another, the main section and thumb section substantially the same as for the embodiment of figures 1 and 2 except that the apertured base forms part of the thumb section rather than the main section.
Figure 7 shows a perspective view from the front of a wrist mount that can form part of the device for connecting motion tracking sensors to a hand, which is used with the embodiments of base and finger sections shown the preceding figures, the wrist mount in use worn on the forearm of a user, just behind the wrist of a user, the wrist mount providing a support for a sensor housing and cable management, the wrist mount having a base or wrist connection portion and a sensor mount portion.
Figure 8 shows a perspective view from above of the wrist mount of figure 7, showing detail of the wrist connection portion and a sensor mount portion, the sensor mount portion shown to one side of the wrist connection portion.
Figure 9 shows a front view of a waist mount that can form part of the device for connecting motion tracking sensors to a hand is used with the elements shown in figures 1 to 9, the waist mount assisting with management of the cable bundle from these elements and helping to support the weight of the cables and other elements from the user’s hand, arm and wrist on the user’s waist.
Figure 10 shows a top view of two of the finger units in use mounted on the fingers of a user, the strain relief connector having a layer of heat-shrink tubing around the base of the strain relief connector.
Figures 11a-c show a variation of the finger unit of the previous figures, the finger unit in this variation, having a rubber pad that is shaped and formed so as to extend under the housing and around the finger of a wearer.
Figures 12a-c show detail of the pad of figures 11a-c. DETAILED DESCRIPTION
Embodiments of the invention, and variations thereof, will now be described in detail with reference to the figures.
An embodiment of a device for connecting motion tracking sensors to a user’s hand is shown in figure 1. The device as shown in figure 1 comprises a base section 1 that sits on the back of the hand of an operator and which is in use held in place by straps (not shown) passing around the hand and palm of the wearer/operator, and five finger units 2 which locate in use onto the back of the distal phalanx of each of a user’s fingers. The base section 1 and finger units 2 are shown in figure 1 in the approximate relative locations as they would be located in use. Other elements can be used with the base section 1 and finger units 2 to form an overall apparatus, such as the wrist mount 40 shown in figures 7 to 9, and the waist mount 50 shown in figure 9, which will be described in detail below.
Base Section
The base section 1 is configured so that in use it can sit on the back of the hand of a user or operator. The base section has straps (not shown) that connect with the base section 1 and pass around the hand and palm of the operator to hold the base section 1 in position.
As shown in figures 6a and 6b, the base section 1 comprises separate main and thumb sections 3, 4 that connect together in use as described below. However, as shown in figure 2 the base section 1 is shown with the main and thumb sections 3, 4 connected to one another. The main section 3 comprises a main rigid housing that sits on top of the back of a wearer’s hand, and which has a main rear cable port or aperture 5, and four front finger cable ports 6. The base section 1 is generally overall sized and shaped so that in use the four front cable ports 6 will be located over the top of the metacarpophalangeal joints, and the rear aperture 5 is located over the top of the wrist. Each of the cable ports 6 has a strain relief connector 17 that extends therefrom, to protect cables and the attachment between the cables and the housing, the rear cable port 5 fitted with a strain relief connector 21 .
In the embodiment shown in figure 1 , a pair of angled strap apertures 7 are formed through a base part that extends on the thumb side of the main section 3. The strap apertures are located each side of the connection between the main section 3 and thumb section 4. The strap apertures 7 allow a flat strap to pass therethrough in order to attach the unit to the hand of a wearer. A single strap port 8 is located on the opposite side of the main unit 3 (the right-hand side in the embodiment shown) to allow the strap or straps to pass therethrough for connection or wearing. These straps can form part of, or connect with, a soft underside element attached to the underside of the base section 1 , that provides padding and protection between the back of the wearer’s hand and the harder, more rigid elements of the base section. In the variation shown in figure 6, the base part forms part of the thumb section 4, and attaches and detaches with the thumb section as described below, with the pair of angled strap apertures 7 formed on the base of the thumb section 4 in a similar manner to that described above.
