Strain-sensing goniometers, systems, and recognition algorithms
First Claim
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1. An instrumented glove for use in an interface between a human and a machine, the instrumented glove comprising:
- a cover material configured to fit on the hand of a wearer, and a plurality of goniometers supported by said cover material and positioned to flex with movement of the hand, said cover material including guiding elements in which said goniometers are supported, each goniometer comprising a variable resistance strain sensing element mounted on a flexible support material, and a device electrically connected to said strain sensing elements operative to transmit changes in resistance of said plurality of strain sensing elements to circuitry of the machine.
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Abstract
Goniometers are provided having internal compensation employing two opposing variable resistance strain sensing elements separated by a flexible film. The goniometers may be used in sets for detecting complex hinge or joint movements, where patterns of hinge or joint positions may be used to define symbols. Algorithms are provided for parsing values from a system of goniometers in motion having information content.
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Citations
19 Claims
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1. An instrumented glove for use in an interface between a human and a machine, the instrumented glove comprising:
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a cover material configured to fit on the hand of a wearer, and a plurality of goniometers supported by said cover material and positioned to flex with movement of the hand, said cover material including guiding elements in which said goniometers are supported, each goniometer comprising a variable resistance strain sensing element mounted on a flexible support material, and a device electrically connected to said strain sensing elements operative to transmit changes in resistance of said plurality of strain sensing elements to circuitry of the machine. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system comprising:
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a sensor configured to generate an electrical signal indicative of a configuration of a body part fitted with a covering configured to fit on the body part;
a plurality of goniometers supported by said covering and positioned to flex with movement of at least portions of the body part, and a computer configured to receive the electrical signal, said computer including pattern recognition procedure responsive to body part state vectors for recognizing body part position and orientation, and a first output circuit responsive to said computer providing an output recognized by said pattern recognition procedure, said pattern recognition procedure incorporating a tree-structured neural network classifier.
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10. An instrumented interface glove comprising:
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a cover material configured to fit on a portion of a hand of a wearer, the cover material including a finger portion into which a finger of the wearer may be inserted, the finger portion comprising an open end so that the tip of the finger may extend through the open end; and
a plurality of goniometers supported by said cover material and positioned to flex with movement of the hand and to generate signals related to movement of the hand, said cover material including guiding elements in which said goniometers are supported. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18, 19)
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Specification