Hand gesture recognition system for controlling electronically controlled devices
申请人:HORSEMOON LLC
公开号:US10191544B2
公开(公告)日:2019-01-29
A remote control including a sensing device incorporated into wristband and having sensors to provide signal inputs relating to the pitch, roil and yaw movements of a user's wrist. A continuous feedback loop with a drift detector receives the sensor signal inputs and a rotation matrix input and uses the sensor signal inputs to calculate a numerical error, A proportional-integral controller receives the calculated numerical error output from the drift detector and outputs a control output to a drift adjuster. A gyroscope provides an input to the drift adjuster to correct for instrument drift and to provide an output to conduct a kinematics and normalization calculation and output a rotation matrix. The feedback loop employs upper and Sower bounds for the rotational matrix to eliminate grossly anomalous feedback numerical errors in sensor device inputs due to sudden angle changes in pitch, roll, or yaw.
一种遥控器,包括一个集成在腕带中的传感装置,其传感器可提供与用户手腕的俯仰、旋转和偏航运动有关的信号输入。带有漂移检测器的连续反馈回路接收传感器信号输入和旋转矩阵输入,并利用传感器信号输入计算数值误差,比例积分控制器从漂移检测器接收计算出的数值误差输出,并向漂移调节器输出控制输出。陀螺仪向漂移调节器提供输入,以校正仪器漂移,并提供输出,以进行运动学和归一化计算,并输出旋转矩阵。反馈回路采用旋转矩阵的上界和下界,以消除传感器设备输入中由于俯仰、滚转或偏航角度突然变化而产生的严重异常反馈数值误差。