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WO2009130573A1 - Procédé et dispositif de détermination des gestes effectués par la main d’un utilisateur - Google Patents

Procédé et dispositif de détermination des gestes effectués par la main d’un utilisateur Download PDF

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Publication number
WO2009130573A1
WO2009130573A1 PCT/IB2009/005323 IB2009005323W WO2009130573A1 WO 2009130573 A1 WO2009130573 A1 WO 2009130573A1 IB 2009005323 W IB2009005323 W IB 2009005323W WO 2009130573 A1 WO2009130573 A1 WO 2009130573A1
Authority
WO
WIPO (PCT)
Prior art keywords
wrist
hand
gestures
user
electronic device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2009/005323
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English (en)
Inventor
Sergei Startchik
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of WO2009130573A1 publication Critical patent/WO2009130573A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • A61B5/681—Wristwatch-type devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/40—Detecting, measuring or recording for evaluating the nervous system
    • A61B5/4029—Detecting, measuring or recording for evaluating the nervous system for evaluating the peripheral nervous systems
    • A61B5/4041—Evaluating nerves condition

Definitions

  • the p resent invention relates to a method and a device for determining gestures mi de by a user with his hand.
  • the present invention relates in particular tc a method and a device for determining hand gestures by measuring n ⁇ ural activity in the wrist.
  • Electrodes combined with a glove are p aced over the palm to measure muscle activity. Processing of the signals is dc ne on a computer.
  • EMG measureme its are done to be transferred to a computer for further analysis by a doctor.
  • EEG is computed in a special way.
  • An algorithm to integrate and combine measurements done at various points is described in WO2007140536.
  • a method for c earer separation of signals is presented in WO2008019407.
  • An ob ective of the present invention is to provide a method and a device for reliably id sntifying gestures executed by the hand of a user.
  • Anoth ;r aim of the present invention is to provide a device for identifying gestures exe Duted by the hand of a user, which can be worn by the user during extended peqiods of time without affecting its mobility.
  • a method for determining gestures ma _e by a user with his palm and/or with his fingers comprising: measuring € ectric signals generated by a neural activity at a plurality of locations at a wrist of the user; processing the measured electric signals in order to dete mnine which nerve is activated and to which extent; determining a gesture mad ⁇ by the user on the basis of the determined neural activity.
  • a wrist device for determining gestures made by a user with his palm and/or with his fingers comprising: a bracelet for securing the wrist device around a wrist of the user; a plurality of e ectrodes and/or electromagnetic coils placed on and/or within the bracelet for measuring electric signals generated by a neural activity within the wrist.
  • the electric signals comprise ele ctric potentials and/or electric currents measured by a plurality of electrodes in
  • the electric signals comprise electromagn ⁇ tic fields measured by a plurality of electromagnetic coils placed in close vicinity to said wrist.
  • the electromagnetic fields are preferably measured at numerous points around the wrist so as to disambiguate signal capturing from nerves.
  • the determination of the gesture made by the user is preferably performed b ! using information about the position of the measurement points around the wrist in order to allow signal processing algorithms obtaining disambiguat ⁇ d conclusion about which nerve is active and to which extent.
  • an alphabet of gestures is determined, each gesture correspondir g for example to a specific command for a specific electronic device.
  • the letermination of gestures is then preferably calibrated with the help of one or mo e gestures of the alphabet.
  • an electronic device is operated with gestures made by a i ser with his palm and/or with his fingers by determining a gesture made by th s user with his palm and/or with his fingers with the method described al ove and generating and sending to the electronic device at least one commar d signal corresponding to the determined hand gesture.
  • the i first device of the invention preferably comprises a control unit electrically connected to the electrodes and/or electromagnetic coils for collecting a id interpreting the measured signals, where the control unit comprises f >r example a controller for generating one or more command signals base i on a determined gesture, and an interface for sending the one or more comm nd signal to an external electronic device.
  • the r ⁇ sult is thus a hand gesture operated device comprising a wrist device acc ⁇ rding to the invention and an electronic device electrically connected t the wrist device, wherein the electronic device is operated by command si jnals generated by the wrist device, the commands corresponding to gestures letermined by the wrist device.
  • the electronic device operated by the commar ds generated by the wrist device of the invention is for example a watch, a me bile phone, a smartphone, a PDA, a wireless virtual keyboard for connection t a a computer, a remote control, or a voice generation device that pronounces iand signs executed by the user.
  • the device of the invention measures the activity of the wrist nerves during exec Jtion of various gestures of the palm and fingers of the user and reliably anc rapidly identifies the gestures being executed.
  • Automatically identified ge stures are then for example used to operate one or more various devices cor nected or combined with the device of the invention, like for example a v atch, a mobile phone, a PDA, a remote control and/or a keyboard, These devic ;s operated by gestures are operated with high flexibility since they are operatei by using only one hand and without depending on the buttons' size.
  • Device s do not need to be taken, held and touched during operation thus offering mot lity. Free hands offer security as well.
  • Fig. 1 shows an embodiment of the device of the invention for use with a mobile phor e
  • Fig. is a view of a transversal cut of a human wrist with the position of the nerves;
  • Fig. illustrates the construction of the device of the invention according to a preferre d embodiment;
  • Fig. illustrates the construction of the device of the invention according to a preferre d embodiment
  • Fig. J shows the form of signals during nerve activation
  • Fig. ( » shows example of gestures corresponding to different possible commands
  • Fig- 7 illustrates an example of classification of distinguishable and possible har id gestures
