Classifications

• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
  • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
  • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
  • G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B5/00—Measuring for diagnostic purposes; Identification of persons
  • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
  • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
  • A61B5/1113—Local tracking of patients, e.g. in a hospital or private home
  • A61B5/1114—Tracking parts of the body
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B5/00—Measuring for diagnostic purposes; Identification of persons
  • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
  • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
  • A61B5/6802—Sensor mounted on worn items
  • A61B5/6804—Garments; Clothes
  • A61B5/6806—Gloves
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
  • G01B11/00—Measuring arrangements characterised by the use of optical techniques
  • G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
  • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
  • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
  • G01D5/268—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light using optical fibres
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
  • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
  • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
  • G06F3/0304—Detection arrangements using opto-electronic means
  • G06F3/0325—Detection arrangements using opto-electronic means using a plurality of light emitters or reflectors or a plurality of detectors forming a reference frame from which to derive the orientation of the object, e.g. by triangulation or on the basis of reference deformation in the picked up image
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
  • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
  • A61B2562/0261—Strain gauges
  • A61B2562/0266—Optical strain gauges
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B5/00—Measuring for diagnostic purposes; Identification of persons
  • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
  • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
  • A61B5/1124—Determining motor skills
  • A61B5/1125—Grasping motions of hands
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B5/00—Measuring for diagnostic purposes; Identification of persons
  • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
  • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
  • A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb using a particular sensing technique
  • A61B5/1127—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb using a particular sensing technique using markers
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B5/00—Measuring for diagnostic purposes; Identification of persons
  • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
  • A61B5/4528—Joints
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B5/00—Measuring for diagnostic purposes; Identification of persons
  • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
  • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
  • A61B5/6813—Specially adapted to be attached to a specific body part
  • A61B5/6825—Hand
  • A61B5/6826—Finger

Definitions

• This invention relates to motion sensors and, more particularly, to a motion sensor disposed in close proximity to a physical body and which produces an asymmetrical output signal in response to symmetrical movement of the body.
• keyboards are used to input data to machines.
• joysticks often are used to input data into a computer, usually so that operations may be selected without the necessity of keying in multiple commands on a keyboard.
• mastering the ope'ra- tion of such input devices is often difficult because the hand movements required to operate the device do not correspond to the visual feedback presented by the display screen of the computer.
• One method and apparatus for overcoming the foregoing disadvantage is to use a data processing apparatus for converting gestures and positions of the hand of a physical operator into a virtual operator, such as an animated version of the hand, for manipulating virtual objects defined by a computer.
• a data processing apparatus for converting gestures and positions of the hand of a physical operator into a virtual operator, such as an animated version of the hand, for manipulating virtual objects defined by a computer.
• flex sensors are disposed in close proximity
• SUBSTITUTE SHEET to the physical operator for producing an output signal in response to movement of the operator's body.
• a flex sensor is disclosed in U.S. Patent No. 4,542,291, issued to Thomas G. Zimmerman and assigned to the present assignee.
• the sensors are placed on a glove for detecting the movements and gestures of the hand of the operator.
• Each sensor comprises a flexible tube having two ends, a reflective interior wall within the flexible tube, and a light source placed within one end of the flexible tube.
• a photosensitive detector placed within the other end of the flexible tube measures the amount of direct and reflected light received from the light source as the tube is bent.
• Another input device used for a somewhat dif ⁇ ferent purpose is described in U.S. Patent No.
• the Grimes patent discloses a glove with sensors for detecting the flexing of finger joints, sensors for detecting contact between various portions of the hand, and sensors for detecting the orientation of the hand.
• the Grimes device is used for translating discrete hand positions representing alpha ⁇ numeric characters into corresponding electrical signals. Although the foregoing devices visually oper ⁇ ate satisfactorily, the sensors used may give erroneous information in certain circumstances.
