CN103433937A - Mechanical type wrist movement capture device - Google Patents
Mechanical type wrist movement capture device Download PDFInfo
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- CN103433937A CN103433937A CN2013103653274A CN201310365327A CN103433937A CN 103433937 A CN103433937 A CN 103433937A CN 2013103653274 A CN2013103653274 A CN 2013103653274A CN 201310365327 A CN201310365327 A CN 201310365327A CN 103433937 A CN103433937 A CN 103433937A
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- inner ring
- outer ring
- mechanical type
- angular transducer
- ring
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Abstract
The invention discloses a mechanical type wrist movement capture device which comprises an outer ring and an inner ring arranged in the outer ring, wherein the inner ring and the outer ring are connected in a rotating mode. A support and a handheld frame connected with the support are arranged in the inner ring, and a first angle sensor is arranged at the connecting position of the handheld frame and the support; a second angle sensor is arranged on the outer ring, and a friction wheel is arranged on the second angle sensor; a part of the inner ring stretches out of the outer ring and makes contact with the friction wheel in a rotating mode; a front arm bracket is further arranged in the inner ring; when the inner ring rotates relative to the outer ring, the inner ring drives the friction wheel to rotate through friction force to further drive the second angle sensor on the outer ring to rotate, the change of the rotating angles in the direction of a small arm can be measured at the moment, and the first angel sensor at the hinged joint position of the handheld frame and the inner ring can measure the change of the pitching angles of the palms. The mechanical type wrist movement capture device is simple in technological means and easy to practice, and compared with optical capture and electromagnetic capture, the mechanical type capture has the advantages of being low in cost, high in precision, simple in calibration and the like.
Description
Technical field
The present invention relates to motion capture device, relate in particular to a kind of mechanical type Wrist-sport trap setting.
Background technology
Movement capturing technology can obtain the motion state of object in true environment, at aspects such as virtual reality, motion analysis, game and military trainings, corresponding application is all arranged.The mechanical motion trap setting is comprised of a plurality of joints and rigidity connecting rod usually, in rotating joint, angular transducer is housed, and can record the situation of change of joint rotational angle.The relative optics of mechanical type trap setting catches and electromagnetism catches, and have the advantages that cost is low, and precision is high, and calibration is simple.People's wrist has three freedoms of motion, two upset frees degree of rotary freedom along orientation arm and palm.The Wrist-sport trap setting can record the motion change of wherein one or more frees degree.But more existing mechanical wrist motion capture devices can only be separately caught a freedom of motion of wrist, such as one in the flip-flop movement of the rotation that only catches wrist or palm.
Summary of the invention
The object of the invention is to overcome the shortcoming and defect of prior art, provide that a kind of cost is low, precision is high, calibrate simple mechanical type Wrist-sport trap setting.
The present invention is achieved through the following technical solutions:
A kind of mechanical type Wrist-sport trap setting, comprise outer ring and be placed in the inner ring in outer ring, and inner ring adopts the mode of rotating to be connected with outer ring;
Be provided with support in described inner ring and reach hand-held that is connected with support, at hand-held, with the support junction, the first angular transducer is installed;
The second angular transducer is installed on described outer ring, and the second angular transducer is provided with friction pulley;
The part of described inner ring is stretched out outside outer ring and with friction pulley and is rotated and contact;
Also be provided with a forearm carriage in described inner ring;
On described the first angular transducer and the second angular transducer, be provided with separately the signaling interface be connected with external equipment.
Described forearm carriage comprises a bottom bracket and the bracket be flexibly connected with bottom bracket.
Described friction pulley adopts rubber wheel.
The present invention has the following advantages compared with prior art:
Inner ring adopts the mode of rotating (mechanical rotation) to be connected with outer ring; Coordinate hand-held of inner ring and the routing motion of the first angular transducer and the second angular transducer; Can measure angle variation and the luffing angle variation of wrist along the forearm direction rotation simultaneously.