  • Fig. £ illustrates an algorithm for identifying hand gestures
  • Fig. S is a scheme of a possible realization of the device of the invention.
  • the activity of nerves controlling human fingers and palm produces electric curi snts and electromagnetic fields that despite their weakness and according i the invention are measured in a non-invasive way.
  • the human palm is con oiled by two sets of nerves as shown on Fig. 2.
  • the median nerve 20 controls the first four fingers and the ulnar nerve 21 controls the fifth and some muse ⁇ S of the fourth finger.
  • the me ⁇ ian nerve 20 is located in the center of the wrist and the ulnar nerve 21 is locate I on the periphery of the wrist section.
  • these nerves activate muscles of the palm and fingers, they produce electric currents and electromagnetic fit Ids.
  • the neural activity in the wrist is determined >y measuring these electric currents and/or electromagnetic fields.
  • the evice of the invention is thus preferably a wrist device measuring the electric field produced by the neural activity in the wrist of a user.
  • the device corn irises a base unit which includes for example a wrist-watch like housing, a nodule for generating power disposed within the housing and a strap for s jcuring the housing to the wrist.
  • the device of the invention furthermore comprises electrodes in close contact with the skin for capturing direct elect icai signals available on the skin surface and/or electromagnetic sensors like for example coils with central measuring element for capturing weak magnetic field emitted by the nerves and thus don't need to have a conductive ⁇ iontact with the skin.
  • the hand gestures are determined on the basis of a combination of electric and/or magnetic signals from numen >us measurement points.
  • the device of the invention of erates with electric currents comprises electrodes 2 measuring ⁇ slectric potentials in contact with a user's skin.
  • the wrist device 1 comprises bracelet with a housing made of non-conductive material, such as plastic for e ample. Numerous electrodes 2 are in-built into the housing on its inside face, i.e. the face in contact with the wrist. The contact between the skin and the eleqtrodes 2 is increased when the wrist device 1 is secured to the wrist of a user.
  • the ej lectrical signals measured by each electrode 2 are conducted to a control unit 9 through electrically conductive wires 5.
  • the control unit 9 for example c ⁇ i nprises a power supply, an AD converter, a DSP 1 RAM memory and/or a flash memory.
  • the number and placement of the electrodes 2 on the inner face of the bracelet is regulated by three criteria. First, their density is preferably high in order to ma ⁇ e redundant measurements and account for loose contacts of a certain num er of them with the skin.
  • Seco d they are preferably placed within the housing of the device 1 in such a way Io reduce cross-talk between wires 5 and electrodes 2. Technique similar to lo ⁇ f voltage differential is used to obtain a clearer measurement of a signal.
  • the type of electrodes 2 preferably varies to better capture differences i i the sensed current and locate its origin. Measurements are done in a synch ⁇ nous manner so that the distances covered by the signals are reflected in the impulses measured and allow locating which nerve was activated t etween the set of median nerve 20. The disambiguation of measureme nts of impulses is done in a similar way to deconvolution. In order to obtain as ⁇ uch information as possible about electric currents going in nerves and disamb-iguate the impulses coming from different nerves.
  • FIG. 5 An example of neural activity measured at one point is shown in Fig. 5
  • housing is ( one such that their positions belong to planes that have the axis of the wrist, a id thus the axis of the median nerves 20, in common.
  • the reason behind such placement is to sample the magnetic fi Id at different distances from the nerve that emits it. Variations of distances e re preferably similar to those between the nerves in the median nerve 20 in order to capture the same resolution of differences in magnetic field that than of ocation of nerves.
  • the coils 6 preferably each have a central element the t measures the strength of the field. This element is connected to the control jnit 3 that collects and processes information. To avoid interference between rr easurements and communications, they are preferably done at different oments in time (one cycle for measurement, one cycle for communication). In a variant embodiment, the coils 6 have different sizes allowing sa npling at different resolutions.
  • FIG. 9 An eftnbodiment of the circuitry of the wrist device 1 is illustrated in Fig. 9 by way of example for the case where electromagnetic fields are measured.
  • the measu ement points are each equipped with a coil 6, a measuring element 7 and a wi e 5 connected to the control unit 3.
  • the control unit 3 contains an analog-to-c igital converter and a DSP for processing the signals.
  • the program is stored n a non-volatile memory and RAM memory is available for computatio is.
  • the control unit 3 is for example used to synchronize the measurements.
  • An ⁇ mbodiment of the general algorithm for determining the gestures is illustrated i i Fig. 8.
  • the network of measurement points is reset and scanned,
  • the measi red values are converted to digital form for further processing.
  • the values are weighted with respect to the type of coils and their positions.
  • the obtained v ⁇ lues are processed by applying models of magnetic fields in order to infer most •robable positions of field sources. Redundant conclusions along the wrist axis illow confirming the presence of magnetic field sources inside the wrist.
  • the Ic cation and strength of each source is registered.
  • the pattern of the magnetic field sources and areas that do not produce magnetic fields are aligned with a model of the wrist section.
  • Sources positions aligned with nerves in the medic n nerve allow concluding about the activity of particular nerves and their strengt l.
  • the combination of these pieces of information allows obtaining a vector of e ⁇ ch nerve's activity. This vector is then translated to the gestures' alphabet wi h sufficient discriminative power.
  • the identified gesture from the alphabet is ( ommunicated to the device for operation.
  • the i osition of the ulnar nerve 21 and of the median nerve 20 in the hand differs from one person to another.
  • a calibration o the device is necessary.
  • a user wearing the wrist device 1 follows a procedure where he executes gestures suggested by the device 1.
  • the device 1 registers a set of measurements corresponding to basic gestures and stores the signatures of each nerve's behaviour for subsequent detection.