In all the variations shown, the thumb section 4 connects or clips into the side of the main section 3 so that these two units (3, 4) form a single rigid unit - base section 1 . The base section 1 as shown in the figures is for a right-handed user, so the thumb section 4 connects with the left-hand side of the main section 3. A thumb section cable port 10 extends from the thumb section 4 generally over the top of the thumb of a wearer.
The thumb section 4 comprises a base portion that connects with a port in the main section 3, as shown in figures 2a and 2b. The base of the thumb section 4 is, when connected to the main section 3, located between and above the strap apertures 7 and that part of the main section 3 in which they are located.
The main unit 3 and thumb unit 4 are clipped together via a push-fit and squeeze-release snaphook connector 9. When attached, a connection is made between the cable port 10 on the thumb section and the housing of the main section 3.
The housing of the main section 3 is configured so that it can contain a separate motion tracking unit. The cables for the sensors in the finger and thumb units 2 are routed through the main section 3, the wrist mount 40, and the waist mount 50, back to a remotely-located control unit on a desktop or table or similar.
Finger Unit
The embodiment of the device comprises five finger sections or finger units 2, one for each of the fingers and the thumb, as shown in figure 1.
In use, each of the individual finger sections 2 locates onto the back of the distal phalanx of a user’s finger or of the thumb, as appropriate.
Each finger unit 2 comprises a main housing 11 , a retention loop 12, and a strain relief connector 18 that connects with and extends from the rear of the housing 11.
In the embodiment shown in figures 3 to 5, the housing 11 is roughly rectangular or cuboid for the rear part or portion, with a wedge-shaped ‘bow’ that extends from the front to form the front of the housing 11. A rubber pad 13 is located on the underside of the front wedge-shaped section, which is located in use above the fingernail of a user, so the rubber pad 13 sits on top of and is gently pressed against the wearer’s fingernail. This helps to keep the finger unit 2 is position in use. As shown in figure 5a, a channel 14 is formed through the housing 11 , from the rear of the housing to close to the front end. The channel is substantially centrally located within the housing and aligned substantially in parallel with the sides of the cuboid portion. The channel
14 contains two wider circular sections or channels that in use contain rubber o-rings 15, the o- ring channels formed so that o-rings 15 that are located in these channels have a centre of rotation or circle centre that is co-incident with the axis of the channel 14. A motion tracking sensor (not shown) locates into the channel 14 between the two o-rings 15 in use. The o-rings
15 assist with holding the motion tracking sensor in position, and allow the quick and easy removal and replacement of the motion tracking sensor when required. The motion tracking sensor can be removed by pushing it out via a tool inserted into the narrow front aperture or opening 16 at the front of the housing 11 , that connects with the front of the channel 14.
A cable extends from the rear of the housing 11 with its outer or front end connecting to the sensor in the channel 14. The cable runs between the sensor in channel 14, through the main section 3, the wrist mount 40, and the waist mount 50, back to a remotely-located control unit (not shown). The cable runs via the finger unit strain relief connector 18 that is connected to and which extends from the rear of the housing 11 , and a base section strain relief connector 17 that extends from the base section 1 (either the main section 3, or the thumb section 4) . The cables from the finger units are held together by cable wrap as a bundle from the rear cable port 5 to a remotely- located control unit (not shown).
As shown in figure 5a, the finger section housing 11 has channels 19 formed therethrough that allow the retention loop 12 to be threaded through the channels to form a loop around the finger joint of a user. The loop 12 is at least partly formed with hook-and-loop fastening material, allowing it to be tightened or loosened as required.
As best shown with reference to figure 4 and figures 5a and 5c, the housing 11 and strain relief connector 18 are mutually configured to fit together via a snap fit male/female connector or similar, with protrusions or lugs 20 extending from the rear of the housing 11 to fit into corresponding apertures in the strain relief connector 18.