• the computer may be unable to determine if the output produced by the sensors corre ⁇ spond to movement in the desired direction. That is, the sensors provide the same signal when the two members are _ n symmetrically opposite positions so that the computer may receive and process the data as if the data represented movement in the relevant direction when, in fact, that is not the case. Consequently, the computer is unable to translate the movements of the operator into the proper form, or the translation is performed incorrectly and the results are meaningless.
• the present invention is directed to a motion sensor for measuring movement of a physical body which moves symmetrically with respect to a boundary.
• the motion sensor monitors movement of the body and pro ⁇ vides an asymmetrical output signal in response to the symmetrical movement of the body.
• a plurality of motion sensors are placed over the joints of a hand and provide an asymmetrical output signal which indicates the direc ⁇ tion of movement of the hand.
• the motion sensors comprise an opti ⁇ cal fiber disposed between a light source and a light sensor.
• a flexible tube is disposed in close proximity to a finger joint and bends in response to bending of the finger.
• a light source and light sensor are provided on opposite ends of the tube for continuously indicat- ing the extent of bending of the tube.
• a wedge is dis ⁇ posed between the tube and the finger for setting the tube in a prescribed orientation, e_____g_._. straight, when the finger is in a prescribed position, e.g. , hyper ⁇ extended.
• a light source and light sensor are positioned in close proximity to a finger joint so that bending of the fin ⁇ ger toward the palm causes the source and sensor to move away from each other. Bending the finger in the other direction causes the source and sensor to move toward each other.
• a guide faces the light emitted by the source toward the sensor so that the degree of bending may be determined by the amount of light re- ceived by the sensor.
• FIG. 1 is an overall perspective view of a data processing system according to the present inven- tion wherein movements of a part of a body of a physi ⁇ cal operator are converted into a virtual operator for manipulating a virtual object represented in the data processing system.
• Fig. 2 is a view of a finger bent in a normal direction of movement.
• Fig. 3 is a view of a finger which illustrates the finger in a hyperextended position.
• Fig. 4a is a back view of an instrumented glove assembly according to the present invention.
• Fig. 4b is a palm-side view .of the instru ⁇ mented glove assembly of Fig. 4a.
• Fig. 4c is a side view of the instrumented glove assembly of Fig. 4a.
• Fig. 5 is a sectional detailed view of one finger of the instrumented glove assembly of Figs. 4a, 4b, and 4c with the finger having an extended orienta ⁇ tion.
• Fig. 6 is a sectional detailed view of one finger of the instrumented grove assembly of Figs. 4a, 4b, and 4c with the finger having a bent orientation.
• Figs. 7a and 7b are straight and bent views, respectively, of an optical fiber having an abraded upper surface.
• Figs. 8a and 8b are straight and bent views, respectively, of an optical fiber having a notched up ⁇ per surface.
• Figs. 9a and 9b are straight and bent views, respectively, of a layered multimode step index optical fiber having a portion of the upper layer removed.
• Fig. 10 is a view of an alternative embodi ⁇ ment of the invention wherein a retroreflector is fit ⁇ ted on the end of an optical fiber.
• Fig 11 is a graph showing light intensity as a function of movement of the finger of Figs. 5 and 6.
• Fig. 12a is a back view of an alternative embodiment of an instrumented glove assembly according to the present invention.
• Fig. 12b is a palm-side view of the instru ⁇ mented glove assembly of Fig. 11.
• Fig. 12c is a side view of the instrumented glove assembly of Fig. 11.
• Fig. 13 is a sectional detailed view of an alternative embodiment of the instrumented glove assem ⁇ bly disposed on a finger in a hyperextended orienta- tion.
• Fig. 14 is a sectional detailed view of the instrumented glove assembly of Fig. 13 with the finger having a bent orientation.
• Fig. 15 is a sectional detailed view of an alternative embodiment of an instrumented glove assem ⁇ bly disposed on a finger in a hyperextended orienta ⁇ tion.
• Fig. 16 is a sectional detailed view of the instrumented glove assembly of Fig. 15 with the finger having a bent orientation.