  • the circuitry of the wrist device 1 and the general algorithm for determining the gestures are described above in the case of a wrist device 1 measuring t ie magnetic fields emitted by the nerves' activity. Similar circuitry and algorith n however apply to the wrist device 1 of the invention measuring the electric c urrents.
  • the wrist device 1 of the invention comprises b )th electrodes and coils and the determination of the hand gesture is made on t ie basis of the measurement of both electric currents and magnetic fields produc ed by the nerves' activity.
  • the measurement of the neural activity with the wrist device 1 and deducing th hand gestures from that activity is of direct benefit for example for operating va ⁇ ous electronic equipments.
  • Gestures where fixed hand position is maintained o mark the gesture or sequence of such positions marked by a brief stop is of p ⁇ rticular interest.
  • gestures should be d sychologically significant, easy to memorize and coherent with the task they co rrespond to.
  • the gestures should be easy to execute with one hand b! / most of people and there should not be ambiguity between two gestures as to how they are executed by two persons. In other words, gestures should be distinguishable enough. Identifiable and physically possible and comfortable gestures are suggested for use with the device of the invention.
  • the nuscles controlled by the wrist nerves move the proximal phalanx 16, the inte mediary phalanx 17 and the distal phalanx 18 as shown in Fig. 7.
  • Th sse are schematically represented in the lower part of Fig. 7.
  • the j roximal phalanx 16 is easily placed by a human in roughly three positions: A - u wards from the plane of the palm, B a gned with the plane of the palm and C - p inting downwards from the plane of the palm.
  • the intermediary phalanx 17 that is shown with dotted line in Fig. 7 can also have three positions:
  • the I; ist distal phalanx 18 can only have two distinguishable positions:
  • AAA Usable AAA, ABB, BAA, BBB, BCB, CAA, CCB
  • Table 1 Finder positions codes for index finger
  • position CBB is the one corresponding to a relaxed pos ion of the hand and thus do not correspond to any neural activity in the wrist.
  • P. ⁇ sitions AAB 1 ABA, BAB, BBA, BCA, CAB, CBA, CCA are actually difficult to e ecute with one hand and thus have limited usage.
  • the remaining positions m ⁇ rked as "usable" in Table 1 can be applied for operating devices.
  • Usab e positions are not applied blindly to all the fingers and some constraints xist.
  • the thumb can move independently of the other fingers, but constraints nainly exist between index, middle, oricular and small finger.
  • constraints nainly exist between index, middle, oricular and small finger.
  • Table 2 some extreme position combinations between index and middle fingers are marked is difficult to execute.
  • the total number of usable combinatior s is slightly higher than one hundred, which is more than a necessary phabet of gestures that can be retained by a person.
  • the outer face of the wrist device iinco porates another device that can be of various types, such as for example a ⁇ obile phone, and/or a PDA, etc.
  • the incorporatec device is partly or entirely operated by command signals emitted by the wrist device of the invention, each command signal corresponding to a particular ha nd gesture detected as explained above.
  • the i corporated device is for example a watch.
  • the wrist de vice of the invention is in-built into the watch bracelet belt.
  • the electrodes nd/or coils are built into the non-conductive bracelet or electrically insulated fn ( m the metal bracelet, for example by plastic rings.
  • the power supply of th wrist device is for example coupled with that of the watch, which can be one of existing mechanical components for self-winding or a battery being rechai jed during motion.
  • Seve al simple operations requested by gestures made with one hand can be very iseful for watch operation.
  • One of simple operations is for example the activatioh of a stopwatch by using the gesture 12 shown in Fig. 6 and correspondir g to the natural gesture of stopwatch activation.
  • the wrist device of the invention is combined with a mobile phon i designed as a wrist device.
  • a mobile phon i designed as a wrist device.
  • Several functions of mobile phones require mult pie steps and imply the use of two hands, which is often not practical in oday's moving environment.
  • Several functionalities of a mobile phone becon ie more accessible if operated by the gesture of one hand, without having to ke eepp the telephone in the hand. Examples include the gesture of answering a ;all 11 and the gesture of checking the mailbox 13 as shown in Fig. 6.
  • a special gesture tna is not common to execute can be required to "unlock" the device and enter in o gesture-command mode.
  • Com >uter keyboards often take too much space, especially in the case of laptops md SMS messaging devices.
  • two wrist devices of t ie invention are worn by a user, one on each hand, and function as replacemen for a keyboard.
  • An independent power supply and wireless communica ion module send information to a computer about the gestures of typing 15 as shown in Fig. 8.
  • the wrist device of the invention is combined with a remote con rol.
  • An additional infrared module beams to a television commands correspondi ig to detected hand gestures for switching to next/previous channel, setting high jr/lower volume, muting, etc.
  • the wrist device of the invention is combined with a translator fr >m hand signs language.
  • the wrist device of the inver tion worn by a user, recognizes the hand signs made by the user and sends corresponding command signals to the translator.
  • the translator then for ex. mple synthesizes the words corresponding to the hand signs, which are sent tc an integrated speaker.
  • th JS allows for a much better integration of the user into the society. Indeed, pe ⁇ pie that don't understand hand signs can still understand the user because th( words expressed by his hands are spoken by the translator.
  • the wrist device of the invention can be used to operate any other h andheld device with an appropriate gesture alphabet corresponding to commani Is for the handheld device.
  • the wrist device of the invention determines the hand gestures, in particular the finger movements, made by a user by me ⁇ suring the neural activity in the user's wrist, using electrodes and/or magnetic ⁇ ils placed around the wrist.
  • the wrist device of the invention can however cc mprise further elements for detecting the hand gestures and/or movements such as for example accelerometers, gyroscopes, etc., thus allowing an extension of the signs and/or gestures alphabet that can be used with the dev ce of the invention.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Neurology (AREA)
  • Neurosurgery (AREA)
  • Physiology (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

