基于数据手套的虚拟手精确建模的研究与实现

Study and Implementation of Precise Modeling of Virtual-Hand Based on Data Glove

研究针对虚拟手与真实手的运动匹配问题,结合人手部的解剖学特征和机构学原理,提出将手部简化为合理的杆架机构,并采用实际物理参数测量等手段,为保证手部几何模型及运动映射的精确性与个性化,给出运动学建模、数据手套标定及采集数据处理的具体方法。结果搭建试验的平台对方法及实现进行验证,试验中虚拟手与真实手运动匹配良好,表明提出的实现方法有效且实用。

To solve the motion matching problem between virtual-hand and real hand,the paper simplifies hand model into proper linkage mechanism according to the anatomical property of human hand and the mechanics principle,and takes the actual physical parameters of hand into account to ensure the accuracy and individuality of hand geometry model.Also,the methods of kinematics modeling,data glove＇s calibration and data processing are given in detail in this paper.At last,a test platform is established to verify the validity and practicability of the methods and implementation.In experiments the motion between virtual hand and real hand matches very well,and the results demonstrate that the methods proposed in this paper are very practical and effective.