• Fig. 1 is an overall perspective view of a data processing system 4 wherein movements of a part of the body 10 of a physical operator 12 are converted into a virtual operator 16 for manipulating a virtual object 18 represented on a display screen of data pro ⁇ cessing system 4.
• the movements of physical operator 12 preferably are converted into virtual operator 16 through instrumentation disposed in close proximity to a part of the body 10 of physical operator 12, prefera ⁇ bly on the clothing of physical operator 12.
• the movements of a hand 22 of physical operator 12 are converted into virtual opera ⁇ tor 16 through a glove 24. It is to be understood, however, that the present invention may be employed along any part of the body of physical operator 12 which may be used for entering data into data processing system 4.
• Figs. 2 and 3 are diagrams illustrating a part of the body of physical operator 12, e.g., a fin ⁇ ger 30, the movement of which is useful for entering data into data processing system 4.
• finger 30 is capable of moving symmetri ⁇ cally with respect to a boundary line X.
• the movement o the lower side of boundary X illustrated in Fig. 2 may be termed the "normal" field of movement, since that is the direction of movement which is normally employed to manipulate an object.
• the movement on the other side of boundary X, depicted in Fig. 3, may be termed the "null" field of movement, the measurement of which has little or no value in some applications. If a sensor disposed on finger 30 measures only the amount of bend of finger 30 and not its direction, then there is no way of determining whether the data provided by
• Fig.s 4a, 4b, and 4c illustrate one embodi- ment of a glove assembly 24 used to enter data into data processing system 16.
• Glove assembly 24 contains several sensors 34 disposed next to the finger joints of the hand for responding to gestures of the hand.
• the software portion of data processing system 4 receives gesture-indicating data from sensors 34 and enters com ⁇ mands into data processing 4 according to the gestures recognized. These commands relate to the conversion of movements of the hand 22 of physical operator 12 into virtual operator 16.
• Figs. 5 and 6 illustrate one embodiment of sensor 34 for detecting movement of finger 30 in a pre ⁇ scribed direction.
• sensor 34 comprises a light source 38, a source of electromagnetic radiation, preferably a sensor for electromagnetic ⁇ radiation, pre- ferably a light sensor 42, and an optical fiber 46 for communicating the light emitted by source 38 to sensor 42.
• the upper surface 50 thereof may be treated as shown in Figs. 7a, 8a, and 9a.
• upper surface 50 has abrasions 54 disposed therein so that, when the fiber is bent as shown in Fig. 7b, a significant amount of light impinging upon abrasions 54 will be allowed to pass through upper surface 50, and hence never reach sensor 42.
• Fig. 7a upper surface 50 has abrasions 54 disposed therein so that, when the fiber is bent as shown in Fig. 7b, a significant amount of light impinging upon abrasions 54 will be allowed to pass through upper surface 50, and hence never reach sensor 42.
• an ⁇ other technique for increasing the transmission loss through optical fiber 46 is to form upper surface 50 having a plurality of notches 58 so that, when the fiber is bent as shown in Fig. 8b, the surfaces of notches 58 substantially increase the angle of incidence of light rays impinging against upper surface 50 above the crit ⁇ ical angle at which the light would be reflected, and hence a significant amount of light is transmitted through upper surface 50 and never reaches sensor 42.
• a similar effect may result by appropriate treatment of a layered multiple step index optical fiber 46 having an inner core 62 and an outer core 64 as shown in Fig. 9a.
• Outer core 64 preferably has a higher index of reflection than air.
• the outer core 64 is removed on upper surface 50 so that air forms a boundary with core 62. Accordingly, the indices of reflection at the boundary of core 62 are brought substantially closer, and a significant amount of light impinging on the mod ⁇ ified boundary is allowed to pass through and never reaches sensor 42.
• optical fiber 46 may have a retroreflector 68 disposed on its other end so that light emitted by light source 38 is reflected by retro- reflector 68 and communicated to sensor 42 back through optical fiber 46. Still further simplicity results by using the embodiment of sensor 34 disclosed in Figs. 12a, 12b, and 12c.
