Office Action 1: Notice of Allowance (2024-10-25)

CLAIMS:
Amendments to the Claims:

Listing of the Claims:

1\. (Currently Amended) A wearable motion capture glove based on a flexible optical fiber,the wearable motion capture glove comprising a glove body, a plurality of motion acquisition and sensing devices, and a glove packaging tool, wherein each motion acquisition and sensing device individually comprises a data acquisition and processing module, a circuit splint, and a flexible polymer profiled optical fiber;the data acquisition and processing module comprises a motion capture data acquisition module, and a motion capture data processing module; the motion capture data acquisition module comprises a front laser emitting board, a central laser receiving and emitting board, and a rear laser receiving board; the circuit splint comprises a front circuit splint, a central circuit splint, and a rear circuit splint; the flexible polymer profiled optical fiber comprises a first flexible polymer profiled optical fiber, and a second flexible polymer profiled optical fiber;
one end of the first flexible polymer profiled optical fiber is connected to the front laser emitting board, and the other end of the first flexible polymer profiled optical fiber is connected to a laser receiving end of the central laser receiving and emitting board; one end of the second flexible polymer profiled optical fiber is connected to a laser emitting end of the central laser receiving and emitting board, and the other end of the second flexible polymer profiled optical fiber is connected to the rear laser receiving board;
the front circuit splint is used to fixedly connect one end of the first flexible polymer profiled optical fiber to the front laser emitting board in a pressing way, and is fixed to a middle phalanx position of the glove body after being packaged by the glove packaging tool; the central circuit splint is used to fixedly connect the other end of the first flexible polymer profiled optical fiber, the central laser receiving and emitting board and one end of the second flexible polymer profiled optical fiber in a pressing way, and is fixed to a proximal phalanx position of the glove body after being packaged by the glove packaging tool; and the rear circuit splint is used to fixedly connect the other end of the second flexible polymer profiled optical fiber to the rear

laser receiving board in a pressing way, and is fixed to a proximal metacarpal head position of metacarpal phalanx of the glove body after being packaged by the glove packaging tool;the motion capture data processing module is connected to the motion capture data acquisition module; the motion capture data acquisition module is used to convert an optical signal representing finger joint deformation information into a voltage signal and transmit the voltage signal to the motion capture data processing module; and the motion capture data processing module is used to process the voltage signal and transmit the processed voltage signal to an upper computer.

2\. (Currently Amended) The wearable motion capture glove based on a flexible optical fiber according to claim 1, wherein the front circuit splint has the same structure as the rear circuit splint, each individually comprising a single linear slot and an upper thin plate.

3\. (Original) The wearable motion capture glove based on a flexible optical fiber according to claim 2, wherein the central circuit splint comprises dual linear slots, a middle partition plate, and an upper thin plate.

4\. (Currently Amended) The wearable motion capture glove based on a flexible optical fiber according to claim 3, wherein the first flexible polymer profiled optical fiber has the same shape as the second flexible polymer profiled optical fiber, each being individually composed of spherical protrusions at both ends and a middle cylindrical line.

5\. (Currently Amended) The wearable motion capture glove based on a flexible optical fiber according to claim 4, wherein one end, close to the spherical protrusion, of the middle cylindrical line of the first flexible polymer profiled optical fiber is fixed into the single linear slot of the front circuit splint, the spherical protrusion at one end of the first flexible polymer profiled optical fiber is fixed after passing through the front circuit splint and protrudes from one end, away from the central circuit splint, of the front circuit splint, and the upper thin plate of the front circuit splint is used to fix one end of the first flexible polymer profiled optical fiber to the front laser emitting plate in a pressing way;

