一種數(shù)據(jù)手套交互控制模塊的設(shè)計與應(yīng)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數(shù)據(jù)手套是一種多模式的虛擬現(xiàn)實硬件，通過軟件編程，可進行虛擬場景中物體的抓取、 移動、旋轉(zhuǎn)等動作，也可以利用它的多模式性，用作一種控制場景漫游的工具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數(shù)據(jù)手套一般按功能需要可以分為：虛擬現(xiàn)實數(shù)據(jù)手套、力反饋數(shù)據(jù)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人們用手勢動作來表達思想，感知客觀世界，完成各種操作。數(shù)據(jù)手套就是測量人手空間 姿態(tài)的現(xiàn)實硬件，同時也是虛擬現(xiàn)實系統(tǒng)中的非常重要的設(shè)備，它可以跟蹤手勢動作，測量 手指姿態(tài)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.數(shù)據(jù)手套是虛擬仿真中最常用的交互工具。Data glove is the most common tool in virtual simulation.一種數(shù)據(jù)手套交互控制模塊的設(shè)計與應(yīng)用(ApplicationofInteractionC

5、ontrolModuleforaDataGlove)摘要:在三維虛擬環(huán)境下進行虛擬制造(VM),是當(dāng)今制造業(yè)發(fā)展的趨勢。數(shù)據(jù)手套是實現(xiàn)虛擬 現(xiàn)實技術(shù)的交互設(shè)備之一,數(shù)據(jù)手套的應(yīng)用對于虛擬制造非常重要。研究數(shù)據(jù)手套的功能和 原理,設(shè)計了一種面向虛擬制造的數(shù)據(jù)手套交互控制模塊。通過虛擬手的建模以及數(shù)據(jù)手套 實時采集數(shù)據(jù),來實現(xiàn)虛擬手與人手的手勢映射,并結(jié)合層次包圍盒算法實現(xiàn)虛擬手與虛擬場 景的碰撞檢測。研究結(jié)果顯示,在模塊下人手到虛擬手的動作映射和虛擬手對虛擬物體的碰 撞檢測能基本滿足虛擬制造系統(tǒng)的理論要求,具有一定的實用性。關(guān)鍵詞:虛擬制造;數(shù)據(jù)手套;虛擬手;碰撞檢測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我們做的工作：融手套交互控制聲融手套

9、交互控制聲每只手套有14 個光電傳感器,可測量手指的近指骨和 掌骨間關(guān)節(jié)之間的彎曲角度,中指骨和遠指骨間之間的 彎曲角度以及相鄰手指間的外展角度,共計 14個數(shù)據(jù)在 手套開啟和每次更換用戶后,需要重新設(shè)置并實時更新各 傳感器原始數(shù)據(jù)。通過線性的數(shù)學(xué)公式,根據(jù)原始數(shù)據(jù)的 最大值和最小值,以及設(shè)定的數(shù)據(jù)取值范圍來得到獲取數(shù)據(jù)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、一個大拇指以及四個相鄰的手指組 成,它們由關(guān)節(jié)相互連接著。在手的運動過程中只有微小的 形狀變化,因此在手模型中我們將其簡化成剛體。除拇指僅 有兩節(jié)指骨外,其余各指都有三節(jié)指骨,分別稱為近指骨、中 指骨和遠指骨手的幾何模型可用于生成圖形及判斷手是否與虛擬對象接觸或碰撞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根據(jù)對人手的運動特點以及外形特征,本模型計劃采用橢球形單元組成這種模型結(jié)構(gòu)模型表面相對光滑,可伸 展性強,適用于虛擬手的實時變化。一個橢球形單元由 三條軸線控制,表面光滑,尤其對于手掌不規(guī)則的弧形表 面。虛擬手運動的時候只需要改變相應(yīng)橢球形單元的三 條軸線的位置和方向即可。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.結(jié)果:result shows that the module can implement the motion mapping from human hand to virtual hand and the collision d