一种数据手套交互控制模块的设计与应用

1、Teachers, stude nts, we all good, I am very glad to sta nd here to have a report to youI hope you can enjoy it and give me your suggestionToday I am here to give a prese ntati on on Data glove1数据手套是一种多模式的虚拟现实硬件，通过软件编程，可进行虚拟场景中物体的抓取、 移动、旋转等动作，也可以利用它的多模式性，用作一种控制场景漫游的工具Data glove is a virtual reality h

2、ardware model, through software programm ing, grasp ing, movin g, rotat ing moveme nts of objects in virtual sce ne, can also use multi mode. It is used as a tool to con trol the sce ne roam ing2数据手套一般按功能需要可以分为：虚拟现实数据手套、力反馈数据手套。Data gloves gen erally accord ing to the fun cti on n eed can be divided

3、 in to: virtual reality data gloves, force feedback data gloves.3人们用手势动作来表达思想，感知客观世界，完成各种操作。数据手套就是测量人手空间 姿态的现实硬件，同时也是虚拟现实系统中的非常重要的设备，它可以跟踪手势动作，测量 手指姿态信息。People use gestures to express ideas, to perceive the objective world, to complete a variety of operations. Data glove is the real hardware to meas

4、ure the hand space attitude, and it is also a very important equipment in the virtual reality system. It can track the gestures and measure the gesture information of the finger.4.数据手套是虚拟仿真中最常用的交互工具。Data glove is the most common tool in virtual simulation.一种数据手套交互控制模块的设计与应用(ApplicationofInteractionC

5、ontrolModuleforaDataGlove)摘要:在三维虚拟环境下进行虚拟制造(VM),是当今制造业发展的趋势。数据手套是实现虚拟 现实技术的交互设备之一,数据手套的应用对于虚拟制造非常重要。研究数据手套的功能和 原理,设计了一种面向虚拟制造的数据手套交互控制模块。通过虚拟手的建模以及数据手套 实时采集数据,来实现虚拟手与人手的手势映射,并结合层次包围盒算法实现虚拟手与虚拟场 景的碰撞检测。研究结果显示,在模块下人手到虚拟手的动作映射和虚拟手对虚拟物体的碰 撞检测能基本满足虚拟制造系统的理论要求,具有一定的实用性。关键词:虚拟制造;数据手套;虚拟手;碰撞检测BSTRACT:Virtua

6、lManufacturing(VM)invirtualentironmentisthetrendofthemanufacturingdevelopm enttot-day.DatagloveisoneofthedevicesinVirtualRealityTechnology,andtheimplementationoftheda tagloveisim-portantinvirtualmanufacturing.Throughstudyingtheprincipleandfunctionsofthedatagl ove,aninteractioncon-trolmoduleofdataglo

7、vefitforVirtualManufacturingisdesigned.Throughvirtualhandmodelingandcoll ectingthedatafromdataglove,thehandgesturemappingbetweenthevirtualhandandtherealhandisrealized,andthecolli- siondetectionbetweenvirtualhandandvirtualobjectsisimplementedbyusingBoundingVolumeHierar chy.Resultshowsthatthemodulecan

8、implementthemotionmappingfrom humanhandtovirtualhandandthecollisiondetection betweenvirtualhandandvirtualobjects,anditcanbasicallymeettherequirementofvirtualmanufacturi ngsystem,andhasacertainpracticability.KEYW ORDS:Virtualmanufacturing(VM);Dataglove;Virtualhand;Collisiondetection我们做的工作：融手套交互控制聲融手套

9、交互控制聲每只手套有14 个光电传感器,可测量手指的近指骨和 掌骨间关节之间的弯曲角度,中指骨和远指骨间之间的 弯曲角度以及相邻手指间的外展角度,共计 14个数据在 手套开启和每次更换用户后,需要重新设置并实时更新各 传感器原始数据。通过线性的数学公式,根据原始数据的 最大值和最小值,以及设定的数据取值范围来得到获取数据TThere are 14 photoelectric sensors of each glove, bending angle can be measured between the finger metacarpal and phalangeal joint near th

10、e bend angle between the middle phalanx and far between the phalanx and the adjacent finger abduction angle, a total of 14 data in the glove opening and every change of the user, need to re set and the original data of the sensor real time update. According to the maximum and minimum values of the o

11、riginal data, and the range of人手由手掌、手腕、一个大拇指以及四个相邻的手指组 成,它们由关节相互连接着。在手的运动过程中只有微小的 形状变化,因此在手模型中我们将其简化成刚体。除拇指仅 有两节指骨外,其余各指都有三节指骨,分别称为近指骨、中 指骨和远指骨手的几何模型可用于生成图形及判断手是否与虚拟对象接触或碰撞The hand is composed of a palm, a wrist, a thumb and four adjacent fingers, which are connected by joints. In the motion of the

12、hand, there is only a small change in shape, so we can simplify it into a rigid body in the hand model. Only two fingers except the thumb, the rest that has three phalanx, called the geometric model of proximal phalanx, middle phalanx phalanx and far hand can be used to generate graphics and judge t

13、he hand is in contact with the virtual object or collision根据对人手的运动特点以及外形特征,本模型计划采用椭球形单元组成这种模型结构模型表面相对光滑,可伸 展性强,适用于虚拟手的实时变化。一个椭球形单元由 三条轴线控制,表面光滑,尤其对于手掌不规则的弧形表 面。虚拟手运动的时候只需要改变相应椭球形单元的三 条轴线的位置和方向即可。According to the characteristics of the motion and the shape of the hand, the model is planned to form a

14、relatively smooth surface of the model structure model, which can be used for the real time change of the virtual hand. An ellipsoidal element is controlled by three axes, and the surface is smooth, especially for the irregular curved surface of the palm. The position and direction of the three axis of the corresponding ellipsoidal element can be changed only when the virtual hand movement is changed.结果:result shows that the module can implement the motion mapping from human hand to virtual hand and the collision d