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    • 5. 发明授权
    • Forearm-supported exoskeleton hand-tracking device
    • 前臂支持的外骨骼手动跟踪装置
    • US6104379A
    • 2000-08-15
    • US988602
    • 1997-12-10
    • Kyle L. PetrichJaime S. VargasJoe WagnerMark YimJames F. Kramer
    • Kyle L. PetrichJaime S. VargasJoe WagnerMark YimJames F. Kramer
    • G06F3/00G06F3/01G09G5/08
    • G06F3/014G06F3/011
    • A man-machine interface device is provided which employs rigid links interconnected by measured revolute joints to provide the position of a hand relative to a reference location, such as a desk, keyboard or chair. By proper selection of kinematic structure, and by placing one of the joints near the elbow and extending one of the links along the line of the forearm, translation of the joint-link structure is minimized, hence the undesirable perception of friction and inertia are also minimized. When Hall-Effect sensors are used as the revolute joint goniometers, the permanent magnets of neighboring joints are placed in the same link so the effects of magnetic field interference can be calibrated out. A hand-sensing joint-link device as described herein can produce data which is more noise free, at a higher sample rate, with less latency and more robust that competing electromagnetic, optical and ultrasonic sensing technologies, without adding much encumbrance. The output from the hand-sensing device may be used to produce a graphical "virtual hand" on a computer monitor which mimics the movement of the measured physical hand. The hand-sensing joint-link device may also be used with a finger-sensing joint-link device to provide data on the movements of the fingers and hand. When a right and left finger- and hand-sensing joint-link devices are used, the wearer can use both hands to manipulate virtual objects on a computer monitor.
    • 提供了一种人机界面装置,其使用通过测量的旋转接头互连的刚性连杆,以提供手相对于参考位置(例如桌面,键盘或椅子)的位置。 通过适当选择运动学结构,并且通过将一个接头放置在肘部附近并且沿着前臂的线延伸一个连杆,使关节连杆结构的平移最小化,因此不期望的摩擦和惯性感知也是 最小化。 当使用霍尔效应传感器作为旋转关节测角器时,相邻接头的永磁体被放置在相同的连杆上,从而可以校正磁场干扰的影响。 如本文所述的手感传感联合装置可以以更高的采样速率产生更无噪声的数据,具有更少的等待时间和更强的竞争性电磁,光学和超声波感测技术,而不增加太多的负担。 来自手持感测装置的输出可以用于在计算机监视器上产生模拟测量的物理手的运动的图形“虚拟手”。 手感传感联接装置还可以与手指感测联合连接装置一起使用以提供关于手指和手的运动的数据。 当使用右手指和左手指和手感联合装置时,佩戴者可以使用双手来操纵计算机监视器上的虚拟对象。