In a variation of the finger unit described above, and as shown in figures 11 and 12, the rubber pad (rubber pad 113 in this embodiment) is shaped and formed so as to extend under the ‘bow’ of the housing 11 (as for the embodiment described above), and also under the rectangular/cuboid section of the housing behind the ‘bow’. The pad 113 is further adapted so that two arms or wings 114 that are integrally formed as part of the pad extend from the sides of that part of the pad 113 that is located under the rectangular/cuboid section, and partway under/around the inside of the retention loop 12 in use, so that the rubber material of the pad 113 will be between the skin of a wearer’s finger and the material of the retention loop in use, around at least the top part of the finger, and also between the underside of the rectangular/cuboid section and the skin of a wearer’s finger. That part of the pad locating under the ‘bow’ in use is thicker than the central part under the rectangular/cuboid section, this portion of the pad friction fitting into a recess in the rectangular/cuboid section. The thinner central section under the rectangular/cuboid section comprises a pair of upwardly-facing protrusions that friction-fit into corresponding apertures in the underside of the housing 11. The pad can also, or instead of, be glued to the underside of the housing. A tongue or lip 115 at the rear of the pad 113 is angled to extend upwards over and around the lower rear edge of the housing 11. The rubber pads in both embodiments provide a non-slip, high friction material that both provides padding and helps to keep the unit in position in use.
Strain Relief Connector
The structure of the strain relief connectors will now be described.
The embodiments of strain relief connectors used in the device of the present invention (e.g. strain relief connectors 17, 18, 21) each have similar structures, although they can differ in detail such as the overall size.
Each strain relief connector has an overall slightly tapered shape from a wider base where it connects with the housing around the cable aperture to a narrower tail end where the cable extends out. The body has a number of indented rib sections 24 along its length, on the top and sides, that provide room so that the connector (and cable inside) can bend and flex. These are configured so that when the strain relief connector is in use with a cable of a size intended for use with that strain relief connector, it will not reach beyond a minimum bend radius if bent.
The cut-out sections in the preferred form are integrally formed with the connector at the time of manufacture, as part of the forming process (a single step). These are not formed by machining or moulding or any other process as a subsequent ‘finishing’ step. The strain relief connector is formed in a single action or operation by 3-D printing or a similar process, substantially in it’s finished form. This process allows customisation of the connectors, and allows these to be formed with integral attachment apertures that allow connection with the housing 11 via the protrusions 20, and also allows integral forming of the seam, as described below.
The strain relief connectors have a seam or opening running along the length of the underside, that allows the strain relief connector to be opened along the length of the seam. A cable can be inserted or removed from the strain relief connector via the seam. A layer of wrap 60 is added around the base of the strain relief connector, and heat-shrunk into place, as shown in figure 10. This assists with retaining the cable within the strain relief connector. Wrist Mount
An embodiment of wrist mount 40 is shown in figures 7 and 8. The wrist mount 40 is intended to provide a platform for additional motion tracking sensors, or a control system, or both. The wrist mount 40 also assists with cable management of the cable or cables that extend from the rear of the base section 1 .
The wrist mount 40 is worn in use on the forearm of a user, behind the wrist, slightly below midway up the forearm (e.g. the right forearm for the embodiment of the device described above, to match with the finger and thumb configuration). A motion tracking sensor 41 in the wrist mount acts to assist with tracking arm movement and wrist movement.
The wrist mount 40 of this embodiment has two main parts: the wrist strap 43, and the sensor mounting board 42.
The wrist strap comprises an upper section or housing section 30 that sits on the top or outside of the user’s forearm in use, and which has a hollow centre that is adapted to substantially enclose and hold the mounting board 42 in use as shown in figure 8. The upper section 30 has a slit opening at one side to allow insertion of the mounting board 42.