During work, outer ring is fixed, and when the rotation of the relative outer ring of inner ring, inner ring drives friction wheel from rotation by frictional force, and then drives the second angular transducer rotation on outer ring, at this moment can measure along the angle variation of the rotation of forearm direction.Hand-held the variation that can measure the palm luffing angle with the first angular transducer of inner ring hinged place.
This device technique means are simple and easy to do, and mechanical type catches with respect to optics and catches and the electromagnetism seizure, have with low costly, and precision is high, calibrates the advantages such as simple.
The accompanying drawing explanation
Fig. 1 is mechanical type Wrist-sport trap setting structural representation of the present invention.
The side view that Fig. 2 is Fig. 1.
Fig. 3 is the initialization schematic diagram that arm is put mechanical type Wrist-sport trap setting into.
Fig. 4 is the work schematic diagram after 90 ° of thorny arm direction rotations of wrist.
Fig. 5 is the work schematic diagram after 30 ° of pronation upsets.
The specific embodiment
Below in conjunction with specific embodiment, the present invention is more specifically described in detail.
Embodiment
As shown in Figure 1 and Figure 2.Mechanical type Wrist-sport trap setting of the present invention comprises outer ring 3 and is placed in the inner ring 2 in outer ring 3 that inner ring 2 adopts the mode of rotating to be connected with outer ring 3;
Be provided with support 1-1 in described inner ring 2 and reach hand-held 1 that is connected with support 1-1, at hand-held 1, with support 1-1 junction, the first angular transducer 5 is installed;
The second angular transducer 5-1 is installed on described outer ring 3, and the second angular transducer 5-1 is provided with friction pulley 6;
The part of described inner ring 2 is stretched out outside outer ring 3 and with friction pulley 6 and is rotated and contact;
Also be provided with a forearm carriage 4 in described inner ring 2, this forearm carriage 4 comprises a bottom bracket and the bracket be flexibly connected with bottom bracket.
Described the first angular transducer 5 and the second angular transducer 5-1 are upper, are provided with separately the signaling interface be connected with external equipment.
Described friction pulley 6 adopts rubber wheel, is conducive to strengthen frictional force.
As shown in Figure 3, palm is through inner ring 2 being enclosed within hand-held 1, and forearm is placed on 4 li, forearm carriage, and the wrist wrist joint is aimed at inner ring 2 and the articulated position of hand-held 1.
Concrete motion capture process is as follows: outer ring 3 maintains static, as shown in Figure 4, rotatablely moving of the thorny arm of wrist makes between inner ring 2 and outer ring 3 to produce relative rotation by hand-held 1, inner ring 2 drives friction pulley 6 rotations by frictional force, and the variation of the anglec of rotation is passed to the second angular transducer 5-1; As shown in Figure 5, the elevating movement of palm makes hand-held 1 to deflect, the variation that by the first angular transducer 5 on inner ring 2, can record flip angle.
In practical operation, above-mentioned two kinds of working conditions are simultaneous, can be conveniently the motion of wrist be caught.
Inner ring adopts the mode of rotating to be connected with outer ring; Coordinate hand-held of inner ring and the routing motion of the first angular transducer and the second angular transducer; Can measure angle variation and the luffing angle variation of wrist along the forearm direction rotation simultaneously.
This device technique means are simple and easy to do, and mechanical type catches with respect to optics and catches and the electromagnetism seizure, have with low costly, and precision is high, calibrates the advantages such as simple.
Just can realize preferably the present invention as mentioned above.
Embodiments of the present invention are not restricted to the described embodiments; other are any does not deviate from change, the modification done under Spirit Essence of the present invention and principle, substitute, combination, simplify; all should be equivalent substitute mode, within being included in protection scope of the present invention.
Claims (3)
1. a mechanical type Wrist-sport trap setting, is characterized in that, comprises outer ring and be placed in the inner ring in outer ring, and inner ring adopts the mode of rotating to be connected with outer ring;
Be provided with support in described inner ring and reach hand-held that is connected with support, at hand-held, with the support junction, the first angular transducer is installed;
The second angular transducer is installed on described outer ring, and the second angular transducer is provided with friction pulley;
The part of described inner ring is stretched out outside outer ring and with friction pulley and is rotated and contact;
Also be provided with a forearm carriage in described inner ring;
On described the first angular transducer and the second angular transducer, be provided with separately the signaling interface be connected with external equipment.
