Gesture acquisition system

Abstract

A gesture acquisition system, including: a finger posture acquisition device, a palm following device, and a wristband. The finger posture acquisition device includes a main acquisition module. The palm following device is arranged on a hand or the wrist and is configured to fix the main acquisition module on a palm. The main acquisition module is capable of synchronously swinging with the palm through the palm following device, and is configured to acquire finger postures. The palm following device includes a fixing component and a wrist posture acquisition device. The fixing component is configured to fix the main acquisition module on the palm, and synchronously swings with the palm. The wrist posture acquisition device is connected to the wristband. An end of the wrist posture acquisition device away from the wristband is connected to the fixing component.

What is claimed is: 
     
         1 . A gesture acquisition system, comprising:
 a finger posture acquisition device;   a palm following device; and   a wristband;   wherein the wristband is arranged on a wrist or a forearm; the finger posture acquisition device comprises a main acquisition module; the palm following device is arranged on a hand or the wrist; the palm following device is configured to fix the main acquisition module on a palm of the hand; the main acquisition module is capable of synchronously swinging with the palm through the palm following device; the main acquisition module is configured to acquire finger postures; the palm following device comprises a fixing component and a wrist posture acquisition device; the fixing component is configured to fix the main acquisition module on the palm of the hand, and to synchronously swing with the palm; the wrist posture acquisition device is connected to the wristband; and an end of the wrist posture acquisition device away from the wristband is connected to the fixing component.   
     
     
         2 . The gesture acquisition system of  claim 1 , wherein the fixing component is a sticking part or an attachment; and the main acquisition module is sticked to the palm of the hand by the sticking part or attached to the palm of the hand by the attachment. 
     
     
         3 . The gesture acquisition system of  claim 1 , wherein the fixing component is a C-shaped ring; the C-shaped ring is configured to be sleeved on the palm of the hand; the C-shaped ring is provided with a clamping position; the clamping position is arranged adjacent to the palm of the hand; and the clamping position is configured as a position where the main acquisition module is clamped. 
     
     
         4 . The gesture acquisition system of  claim 3 , wherein the C-shaped ring comprises a first clamping portion and a second clamping portion; the first clamping portion is rotatably connected with the second clamping portion; the clamping position is located where the first clamping portion and the second clamping portion are connected; a torsion spring is provided at the clamping position; and the torsion spring is configured to apply an elastic force opposite to a moving direction of the palm to the first clamping portion and the second clamping portion such that the first clamping portion and the second clamping portion clamp the palm. 
     
     
         5 . The gesture acquisition system of  claim 1 , wherein the fixing component is a C-shaped ring; the C-shaped ring is configured to be sleeved on a side of the hand such that a first end of the C-shaped ring is located at the palm of the hand, and a second end of the C-shaped ring is located at a back of the hand; and the first end of the C-shaped ring is configured for arrangement of the main acquisition module. 
     
     
         6 . The gesture acquisition system of  claim 1 , wherein the wrist posture acquisition device is configured to synchronously swing with the wrist to collect wrist postures. 
     
     
         7 . The gesture acquisition system of  claim 6 , wherein the wrist posture acquisition device comprises a wrist posture acquisition arm and a sensing module arranged on the wrist posture acquisition arm and the wristband; the wrist posture acquisition arm is connected to the wristband, and is configured to synchronously swing with the wrist; and the sensing module is configured to collect posture information of the wrist posture acquisition arm with respect to the wristband, so as to acquire the wrist postures. 
     
     
         8 . The gesture acquisition system of  claim 7 , wherein the wrist posture acquisition arm is made of a rigid material; and the sensing module is an angle sensor. 
     
     
         9 . The gesture acquisition system of  claim 7 , wherein the wrist posture acquisition arm is made of a flexible material; the sensing module is a resistive or capacitive flexion angle sensor; the resistive or capacitive flexion angle sensor is provided along an axis of the wrist posture acquisition arm; and a length of the resistive flexion angle sensor is the same as a length of the wrist posture acquisition arm. 
     
     
         10 . The gesture acquisition system of  claim 8 , wherein the wrist posture acquisition arm comprises an adduction-abduction arm that makes an adduction-abduction motion together with the wrist and a flexion-extension arm that makes a flexion-extension motion together with the wrist. 
     
     
         11 . The gesture acquisition system of  claim 10 , wherein the adduction-abduction arm is articulatedly connected to the flexion-extension arm; an end of the adduction-abduction arm away from the flexion-extension arm or an end of the flexion-extension arm away from the adduction-abduction arm is articulatedly connected with the wristband; the adduction-abduction arm is configured to make the adduction-abduction motion with the wrist around an adduction-abduction axis; the flexion-extension arm is configured to make the flexion-extension motion with the wrist around a flexion-extension axis; the adduction-abduction axis and the flexion-extension axis are both perpendicular to an axis of the wristband; and the adduction-abduction axis is perpendicular to the flexion-extension axis. 
     
     
         12 . The gesture acquisition system of  claim 11 , wherein the angle sensor comprises an adduction-abduction angle sensor and a flexion-extension angle sensor; each of the adduction-abduction arm and the flexion-extension arm has a first end and a second end opposite to the first end; the first end of the adduction-abduction arm is articulatedly connected with the wristband, and the adduction-abduction angle sensor is arranged at the adduction-abduction arm or the wristband; the first end of the flexion-extension arm is articulatedly connected with the second end of the adduction-abduction arm, and the flexion-extension angle sensor is arranged at the flexion-extension arm or the adduction-abduction arm; and when the wristband is arranged on the wrist or the forearm, the second end of the flexion-extension arm is adjacent to the palm of the hand, and the fixing component is arranged on the second end of the flexion-extension arm. 
     