A band 27 connects to each side of the upper section, the band 27 forming a loop around the forearm of the user in use to hold the wrist mount 40 in position. The band 27 is at least partly formed with hook-and-loop material so that the size of the loop can be adjusted for different users.
The mounting board 42 is generally square or rectangular in plan view, and is slightly curved when viewed from the front or back, to follow the curve of a wearer’s forearm. An aperture in the centre of the mounting board 42, passing through the mounting board from bottom to top, allows the insertion of a bolt 45 from the underside of the board 42 so that the threaded portion of the bolt 45 extends upwards from the top of the mounting board 42. The free end of the bolt 45 passes through an aperture in the top of the upper section 30 when the board 42 is located in the hollow central part of the upper section 30 so that items such as the tracker unit 29 can be screwed onto the bolt 45 to connect these with the wrist mount 40.
The mounting board 42 further comprises a hollow cylindrical section 31 that is integrally formed with the board, and which extends to one side, so that in use it is just outside the slit in the side of the hollow central section of the upper section 30. I n use, the hollow cylindrical section 31 extends to the side of the user’s wrist, roughly in parallel with their forearm. The cylindrical section 31 acts as a cable support and guide, and cables can be routed through the centre of the cylindrical section 31 . The cylindrical section comprises two paired parts 31a, 31 b that when paired and closed have the general overall form of a cylinder, with a connection extension to one side that connects the cylindrical section with the main part of the mounting board 42. The two paired parts are connected via a hinge 46 at their outer part, and are held closed at the top end via a ring 47 that passes around the top open parts at the connection extension to hold the two parts together. The paired parts are opened so that the cables can be inserted for routing, and then closed to hold the cables in place.
Waist Mount
The waist mount 50 is in use worn at a user’s waist - e.g. clipped to their belt or similar - and is intended to assist with management of the cable bundle, and weight management.
The waist mount 50 comprises a cable guide portion 32 and a belt clip 33. The cable guide portion comprises a body formed of two paired parts 32a, 32b that when paired and closed have the general overall form of a circle with an upper extension, and a circular central opening. The two paired parts are connected via a hinge 34 at their lower end, and are held closed at the top end via a loop or o-ring 35 that passes around the top bulge to hold the two parts together. Cables are routed through the hollow central opening in use. In use, the paired parts are swivelled open around the hinge 34 so that the cables can be inserted, and then closed and held shut by the loop 35, to hold the cables in place.
The belt clip 33 32 extends from and is integrally formed with the top of the inner one of the two paired parts - part 32b in figure 9 - and forms and inverted u-shaped loop that doubles back on itself so that it has the general form of a narrow, inverted ‘U ’. This can be slid onto the top of a belt or similar in use to hold the waist mount 5 in position.

Claims

Claims
1. A device for connecting motion tracking sensors to a hand, comprising: a base section configured to locate onto the back of the hand of a user, the base unit comprising a housing configured to contain a hand movement sensor; at least one finger unit, each of the one or more finger units configured to locate onto the back of a finger of the user, each finger unit configured to contain a finger motion tracking sensor; the base section and each of the one or more finger units configured so that a cable connection can be made between each of the one or more finger units and the base unit so that data from the finger motion tracking sensors can be transmitted to the base unit in use; each of the one or more finger units further comprising a housing which has a channel running at least partly therethrough, the channel configured so that a finger motion tracking sensor locates securely into the channel in use, the channel further comprising a first opening for insertion and removal of the finger motion tracking sensor and associated cable into the channel, and a second opening substantially opposed to the first opening and configured to allow insertion of a tool for pushing the finger motion tracking sensor out of the channel via the first opening.
2. A device for connecting motion tracking sensors to a hand as claimed in claim 1 wherein the housing further comprises at least one circular section along the length of the channel, and substantially co-incident with the axis of the channel, the section configured to hold an o-ring so that in use the finger motion tracking sensor is retained within the channel by the o-ring.