2. mechanical type Wrist-sport trap setting according to claim 1, is characterized in that, described forearm carriage comprises a bottom bracket and the bracket be flexibly connected with bottom bracket.
3. mechanical type Wrist-sport trap setting according to claim 1, is characterized in that, described friction pulley adopts rubber wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013103653274A CN103433937A (en) | 2013-08-20 | 2013-08-20 | Mechanical type wrist movement capture device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013103653274A CN103433937A (en) | 2013-08-20 | 2013-08-20 | Mechanical type wrist movement capture device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103433937A true CN103433937A (en) | 2013-12-11 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013103653274A Pending CN103433937A (en) | 2013-08-20 | 2013-08-20 | Mechanical type wrist movement capture device |
Country Status (1)
| Country | Link |
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| CN (1) | CN103433937A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104908042A (en) * | 2015-06-18 | 2015-09-16 | 华南理工大学 | Extensible-connection six-freedom-degree force feedback mechanical arm |
| CN106032013A (en) * | 2015-03-19 | 2016-10-19 | 宁夏巨能机器人系统有限公司 | Movable joint structure of annular manipulator and installation method thereof |
Citations (6)
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| US5715834A (en) * | 1992-11-20 | 1998-02-10 | Scuola Superiore Di Studi Universitari & Di Perfezionamento S. Anna | Device for monitoring the configuration of a distal physiological unit for use, in particular, as an advanced interface for machine and computers |
| US5738636A (en) * | 1995-11-20 | 1998-04-14 | Orthologic Corporation | Continuous passive motion devices for joints |
| US20100063794A1 (en) * | 2003-08-28 | 2010-03-11 | Hernandez-Rebollar Jose L | Method and apparatus for translating hand gestures |
| CN101918090A (en) * | 2007-11-05 | 2010-12-15 | 布莱恩·弗朗西斯·穆尼 | Apparatus and method for analysing a golf swing |
| JP2011170585A (en) * | 2010-02-18 | 2011-09-01 | Sony Corp | Pointing device and information processing system |
| CN203449328U (en) * | 2013-08-20 | 2014-02-26 | 华南理工大学 | Mechanical wrist motion capture device |
-
2013
- 2013-08-20 CN CN2013103653274A patent/CN103433937A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5715834A (en) * | 1992-11-20 | 1998-02-10 | Scuola Superiore Di Studi Universitari & Di Perfezionamento S. Anna | Device for monitoring the configuration of a distal physiological unit for use, in particular, as an advanced interface for machine and computers |
| US5738636A (en) * | 1995-11-20 | 1998-04-14 | Orthologic Corporation | Continuous passive motion devices for joints |
| US20100063794A1 (en) * | 2003-08-28 | 2010-03-11 | Hernandez-Rebollar Jose L | Method and apparatus for translating hand gestures |
| CN101918090A (en) * | 2007-11-05 | 2010-12-15 | 布莱恩·弗朗西斯·穆尼 | Apparatus and method for analysing a golf swing |
| JP2011170585A (en) * | 2010-02-18 | 2011-09-01 | Sony Corp | Pointing device and information processing system |
| CN203449328U (en) * | 2013-08-20 | 2014-02-26 | 华南理工大学 | Mechanical wrist motion capture device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106032013A (en) * | 2015-03-19 | 2016-10-19 | 宁夏巨能机器人系统有限公司 | Movable joint structure of annular manipulator and installation method thereof |
| CN106032013B (en) * | 2015-03-19 | 2018-07-24 | 宁夏巨能机器人系统有限公司 | A kind of movable joint structure and its installation method of annular manipulator |
| CN104908042A (en) * | 2015-06-18 | 2015-09-16 | 华南理工大学 | Extensible-connection six-freedom-degree force feedback mechanical arm |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20131211 |