• optical fiber 46 originates and terminates at a control block 72, which contains the associated light sources 38 and light sen- sors 42 (not shown) .
• control block 72 which contains the associated light sources 38 and light sen- sors 42 (not shown) .
• optical fiber 46 loops around each finger of hand 22, and the upper surface of optical fiber 46 is treated as hereinbefore described in the vicinity of each joint to be monitored.
• Figs. 13 and 14 disclose another embodiment of the present invention particularly well suited for a sensor constructed in accordance with U. S. Patent No. 4,542,291.
• sensor 34 includes a light source 38 and a light sensor 42 disposed on opposite ends of a flexible tube 76 for providing a signal con- tinuously indicative of the extent of the bending of finger 30.
• a wedge 80 is disposed between tube 76 and finger 30 for setting the tube in a pre ⁇ scribed orientation when finger 30 is in a prescribed position.
• wedge 80 sets tube 76 generally straight when finger 30 is positioned at the limit of movement in the null field as shown in Fig. 13.
• Soft ⁇ ware within data processing system 4 then may be drafted to calculate the amount of bend in finger 30 in the normal field of movement.
• Figs 15 and 16 illustrate another embodiment of the present invention wherein a light source 38 and a light sensor 42 are positioned on finger 30 so that bending of finger 30 causes source 38 and sensor 42 to move relative to each other.
• the light emitted by source 38 should always face sensor 42 when source 38 and sensor 42 move relative to each other to facilitate measurements.
• This may be accomplished, for example, by connecting an optical fiber 80 to one of source 38 or sensor 42, preferably source 38, so that a free end 84 of optical fiber 80 faces the other source or sensor, preferably sensor 42.
• the free end 84 of optical fiber 80 then may be disposed within a guide, preferably a flexible tube 88, so that the light emitted by source 38 will face sensor 42 when source 38 and sensor 42 move relative to each other.
• Tube 88 prefer- ably is connected to the source or sensor located prox ⁇ imate to the free end 84 of optical fiber 80 to enhance reliability of the guiding function.
• this embodi ⁇ ment When this embodi ⁇ ment is in operation, light emitted by source 38 will be detected by sensor 42 as it is emitted from the free end 84 of optical fiber 80. If finger 30 bends in the normal field of movement, e.g., downward, then free end 84 of optical fiber 80 moves away from sensor 42, and hence the light detected by sensor 42 decreases- in in ⁇ tensity. On the other hand, when finger 30 moves in the null field, the free end 84 of optical fiber 80 moves closer to sensor 42 until it touches sensor 42 and the intensity of light received by sensor 42 remains the same.
• optical fiber 46 in Figs. 5 and 6 may be treated in any way which increases the transmission loss through the upper portion of the fiber, such as by scraping, index matching through paint or other coating, etching with acid, eccentric scoring, and by deformation of the upper surface through laser, heat, or ultrasonic methods.
• the embodiment of sensor 34 disclosed in Figs. 15 and 16 may be used by encir ⁇ cling the sensor around the torso of the body to measure expansion and contraction of the torso as a result of inhalation and exhalation.
• optical fiber 80 in these embodiments may be eliminated, and light source 38 may be disposed on a track which maintains source 38 facing sensor 42. Consequently, the description should not be used to limit the scope of the invention which is properly described in the claims.

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• Theoretical Computer Science (AREA)
• General Engineering & Computer Science (AREA)
• Molecular Biology (AREA)
• Public Health (AREA)
• Medical Informatics (AREA)
• Biomedical Technology (AREA)
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• Animal Behavior & Ethology (AREA)
• General Health & Medical Sciences (AREA)
• Heart & Thoracic Surgery (AREA)
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• Human Computer Interaction (AREA)
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• 1988
  • 1988-03-23 EP EP19880903612 patent/EP0352291A4/en not_active Withdrawn
  • 1988-03-23 WO PCT/US1988/000926 patent/WO1988007659A1/en not_active Ceased

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