the other end, close to the spherical protrusion, of the middle cylindrical line of the first flexible polymer profiled optical fiber is fixed into one of the dual linear slots of the central circuit splint, the spherical protrusion at the other end of the first flexible polymer profiled optical fiber is fixed after passing through the central circuit splint, and protrudes from one end, away from the front circuit splint, of the central circuit splint; one end, close to the spherical protrusion, of the middle cylindrical line of the second flexible polymer profiled optical fiber is fixed into another slot of the dual linear slots of the central circuit splint, the spherical protrusion at one end of the second flexible polymer profiled optical fiber is fixed after passing through the central circuit splint, and protrudes from one end, away from the rear circuit splint, of the central circuit splint; the middle partition plate is provided between two slots of the dual linear slots; the upper thin plate of the central circuit splint is used to fix the other end of the first flexible polymer profiled optical fiber to the laser receiving end of the central laser receiving and emitting board and fix one end of the second flexible polymer profiled optical fiber to the laser emitting end of the central laser receiving and emitting board in a pressing way;
the other end, close to the spherical protrusion, of the middle cylindrical line of the second flexible polymer profiled optical fiber is fixed to the single linear slot of the rear circuit splint, the spherical protrusion at the other end of the second flexible polymer profiled optical fiber is fixed after passing through the rear circuit splint, and protrudes from one end, away from the central circuit splint, of the rear circuit splint, and the upper thin plate of the rear circuit splint is used to fix the other end of the second flexible polymer profiled optical fiber to the rear laser emitting board in a pressing way.

6\. (Original) The wearable motion capture glove based on a flexible optical fiber according to claim 4, wherein the middle cylindrical line of the flexible polymer profiled optical fiber has an outer diameter of 1.5 mm, an optical fiber core diameter of 1 mm, and a length of 5.5 cm to 6 cm; and the spherical protrusion at each of both ends of the flexible polymer profiled optical fiber has a diameter of 2 mm.

7\. (Original) The wearable motion capture glove based on a flexible optical fiber according to claim 1, wherein the glove packaging tool comprises an elastic leather surface mesh, a Velcro

tape, and an elastic potting adhesive; the elastic potting adhesive is provided between the elastic leather surface mesh and the Velcro tape; the elastic potting adhesive encapsulates and wraps the corresponding circuit splint; the elastic leather surface mesh is connected to the Velcro tape in a sewing mode; and the Velcro tape is attached to a corresponding joint position of the glove body.

8\. (Original) The wearable motion capture glove based on a flexible optical fiber according to claim 1, wherein the motion capture data processing module comprises a power module, a Bluetooth module, and a differential amplifier circuit module; the power module is used to provide power; the differential amplifier circuit module is respectively connected to the motion capture data acquisition module and the Bluetooth module, and is used to perform noise reduction and amplification processing on the voltage signal acquired by the motion capture data acquisition module, transmit the processed voltage signal to the Bluetooth module for wireless data transmission, and transmit a voltage signal representing finger joint deformation information to the upper computer.

9\. (Original) The wearable motion capture glove based on a flexible optical fiber according to claim 1, wherein the upper computer is used to convert the voltage signal representing the finger joint deformation information into local movement parameters at corresponding bones and joints of a human hand model, and to compile and reproduce a hand motion of a wearer using blueprints.

