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    • 6. 发明公开
    • Modelling of hand and arm position and orientation
    • 无论是手工还是手工制作
    • EP2418562A1
    • 2012-02-15
    • EP10172813.7
    • 2010-08-13
    • Deutsches Primatenzentrum GmbH
    • Scherberger, HansjörgSchaffelhofer, Stefan
    • G06F3/01
    • G01B7/00G06F3/014G06F17/00
    • The present invention provides a method for modelling a position and orientation of a hand with as small a number of sensors as possible. A first sensor is attached on a phalanx distalis of a finger. The first sensor is adapted to provide information on at least five degrees of freedom that correspond to three translations, yaw and pitch. A second sensor is placed at a fixed position relative to a dorsum or palm of the hand. The second sensor is adapted to provide information on at least six degrees of freedom that correspond to three translations, yaw, pitch and roll with respect to a point of the dorsum or palm of the hand. A position and orientation of each of the first and second sensors is detected. A first distance between said point and a metacarpal-phalangeal joint of the finger, a second distance between the metacarpal-phalangeal joint and a proximal interphalangeal joint, a third distance between the proximal interphalangeal joint and a distal interphalangeal joint, and a fourth distance between the distal interphalangeal joint and the first sensor are measured. A position and orientation of each of the three joints is calculated on the basis of the measured first to fourth distances, the detected position and orientation of the first sensor, and the detected position and orientation of the second sensor.
    • 本发明提供了一种用尽可能少的传感器对手的位置和姿态建模的方法。 第一传感器附着在手指的指骨上。 第一传感器适于提供与三个平移,偏航和俯仰对应的至少五个自由度的信息。 第二传感器相对于背部或手掌放置在固定位置。 第二传感器适于提供关于相对于背部或手掌的点的三个平移,偏航,俯仰和滚动的至少六个自由度的信息。 检测第一和第二传感器中的每一个的位置和方向。 所述点与手指的掌骨指骨关节之间的第一距离,掌骨 - 指骨关节和近端指间关节之间的第二距离,近端指间关节和远端指间关节之间的第三距离,以及第 测量远端指间关节和第一传感器。 基于所测量的第一至第四距离,检测到的第一传感器的位置和取向以及检测到的第二传感器的位置和取向来计算三个关节中的每一个的位置和取向。