3. A device for connecting motion tracking sensors to a hand as claimed in claim 2 wherein the housing comprises a pair of circular sections along the length of the channel, and substantially co-incident with the axis of the channel, each of the sections configured to hold an o-ring so that in use the finger motion tracking sensor is retained within the channel by an o-ring at or towards each end of the channel.
4. A device for connecting motion tracking sensors to a hand as claimed in any one of claims 1 to 3 wherein each of the one or more finger units further comprises a finger loop, the housing and finger loop configured for mutual connection, the finger loop extending in use around the joint of a user’s finger to retain the finger unit in position on the finger.
5. A device for connecting motion tracking sensors to a hand as claimed in any one of claims 1 to 4 wherein each of the one or more finger units is configured to locate onto the back of the distal phalanx of a user’s finger or thumb, and further comprises a grip pad formed from a high- friction material located on the underside thereof, the pad configured to locate against at least the fingernail of a wearer in use.
6. A device for connecting motion tracking sensors to a hand as claimed in claim 5 wherein the grip pad is further configured to extend in use at least partly under the housing between the finger and the loop.
7. A device for connecting motion tracking sensors to a hand as claimed in claim 6 wherein the grip pad is further configured to extend in use at least partly around the finger of a wearer between the finger and the loop.
8. A device for connecting motion tracking sensors to a hand as claimed in any one of claims 1 to 7 wherein each of the one or more finger units further comprises a strain relief connector, connected to and extending from the rear of the housing, the strain relief connector comprising a body having a plurality of indented sections thereon, the body and indented sections configured to prevent bending of the strain relief connector beyond a minimum bend radius, the body comprising a split seam along the length of the body configured to allow insertion or removal of a cable from within the strain relief connector, the body configured to snugly retain the cable in position within the strain relief connector in use.
9. A device for connecting motion tracking sensors to a hand as claimed in claim 8 wherein the housing further comprises at least one protrusion extending from the rear of the housing, the strain relief connector comprising at least one corresponding aperture, the protrusion(s) and aperture(s) configured to allow connection of the strain relief connector and housing.
10. A device for connecting motion tracking sensors to a hand as claimed in claim 8 or claim 9 wherein the strain relief connector is substantially formed from printed polyurethane.
11. A device for connecting motion tracking sensors to a hand as claimed in any one of claims 1 to 10 wherein the base section comprises strap apertures configured to allow a strap to pass therethrough to attach the unit to the user’s hand, a pair of strap apertures at one side of the base unit arranged at an angle to one another and to the long axis of the hand of the user, and a single opposed strap aperture at the other side of the base unit, the opposed strap aperture aligned substantially in parallel to the long axis of the hand of the user.
12. A device for connecting motion tracking sensors to a hand as claimed in claim 11 wherein the pair of strap apertures are arranged at an angle of substantially 45 degrees to the long axis of the hand of the user, the pair of strap apertures arranged to generally form two sides of a triangle with an outwardly-facing mutual corner.
13. A device for connecting motion tracking sensors to a hand as claimed in any one of claims 1 to 12 wherein the base section comprises a main housing sized and configured to locate onto the back of a user’s hand so that the front side of the main housing is located substantially over the top of the user’s metacarpophalangeal joints and the rear is substantially just forward of a user’s wrist, and a separate thumb section that in use rigidly connects to the side of the main housing to extend from the side of the main housing over the base of the thumb of a user.
14. A device for connecting motion tracking sensors to a hand as claimed in claim 13 wherein the main housing and thumb section rigidly connect via a snap-connector.
15. A device for connecting motion tracking sensors to a hand as claimed in claim 13 or claim 1 wherein the main housing comprises a plurality of cable ports at the front side of the housing and a rear cable port at the rear of the housing, and strain relief connectors associated with each of the cable ports, the strain relief connectors comprising a body having a plurality of indented sections thereon, the body and indented sections configured to prevent bending of the strain relief connector beyond a minimum bend radius, the body comprising a split seam along the length of the body configured to allow insertion or removal of a cable from within the strain relief connector, the body configured to snugly retain the cable in position within the strain relief connector in use.
