Apparatus for acquiring human finger manipulation data

• US 20010034947A1
• Filed: 12/29/2000
• Published: 11/01/2001
• Est. Priority Date: 04/26/2000
• Status: Active Grant

• Current Assignee: Kabushiki Kaisha Square Enix
• Original Assignee: Kabushiki Kaisha Square Enix
• Inventors: Nagata, Kazuyuki
• Granted Patent: US 6,526,669 B2
• Time in Patent Office: Days
• US Class Current: 33/503
• CPC Class Codes: A61B 5/1125 Grasping motions of hands
• CPC Class Codes: A61B 5/225 of the fingers, e.g. by monitoring hand-grip force
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61B 5/6826 Finger
• CPC Class Codes: A61B 5/6838 Clamps or clips
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: B25J 13/084 Tactile sensors in general G01L5/16, G01L5/22
• CPC Class Codes: B25J 13/085 Force or torque sensors B25J13/082, B25J13/084 take precedence
• CPC Class Codes: G06F 3/014 Hand-worn input/output arrangements, e.g. data gloves

Abstract

An apparatus for acquiring human finger manipulation data includes at least one finger motion detector consisting of a force sensor to be fitted on a human fingertip, at least three links and at least four angle detectors; and a base supporting the finger motion detector. The base can be attached to an external mount or a human hand. The force sensor is connected to the base through a link mechanism constituted by the links, and the angle detectors are attached at pivots between the links and optionally at a pivot between the link mechanism and the base. Three-dimensional motion of the finger is determined by measuring data of the angle detectors of the link mechanism, and fingertip contact force is measured by the force sensor. Up to five finger motion detectors, one for the thumb and each finger, can be supported on the base.

Claims

1. An apparatus for acquiring human finger manipulation data comprising:

at least one finger motion detector composed essentially of a force sensor capable of being fitted on a human fingertip, at least three links and at least four angle detectors; and

a base supporting the finger motion detector;

wherein the base is attachable to an external mount or a human hand,

the force sensor is fittable on a human finger and connected to the base through a link mechanism constituted by the plurality of links,

the at least four angle detectors are attached at pivots between the links constituting the link mechanism and optionally at a pivot between the link mechanism and the base,

three-dimensional motion of the finger is determined by measuring data of the angle detectors of the link mechanism, and

fingertip contact force is measured by the force sensor.

2. An apparatus according to

claim 1

, wherein the angle detectors are potentiometers or encoders.

3. An apparatus according to

claim 1

, wherein not fewer than one and not more than five finger motion detectors are supported on the base.

4. An apparatus according to

claim 2

, wherein not fewer than one and not more than five finger motion detectors are supported on the base.

5. An apparatus according to

claim 1

, further comprising an inclination angle sensor installed on the base for measuring inclination of the base relative to vertical.

6. An apparatus according to

claim 2

, further comprising an inclination angle sensor installed on the base for measuring inclination of the base relative to vertical.

7. An apparatus according to

claim 3

, further comprising an inclination angle sensor installed on the base for measuring inclination of the base relative to vertical.

8. An apparatus according to

claim 1

, wherein the base is attached to a glove to be worn on a human hand.

9. An apparatus according to

claim 2

, wherein the base is attached to a glove to be worn on a human hand.

10. An apparatus according to

claim 3

, wherein the base is attached to a glove to be worn on a human hand.

11. An apparatus according to

claim 4

, wherein the base is attached to a glove to be worn on a human hand.

12. An apparatus according to

claim 5

, wherein the base is attached to a glove to be worn on a human hand.

13. An apparatus according to

claim 6

, wherein the base is attached to a glove to be worn on a human hand.

14. An apparatus according to

claim 7

, wherein the base is attached to a glove to be worn on a human hand.