OFFICE ACTION:
DETAILED ACTION
Notice of Pre-AIA  or AIA  Status
The present application, filed on or after March 16, 2013, is being examined under the first inventor to file provisions of the AIA .
Priority
Receipt is acknowledged of certified copies of papers required by 37 CFR 1.55.
Allowable Subject Matter
Claims 1-9 are allowed.
The following is an examiner’s statement of reasons for allowance:
In accordance to the prior arts: CN 114770571 relates a pneumatic feedback manipulator, comprising: glove main body; finger cutting ferrule; an inertial sensor assembly for detecting the hand posture data of the user; a flexible sensor assembly for detecting the finger bending posture data of the user; a heating sheet; a vibration motor; a force feedback airbag module; a microcontroller for controlling the heating sheet according to at least one of hand posture data, finger bending posture data and virtual scene data, the vibration motor or force feedback air bag assembly respectively generate the feedback working state. The pneumatic feedback mechanical hand provided by the application is capable of providing omni-directional temperature and mechanical feedback in the virtual environment interaction process with the user, improving the authenticity and full-face of the glove feedback. CN 109006986 relates a gesture recognition system and method based on flexible optical fibre. the linear flexible optical fibre with tractility is covered on the surface of each finger in the longitudinal repeated bending and transverse repeated winding wiring manner; the micro electro-optical information conversion and sending device sends the protocol data containing time mark in the longitudinal optical fibre channel; receiving the data by the micro-optical-electric information receiving and converting device and calculating the transmission time and unit time light quantity of the information in the optical fibre channel, through the transmission time, unit time light quantity to identify the bending degree of each finger; at the same time, based on sagnac effect, micro-photoelectric device in the transverse optical fibre channel in the opposite direction at the same time sending two groups of light, to receive the phase difference groups of light to calculate the rotation angle rate of each finger, and combined with the finger bending degree in real time, accurately identifying the static and dynamic gesture of the wearer.
Prior arts fail to disclose or suggest a wearable motion capture glove based on a flexible optical fiber, comprising a glove body with the motion capture data acquisition module comprises a front laser emitting board, a central laser receiving and emitting board, and a rear laser receiving board; the circuit splint comprises a front circuit splint, a central circuit splint, and a rear circuit splint; the flexible polymer profiled optical fiber comprises a first flexible polymer profiled optical fiber, and a second flexible polymer profiled optical fiber; one end of the first flexible polymer profiled optical fiber is connected to the front laser emitting board, and the other end of the first flexible polymer profiled optical fiber is connected to a laser receiving end of the central laser receiving and emitting board; one end of the second flexible polymer profiled optical fiber is connected to a laser emitting end of the central laser receiving and emitting board, and the other end of the second flexible polymer profiled optical fiber is connected to the rear laser receiving board; the front circuit splint is used to fixedly connect one end of the first flexible polymer profiled optical fiber to the front laser emitting board in a pressing way, and is fixed to a middle phalanx position of the glove body after being packaged by the glove packaging tool; the central circuit splint is used to fixedly connect the other end of the first flexible polymer profiled optical fiber, the central laser receiving and emitting board and one end of the second flexible polymer profiled optical fiber in a pressing way, and is fixed to a proximal phalanx position of the glove body after being packaged by the glove packaging tool; and the rear circuit splint is used to fixedly connect the other end of the second flexible polymer profiled optical fiber to the rear laser receiving board in a pressing way, and is fixed to a proximal metacarpal head position of metacarpal phalanx of the glove body after being packaged by the glove packaging tool.
