MODELLING OF HAND AND ARM POSITION AND ORIENTATION

摘要

The present invention provides a method for modelling a position and orientation of a hand with as small a number of sensors as possible. A first sensor is attached on a phalanx distalis of a finger. The first sensor is adapted to provide information on at least five degrees of freedom that correspond to three translations, yaw and pitch. A second sensor is placed at a fixed position relative to a dorsum or palm of the hand. The second sensor is adapted to provide information on at least six degrees of freedom that correspond to three translations, yaw, pitch and roll with respect to a point of the dorsum or palm of the hand. A position and orientation of each of the first and second sensors is detected. A first distance between said point and a metacarpal-phalangeal joint of the finger, a second distance between the metacarpal-phalangeal joint and a proximal interphalangeal joint, a third distance between the proximal interphalangeal joint and a distal interphalangeal joint, and a fourth distance between the distal interphalangeal joint and the first sensor are measured. A position and orientation of each of the three joints is calculated on the basis of the measured first to fourth distances, the detected position and orientation of the first sensor, and the detected position and orientation of the second sensor.