     
         13 . The gesture acquisition system of  claim 12 , wherein the first end of the adduction-abduction arm is articulatedly connected with the wristband through a first articulating shaft; an axis of the first articulating shaft is coaxial with the adduction-abduction axis; the first end of the flexion-extension arm is articulatedly connected with the second end of the adduction-abduction arm through a second articulating shaft; and an axis of the second articulating shaft is coaxial with the flexion-extension axis. 
     
     
         14 . The gesture acquisition system of  claim 11 , wherein the angle sensor comprises an adduction-abduction angle sensor and a flexion-extension angle sensor; each of the adduction-abduction arm and the flexion-extension arm has a first end and a second end opposite to the first end; the first end of the flexion-extension arm is articulatedly connected with the wristband, and the flexion-extension angle sensor is arranged at the flexion-extension arm or the wristband; the first end of the adduction-abduction arm is articulatedly connected with the second end of the flexion-extension arm, and the adduction-abduction angle sensor is arranged at the adduction-abduction arm or the flexion-extension arm; and when the wristband is arranged on the wrist or the forearm, the second end of the adduction-abduction arm is adjacent to the palm of the hand, and the fixing component is arranged on the second end of the adduction-abduction arm. 
     
     
         15 . The gesture acquisition system of  claim 14 , wherein the first end of the adduction-abduction arm is articulatedly connected with the second end of the flexion-extension arm through a first articulating shaft; the first end of the flexion-extension arm is articulatedly connected with the wristband through a second articulating shaft; an axis of the second articulating shaft is coaxial with the flexion-extension axis; and an axis of the first articulating shaft is coaxial with the adduction-abduction axis. 
     
     
         16 . The gesture acquisition system of  claim 12 , wherein the adduction-abduction arm comprises a first arm and a second arm; the flexion-extension arm comprises a third arm and a fourth arm; each of the first arm, the second arm, the third arm, and the fourth arm has a first end and a second end opposite to each other; the first end of the first arm is connected to the first end of the second arm; a connection between the first end of the first arm and the first end of the second arm is articulatedly connected with the wristband, and the adduction-abduction angle sensor is arranged at the connection between the first end of the first arm and the first end of the second arm; the first end of the third arm and the second end of the first arm are articulated at a first point; the first end of the fourth arm and the second end of the second arm are articulated at a second point; the flexion-extension angle sensor is arranged at the second point or the first point; and the second end of the third arm is connected to the second end of the fourth arm. 
     
     
         17 . The gesture acquisition system of  claim 14 , wherein the adduction-abduction arm comprises a first arm and a second arm; the flexion-extension arm comprises a third arm and a fourth arm; each of the first arm, the second arm, the third arm, and the fourth arm has a first end and a second end opposite to each other; the first end of the third arm is connected to the first end of the fourth arm; a connection between the first end of the third arm and the first end of the fourth arm is articulatedly connected with the wristband, and the flexion-extension angle sensor is arranged at the connection between the first end of the third arm and the first end of the fourth arm; the first end of the first arm and the second end of the third arm are articulated at a first point; the first end of the second arm and the second end of the fourth arm are articulated at a second point; the adduction-abduction angle sensor is arranged at the second point or the first point; and the second end of the first arm is connected to the second end of the second arm. 
     
     
         18 . The gesture acquisition system of  claim 7 , wherein the wrist posture acquisition arm is a telescopic pole; the wrist posture acquisition arm comprises a first end located above the wristband or at a side of the wristband and a second end fixedly connected to the hand; a connection between the wrist posture acquisition arm and the wristband is located between the first end and the second end; the first end is configured to swing around the connection between the wrist posture acquisition arm and the wristband; and the sensing module is configured to acquire swing information of the first end to acquire the posture information of the wrist posture acquisition arm, so as to obtain the wrist postures. 
     
     
         19 . The gesture acquisition system of  claim 18 , wherein the sensing module comprises a first angle sensor; the first angle sensor is arranged at the connection between the wrist posture acquisition arm and the wristband; and the first angle sensor is configured to acquire the posture information of the wrist posture acquisition arm, so as to acquire the wrist postures. 
     
     
         20 . The gesture acquisition system of  claim 19 , wherein the fixing component is a C-shaped ring; the C-shaped ring is configured to be sleeved on the palm of the hand; the main acquisition module is arranged on the C-shaped ring; an end of the wrist posture acquisition arm away from the wristband is connected to the C-shaped ring; the sensing module further comprises a second angle sensor; the second angle sensor is arranged at a position where the C-shaped ring and the wrist posture acquisition arm are connected; and the first angle sensor and the second angle sensor are configured to simultaneously acquire the posture information of the wrist posture acquisition arm, so as to acquire the wrist postures. A gesture acquisition system, including: a finger posture acquisition device, a palm following device, and a wristband. The finger posture acquisition device includes a main acquisition module. The palm following device is arranged on a hand or the wrist and is configured to fix the main acquisition module on a palm. The main acquisition module is capable of synchronously swinging with the palm through the palm following device, and is configured to acquire finger postures. The palm following device includes a fixing component and a wrist posture acquisition device. The fixing component is configured to fix the main acquisition module on the palm, and synchronously swings with the palm. The wrist posture acquisition device is connected to the wristband. An end of the wrist posture acquisition device away from the wristband is connected to the fixing component.