Claim 1, prior arts fail to disclose or suggest: A wearable motion capture glove based on a flexible optical fiber, comprising a glove body, (at least refer to fig. 1 and paragraph 24 of Chen. Describes 10. glove main body; 30, flexible sensor assembly; 31, optical fibre grating sensor;) a plurality of motion acquisition and sensing devices, (at least refer to fig. 1 and paragraph 32 of Chen. Describes the inertial sensor assembly is capable of detecting the movement acceleration of the hand of the user in the three-axis direction in real time in the movement process of the user hand wearing the pneumatic feedback mechanical hand) and a glove packaging tool, (at least refer to fig. 1 and paragraph 30 of Chen. Describes the finger ferrule 20 can be made of, but not limited to, a rubber material, so that the finger ferrule 20 can be detachably sleeved between the finger sleeve part 11 area, so that the heating sheet 40 and the vibration motor 50 provided by the thermal feedback and the vibration feedback timely and accurately transmitted to the fingertip region of the user hand) wherein each motion acquisition and sensing device comprises a data acquisition and processing module, (at least refer to fig. 7 and paragraph 44 of Chen. Describes the glove main body 10 of the hand back cover part 12 is provided with a friction nano-generator 34. friction nano-generator 34 for collecting finger bending action process of the hand back area skin friction static and converted into electric energy, the inertial sensor assembly and the flexible sensor assembly 30) a circuit splint, and a flexible polymer profiled optical fiber;
the data acquisition and processing module comprises a motion capture data acquisition module, and a motion capture data processing module, (at least refer to fig. 1, 7 and paragraph 44 of Chen. Describes the glove main body 10 of the hand back cover part 12 is provided with a friction nano-generator 34. friction nano-generator 34 for collecting finger bending action process of the hand back area skin friction static and converted into electric energy, the inertial sensor assembly and the flexible sensor assembly 30); the motion capture data acquisition module comprises a front laser emitting board, a central laser receiving and emitting board, and a rear laser receiving board; the circuit splint comprises a front circuit splint, a central circuit splint, and a rear circuit splint; the flexible polymer profiled optical fiber comprises a first flexible polymer profiled optical fiber, and a second flexible polymer profiled optical fiber;
one end of the first flexible polymer profiled optical fiber is connected to the front laser emitting board, and the other end of the first flexible polymer profiled optical fiber is connected to a laser receiving end of the central laser receiving and emitting board; one end of the second flexible polymer profiled optical fiber is connected to a laser emitting end of the central laser receiving and emitting board, and the other end of the second flexible polymer profiled optical fiber is connected to the rear laser receiving board;
the front circuit splint is used to fixedly connect one end of the first flexible polymer profiled optical fiber to the front laser emitting board in a pressing way, and is fixed to a middle phalanx position of the glove body after being packaged by the glove packaging tool; the central circuit splint is used to fixedly connect the other end of the first flexible polymer profiled optical fiber, the central laser receiving and emitting board and one end of the second flexible polymer profiled optical fiber in a pressing way, and is fixed to a proximal phalanx position of the glove body after being packaged by the glove packaging tool; and the rear circuit splint is used to fixedly connect the other end of the second flexible polymer profiled optical fiber to the rear laser receiving board in a pressing way, and is fixed to a proximal metacarpal head position of metacarpal phalanx of the glove body after being packaged by the glove packaging tool;
the motion capture data processing module is connected to the motion capture data acquisition module, (at least refer to fig. 1, 7 and paragraph 44 of Chen. Describes the glove main body 10 of the hand back cover part 12 is provided with a friction nano-generator 34. friction nano-generator 34 for collecting finger bending action process of the hand back area skin friction static and converted into electric energy, the inertial sensor assembly and the flexible sensor assembly 30); the motion capture data acquisition module is used to convert an optical signal representing finger joint deformation information into a voltage signal and transmit the voltage signal to the motion capture data processing module, (at least refer to fig. 1 and paragraph 5 of Liu. Describes the micro electro-optical information conversion and sending device converts the electric signal into optical signal and emits; the micro optical-electric information receiving and converting device collects the optical signal transmitted by the corresponding flexible optical fibre channel and converts it into electric signal); and the motion capture data processing module is used to process the voltage signal and transmit the processed voltage signal to an upper computer.
Any comments considered necessary by applicant must be submitted no later than the payment of the issue fee and, to avoid processing delays, should preferably accompany the issue fee.  Such submissions should be clearly labeled “Comments on Statement of Reasons for Allowance.”
Conclusion



