Apparatus for acquiring human finger manipulation data

• US 6,526,669 B2
• Filed: 12/29/2000
• Issued: 03/04/2003
• Est. Priority Date: 04/26/2000
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Square Enix
• Original Assignee: Kabushiki Kaisha Square Enix
• Inventors: Nagata, Kazuyuki
• Primary Examiner(s): Gutierrez, Diego
• Assistant Examiner(s): VERBITSKY, GAIL KAPLAN
• Application Number:
  US09/749,951
• Publication Number:
  US 20010034947A1
• Time in Patent Office: 795 Days
• Field of Search: 335/03, 335/12, 33/1.PT, 700/245, 700/318, 700/568.1, 700/568.11, 700/568.213, 414/5, 395/99, 340/407.1, 364/806, 345/157
• 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, the apparatus comprising:

a finger motion detector composed essentially of at least three links, at least four angle detectors, and a six-axis force sensor adapted to being fitted on a fingertip of a human finger of a human hand of an operator, the six-axis force sensor comprising a fingerstall adapted to have the fingertip of the human finger of the human hand inserted therein, a finger cover having a mounting block and for making contact with an object, and an elastic structure disposed between the fingerstall and the finger cover, the finger cover being connected and fixed to the elastic structure via the mounting block; and

a base supporting the finger motion detector, wherein the base is adapted to being attached to either an external mount or the human hand,

wherein the six-axis force sensor is adapted to being fit on the human finger of the human hand of the operator and connected to the base through a link mechanism constituted by the at least three links,

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

wherein a position and a posture of the fingertip of the human finger of the human hand of the operator is determined by measuring a motion of the link mechanism, and wherein fingertip contact force is measured by the six-axis force sensor.

2. The apparatus according to claim 1, wherein the angle detectors are potentiometers or encoders.

3. The apparatus according to claim 1, wherein not fewer than one and not more than five of the finger motion detectors are supported on the base.

4. The apparatus according to claim 2, wherein not fewer than one and not more than five of the finger motion detectors are supported on the base.

5. The apparatus according to claim 1, wherein the base is provided with an inclination angle sensor for measuring angles of inclination of the base relative to a reference coordinate system, the reference coordinate system consisting of a roll angle, a pitch angle, and a yaw angle.

6. The apparatus according to claim 2, wherein the base is provided with an inclination angle sensor for measuring angles of inclination of the base relative to a reference coordinate system, the reference coordinate system consisting of a roll angle, a pitch angle, and a yaw angle.

7. The apparatus according to claim 3, wherein the base is provided with an inclination angle sensor for measuring angles of inclination of the base relative to a reference coordinate system, the reference coordinate system consisting of a roll angle, a pitch angle, and a yaw angle.

8. The apparatus according to claim 1, wherein the base is attached to a glove adapted to be worn on the human hand of the operator.

9. The apparatus according to claim 2, wherein the base is attached to a glove adapted to be worn on the human hand of the operator.

10. The apparatus according to claim 3, wherein the base is attached to a glove adapted to be worn on the human hand of the operator.

11. The apparatus according to claim 4, wherein the base is attached to a glove adapted to be worn on the human hand of the operator.

12. The apparatus according to claim 5, wherein the base is attached to a glove adapted to be worn on the human hand of the operator.

13. The apparatus according to claim 6, wherein the base is attached to a glove adapted to be worn on the human hand of the operator.

14. The apparatus according to claim 7, wherein the base is attached to a glove adapted to be worn on the human hand of the operator.