16. A device for connecting motion tracking sensors to a hand as claimed in claim 15 wherein the main housing further comprises protrusions extending from around the front and rear cable ports, the strain relief connectors comprising at least one corresponding aperture, the protrusion(s) and aperture(s) configured to allow connection of the strain relief connector and housing.
17. A device for connecting motion tracking sensors to a hand as claimed in claim 15 or claim 16 wherein the strain relief connector is substantially formed from polyurethane.
18. A device for connecting motion tracking sensors to a hand as claimed in any one of claims 1 to 16 further comprising a wrist mount, the wrist mount comprising a sensor mounting board and a strap, the strap comprising a housing section configured to sit on the top/outside of the user’s forearm in use, and a band connecting to the upper section and which in use forms a loop around the forearm of the user to hold the wrist mount in position, the housing section having a hollow centre configured to substantially enclose and hold the sensor mounting board, the mounting board comprising a board body and a connection bolt, the bolt passing upwards from the board through the outer part of the housing section away from the arm of a user, an arm motion tracking sensor mounted on the board.
19. A device for connecting motion tracking sensors to a hand as claimed in claim 18 wherein the sensor mounting board is curved to follow the curve of a wearer’s forearm.
16
20. A device for connecting motion tracking sensors to a hand as claimed in claim 18 or claim 19 wherein the housing section comprises a slit opening at one side to allow insertion and removal of the mounting board.
21. A device for connecting motion tracking sensors to a hand as claimed in claim 20 wherein the sensor mounting board further comprises a hollow cylindrical section extending to one side of the board, the board and housing section configured so that in use the cylindrical section is located just outside the slit, extending to the side of the user’s forearm substantially in parallel with their forearm, the cylindrical section configured so that cables can be routed through the centre of the cylindrical section with the cylindrical section acting as a cable support and guide.
22. A device for connecting motion tracking sensors to a hand as claimed in claim 21 wherein the cylindrical section comprises two paired parts that when paired and closed have the general overall form of a cylinder, an integral connection extension from one of the parts connecting the cylindrical section to the main body of the mounting board, the paired parts connected via a hinge at their outer part and held closed in use via a ring that passes around the top open parts to hold the two parts together.
23. A device for connecting motion tracking sensors to a hand as claimed in any one of claims 1 to 22 further comprising a waist mount, the waist mount comprising a cable guide and a belt clip, the cable guide portion comprising a body formed of two paired parts that when paired and closed have the general overall form of a circle, a belt clip integrally formed with and extending from one of the two paired parts, the belt clip forming an inverted u-shaped loop configured to slip onto a belt or similar in use, the paired parts connected via a hinge at their lower end, and held closed at the top end via an o-ring that passes around the top bulge to hold the two parts together.
24. A strain relief connector, comprising a body having a plurality of indented sections thereon, the body and indented sections configured to prevent bending of the strain relief connector beyond a minimum bend radius, the body comprising a split seam along the length of the body configured to allow insertion or removal of a cable from within the strain relief connector, the body configured to snugly retain the cable in position within the strain relief connector in use.
25. A strain relief connector as claimed in claim 22 wherein the body of the strain relief connector is tapered away from a base, the base comprising at least one aperture, the aperture(s) configured to allow connection of the strain relief connector to corresponding protrusions.
26. A strain relief connector as claimed in claim 22 wherein the body of the strain relief connector is tapered away from a base, the base comprising at least one protrusion, the
17 aperture(s) configured to allow connection of the strain relief connector to a corresponding aperture or apertures.
27. A device for connecting motion tracking sensors to a hand as claimed in any one of claims 22 to 24 wherein the strain relief connector is substantially formed from polyurethane.
18
PCT/IB2021/057641 2020-08-26 2021-08-19 A device for connecting motion tracking sensors to a hand WO2022043838A1 (en)

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