CITED REFERENCE SUMMARIES: Ref CN109116986B: Claims:
A gesture recognition system based on flexible optical fiber, characterized in that: it includes a flexible optical fiber channel, an information collection device, an information relay device, and a data processing and display device; the flexible optical fiber channel is made of a linear optical fiber material with ductility. The flexible optical fiber channel includes 10 channels, of which 5 flexible optical fiber channels cover the surface of the corresponding finger in a longitudinally repeated bending wiring mode, and the other 5 flexible optical fibers cover the surface of the corresponding finger in a horizontal repeated routing mode; The information collection device includes 5, each information collection device corresponds to a flexible optical fiber channel with 1 longitudinal wiring and 1 lateral wiring on a finger, and each information collection device includes a miniature electro-optical information conversion and transmission. device, micro-optical-electrical information receiving and converting device and wireless communication module, micro-electrical-optical information converting and transmitting device converts electrical signal into optical signal and transmits, micro-optical-electrical information receiving and converting device collects corresponding flexible optical fiber channel transmission The optical signal is converted into an electrical signal, and the wireless communication module sends the electrical signal to the information relay device; the information relay device receives 5 channels of wireless communication information and combines them into 1 channel of information and forwards it to the data processing and display device; the The data processing and display device performs gesture recognition according to the received information, and displays the recognition result.
The gesture recognition system based on flexible optical fiber according to claim 1 , wherein the flexible optical fiber channel is repeatedly arranged in a detour parallel to the cross-section of the finger or at a certain angle when performing lateral wiring, and the When the flexible fiber channel is longitudinally routed, it is repeatedly bent and arranged in a direction perpendicular to the cross section of the finger.
The flexible optical fiber-based gesture recognition system according to claim 1 , wherein the wireless communication module includes but is not limited to a Bluetooth module, a WiFi module and a ZigBee module. 4 .
The gesture recognition system based on flexible optical fiber according to claim 1 , wherein the gesture recognition system further comprises a power supply device, and the power supply device comprises a voltage power supply module and a voltage regulator chip. 5 .
based on the gesture recognition method of the described gesture recognition system of claim 1, is characterized in that, comprises the following steps: (1) Send the protocol data containing the time stamp in the longitudinal channel of the flexible optical fiber channel with the miniature electro-optical information conversion and transmission device, receive the data with the miniature optical-electrical information receiving and conversion device, and calculate the light in the optical fiber channel. The transmission time and the amount of light per unit time are obtained, and the characteristic value representing the bending degree of the finger is obtained accordingly; (2) Based on the Sagnac effect, the miniature electro-optical information conversion and transmission device is used to simultaneously transmit two sets of light rays in opposite directions in the lateral channel of the flexible optical fiber channel, and the two light rays are received by the miniature electro-optical information receiving and conversion device. The phase difference of the group of rays is calculated, and the rotation angular rate of each finger is calculated accordingly; (3) The information relay device combines the characteristic values of the bending degrees and the rotational angular rate of the five fingers to obtain complete gesture information; (4) A gesture recognition database and a dynamic gesture model library have been pre-built in the data processing and display device. The dynamic gesture model library stores the dynamic gesture model of each gesture in the gesture recognition database, and the gesture information obtained in step (3) Compared with the gestures stored in the gesture recognition database, the gesture with the highest similarity is used as the recognition result, and the dynamic gesture model corresponding to the gesture is retrieved from the dynamic gesture model library for display.
based on the gesture recognition method of the described gesture recognition system of claim 1, is characterized in that, comprises the following steps:
