Motion Capture Modeling of Dexterous Hand for Intelligent Sensing

Motion capture technology is an emerging comprehensive multidisciplinary field cross technology involving graphics, engineering and communication technology. In order to acquire the posture of dexterous hand, a motion capture model for intelligent perception of dexterous hand was proposed in this paper. Sensing system, which is composed of 16 six axis inertial sensors is used to obtain the acceleration and angular velocity of dexterous hand movement. The Kalman filter algorithm was used to calculate the angle after sensor calibration and fusion. The sensor data was sent and received through an acquisition board using a serial port and the collected sensor angles were transmitted through multiple threads with Socket. A buffer was written to store a large amount of data, which map the fused angle with the hand model on the Unity 3D platform, and transmit the angle information to the corresponding virtual hand joint according to the port number to achieve real-time transmission. This article mapped 15 knuckles one by one, resulting in more accurate mapping. Socket was used for data transfer, offering a faster speed compared to USB. Experimental results show that the proposed method could capture the movements of dexterous hands, and realize the interaction between virtual hands and dexterous hands in Unity 3D. Besides, the angle information is saved by the Json file.