(1) Send the protocol data containing the time stamp in the longitudinal channel of the flexible optical fiber channel with the miniature electro-optical information conversion and transmission device, receive the data with the miniature optical-electrical information receiving and conversion device, and calculate the light in the optical fiber channel. The transmission time and the amount of light per unit time are obtained, and the characteristic value representing the bending degree of the finger is obtained accordingly;
(2) Based on the Sagnac effect, the miniature electro-optical information conversion and transmission device is used to simultaneously transmit two sets of light rays in opposite directions in the lateral channel of the flexible optical fiber channel, and the two light rays are received by the miniature electro-optical information receiving and conversion device. The phase difference of the group of rays is calculated, and the rotation angular rate of each finger is calculated accordingly;
(3) The information relay device combines the characteristic values of the bending degrees and the rotational angular rate of the five fingers to obtain complete gesture information;
(4) A gesture recognition database and a dynamic gesture model library have been pre-built in the data processing and display device. The dynamic gesture model library stores the dynamic gesture model of each gesture in the gesture recognition database, and the gesture information obtained in step (3) Compared with the gestures stored in the gesture recognition database, the gesture with the highest similarity is used as the recognition result, and the dynamic gesture model corresponding to the gesture is retrieved from the dynamic gesture model library for display.
The gesture recognition method according to claim 5 , wherein, in step (1), the characteristic value e=k 1 e 1 +k 2 e 2 representing the degree of bending of the finger, wherein e 1 represents the transit time The characteristic value of the degree of bending of the finger represented, e 2 represents the characteristic value of the degree of bending of the finger represented by the amount of light per unit time: Among them, t 1 is the transmission time in the flexible optical fiber path when the finger is bent to a certain degree, t 2 is the transmission time in the flexible optical fiber path when the finger is completely bent, Q is the light quantity per unit time, Î² is the unit time light quantity and A coefficient that is inversely proportional to the degree of finger bending, and k 1 and k 2 are the confidence coefficients of e 1 and e 2 respectively.
The gesture recognition method according to claim 5 , wherein, in step (1), the characteristic value e=k 1 e 1 +k 2 e 2 representing the degree of bending of the finger, wherein e 1 represents the transit time The characteristic value of the degree of bending of the finger represented, e 2 represents the characteristic value of the degree of bending of the finger represented by the amount of light per unit time:
Among them, t 1 is the transmission time in the flexible optical fiber path when the finger is bent to a certain degree, t 2 is the transmission time in the flexible optical fiber path when the finger is completely bent, Q is the light quantity per unit time, Î² is the unit time light quantity and A coefficient that is inversely proportional to the degree of finger bending, and k 1 and k 2 are the confidence coefficients of e 1 and e 2 respectively.
gesture recognition method according to claim 5, is characterized in that, in step (2), calculates the rotational angular rate Ω of finger according to following formula: Among them, Δθ is the phase difference of the two sets of rays, S is the area surrounded by the fiber channel around the finger, N is the number of turns of the fiber, λ is the wavelength of the light, and c is the propagation speed of the light in the flexible fiber channel.
gesture recognition method according to claim 5, is characterized in that, in step (2), calculates the rotational angular rate Î© of finger according to following formula:
Among them, Δθ is the phase difference of the two sets of rays, S is the area surrounded by the fiber channel around the finger, N is the number of turns of the fiber, λ is the wavelength of the light, and c is the propagation speed of the light in the flexible fiber channel.
The gesture recognition method according to claim 5, wherein in step (4), the gesture recognition database is to collect data by a variety of existing gesture recognition methods, including inertial sensor-based gesture recognition methods And the gesture recognition method based on visual sensor, each type of gesture in the gesture recognition database is characterized by the bending degree and rotation angular velocity of the five fingers.
The gesture recognition method according to claim 5 , wherein, in step (4), the software used for constructing the dynamic gesture model library includes but is not limited to Open CV and 3D Max. 10 .
Ref CN114770571A: Claims:
a pneumatic feedback manipulator, is characterized in that, comprises: a glove main body (10), the glove main body (10) includes several finger socket parts (11); a finger ferrule (20), the finger ferrule (20) is sleeved on the fingertip area of the finger ferrule (11); an inertial sensor assembly, the inertial sensor assembly is arranged in the finger clip (20), and is used for detecting the user's hand gesture data; A flexible sensor assembly (30), the flexible sensor assembly (30) extends along the length direction of the finger socket (11) and is disposed inside the finger socket (11), and is used for detecting the bending of a user's finger attitude data; a heating sheet (40), the heating sheet (40) is arranged in the finger clip (20), and is used for providing thermal feedback to the finger; a vibration motor (50), the vibration motor (50) is arranged on the outer side of the finger ferrule (20), and is used for providing vibration feedback to the finger; A force feedback airbag assembly (60), the force feedback airbag assembly (60) extends along the length direction of the finger sleeve (11) and is arranged inside the finger sleeve (11), and is used for providing the finger Pneumatic pressure feedback; A microcontroller, the microcontroller is combined with the inertial sensor assembly, the flexible sensor assembly (30), the heating sheet (40), the vibration motor (50) and the force feedback airbag assembly (60) connected for controlling the heating sheet (40), the vibration motor (50) or the force feedback airbag according to at least one of the hand gesture data, the finger bending gesture data and the virtual scene data The components (60) each generate feedback on the working state.
a pneumatic feedback manipulator, is characterized in that, comprises:
a glove main body (10), the glove main body (10) includes several finger socket parts (11);
a finger ferrule (20), the finger ferrule (20) is sleeved on the fingertip area of the finger ferrule (11);
an inertial sensor assembly, the inertial sensor assembly is arranged in the finger clip (20), and is used for detecting the user's hand gesture data;
A flexible sensor assembly (30), the flexible sensor assembly (30) extends along the length direction of the finger socket (11) and is disposed inside the finger socket (11), and is used for detecting the bending of a user's finger attitude data;
a heating sheet (40), the heating sheet (40) is arranged in the finger clip (20), and is used for providing thermal feedback to the finger;
a vibration motor (50), the vibration motor (50) is arranged on the outer side of the finger ferrule (20), and is used for providing vibration feedback to the finger;
A force feedback airbag assembly (60), the force feedback airbag assembly (60) extends along the length direction of the finger sleeve (11) and is arranged inside the finger sleeve (11), and is used for providing the finger Pneumatic pressure feedback;
A microcontroller, the microcontroller is combined with the inertial sensor assembly, the flexible sensor assembly (30), the heating sheet (40), the vibration motor (50) and the force feedback airbag assembly (60) connected for controlling the heating sheet (40), the vibration motor (50) or the force feedback airbag according to at least one of the hand gesture data, the finger bending gesture data and the virtual scene data The components (60) each generate feedback on the working state.
The pneumatic feedback manipulator according to claim 1, wherein the finger ferrule (20) comprises a first ferrule body (21) and a second ferrule body (22); the first ferrule The main body (21) is in contact with the fingertip area of the finger sleeve (11); the second sleeve main body (22) is provided with a through hole (23), and the force feedback airbag assembly (60) is fixed on the into the through hole (23).
The pneumatic feedback manipulator according to claim 2, wherein the inertial sensor assembly is disposed in the first ferrule body (21); the inertial sensor assembly comprises an accelerometer, a gyroscope and a magnetometer ; The inertial sensor component imports the detected user's hand posture data into the microcontroller, thereby obtaining the user's hand posture model.
The pneumatic feedback manipulator according to claim 3 , further comprising a tracker; the tracker is arranged on the wrist covering part ( 14 ) of the glove body ( 10 ), and is used to determine the real hand of the user. 5 . The position of the hand in the range defined by the locator installed in the real environment, and the above determined position is matched with the position of the user's virtual hand determined in the virtual scene, so as to realize the real hand and the virtual hand. The real-time consistency of the hand's movement position and posture.
The pneumatic feedback manipulator according to claim 2 , wherein the heating sheet ( 40 ) is arranged in the first card sleeve body ( 21 ); when determining the finger card where the heating sheet ( 40 ) is located When the sleeve (20) touches an object, the heating sheet (40) is energized, so that the temperature of the heating sheet (40) is increased and a thermal feedback is generated to the finger; when it is determined that the heating sheet (40) When the finger ferrule (20) where it is located leaves the object, the heating plate (40) is powered off.
The pneumatic feedback manipulator according to claim 2 , wherein the vibration motor ( 50 ) is arranged on one side of the first ferrule body ( 21 ); when the vibration motor ( 50 ) is determined When the finger ferrule (20) where it is located touches the object, a start signal is applied to the vibration motor (50), so that the vibration motor (50) vibrates and generates vibration feedback on the fingertip; when it is determined that the vibration When the finger ferrule (20) where the motor (50) is located leaves the object, a braking signal is applied to the vibration motor (50) to stop the vibration of the vibration motor (50).
The pneumatic feedback manipulator according to claim 2 , wherein the flexible sensor assembly ( 30 ) comprises a fiber grating sensor ( 31 ), and the fiber grating sensor ( 31 ) is located along the finger socket ( 11 ). 8 . ) extending in the length direction and arranged inside the finger socket (11) for detecting the finger bending gesture data corresponding to the bending action of the finger; a number of pressure sensors symmetrically arranged on both sides of the fiber grating sensor (31) (32), for detecting the stretching and shrinking force data of the fiber grating sensor (31) when the finger bends; a plurality of piezoelectric nanogenerators ( 33), for converting the kinetic energy of the bending action of the finger into electrical energy, and supplying power to the inertial sensor assembly and the flexible sensor assembly (30); on the same side of the fiber grating sensor (31), the pressure sensor (32) is arranged spaced apart from the piezoelectric nanogenerator (33).
The pneumatic feedback manipulator according to claim 1 , further comprising a triboelectric nanogenerator ( 34 ) disposed on the back of the hand area inside the glove main body ( 10 ), for collecting the back of the hand during the bending action of the fingers. 9 . The frictional static electricity of the area skin is converted into electrical energy to power the inertial sensor assembly and the flexible sensor assembly (30).
The pneumatic feedback manipulator according to claim 2 , wherein the force feedback airbag assembly ( 60 ) comprises an air pump, an air tube ( 61 ), and is sleeved on the outer peripheral surface of the air tube ( 61 ) and arranged at intervals. 10 . a plurality of air bags (62); the air pump inflates or draws air to the air bag (62) through the trachea (61), so that when the user performs a grasping action through the glove main body (10), the air pump sends air to the user's finger Provides pneumatic pressure feedback.
The pneumatic feedback manipulator according to claim 9 , further comprising an air flow valve arranged between the air pump and the air pipe ( 61 ); the air flow valve is used to pass the glove body according to the user’s passage through the glove body. 11 . (10) The range of motion of the grabbing action or the weight of the grabbed object, and the flow rate of the air pump to inflate or pump air to the trachea (61) is adjusted.
Ref CN114770571: Claims:
1.一种气动反馈机械手，其特征在于，包括：1. a pneumatic feedback manipulator, is characterized in that, comprises: 手套主体（10），所述手套主体（10）包括若干手指套接部（11）；a glove main body (10), the glove main body (10) includes several finger socket parts (11); 手指卡套（20），所述手指卡套（20）套设于所述手指套接部（11）的指尖区域；a finger ferrule (20), the finger ferrule (20) is sleeved on the fingertip area of the finger ferrule (11); 惯性传感器组件，所述惯性传感器组件设置于所述手指卡套（20）内，用于检测用户的手部姿态数据；an inertial sensor assembly, the inertial sensor assembly is arranged in the finger clip (20), and is used for detecting the user's hand gesture data; 柔性传感器组件（30），所述柔性传感器组件（30）沿所述手指套接部（11）的长度方向延伸并设置于所述手指套接部（11）内部，用于检测用户的手指弯曲姿态数据；A flexible sensor assembly (30), the flexible sensor assembly (30) extends along the length direction of the finger socket (11) and is disposed inside the finger socket (11), and is used for detecting the bending of a user's finger attitude data; 加热片（40），所述加热片（40）设置于所述手指卡套（20）内，用于对手指提供热反馈；a heating sheet (40), the heating sheet (40) is arranged in the finger clip (20), and is used for providing thermal feedback to the finger; 振动马达（50），所述振动马达（50）设置于所述手指卡套（20）的外侧，用于对手指提供振动反馈；a vibration motor (50), the vibration motor (50) is arranged on the outer side of the finger ferrule (20), and is used for providing vibration feedback to the finger; 力反馈气囊组件（60），所述力反馈气囊组件（60）沿所述手指套接部（11）的长度方向延伸并设置于所述手指套接部（11）内部，用于对手指提供气动压力反馈；A force feedback airbag assembly (60), the force feedback airbag assembly (60) extends along the length direction of the finger sleeve (11) and is arranged inside the finger sleeve (11), and is used for providing the finger Pneumatic pressure
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