La présente invention concerne un procédé de détermination des gestes effectués par un utilisateur avec sa paume et/ou avec ses doigts. Ledit procédé comprend : la mesure de signaux électriques générés par une activité neurale au niveau d'une pluralité d'emplacements d'un poignet de l'utilisateur ; le traitement des signaux électriques mesurés afin de déterminer quel nerf est activé et dans quelle mesure ; la détermination d'un geste fait par l'utilisateur sur la base de l'activité neurale déterminée. L’invention concerne également un dispositif pour poignet (1) permettant de déterminer des gestes effectués par un utilisateur avec sa paume et/ou avec ses doigts, le dispositif comprenant : un bracelet pour fixer le dispositif pour poignet (1) autour d'un poignet de l'utilisateur ; une pluralité d'électrodes (2) et/ou de bobines électromagnétiques (6) placées sur et/ou dans le bracelet pour mesurer des signaux électriques générés par une activité neurale dans le poignet.
PCT/IB2009/005323 2008-04-22 2009-04-22 Procédé et dispositif de détermination des gestes effectués par la main d’un utilisateur Ceased WO2009130573A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH2008000182 2008-04-22
CHPCT/CH2008/000182 2008-04-22

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WO2009130573A1 true WO2009130573A1 (fr) 2009-10-29

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016212682A1 (de) 2016-07-12 2018-01-18 Audi Ag Gestensteuerung mittels eines Laufzeitmessungskamerasystems

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11338597A (ja) * 1998-05-26 1999-12-10 Nippon Telegr & Teleph Corp <Ntt> 手首装着型入力装置
US6244873B1 (en) * 1998-10-16 2001-06-12 At&T Corp. Wireless myoelectric control apparatus and methods
WO2001095799A2 (fr) * 2000-06-13 2001-12-20 The United States Of America, As Represented By The Administrator Of The National Aeronautics And Space Administration (Nasa) Caracterisation de potentiels bioelectriques

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11338597A (ja) * 1998-05-26 1999-12-10 Nippon Telegr & Teleph Corp <Ntt> 手首装着型入力装置
US6244873B1 (en) * 1998-10-16 2001-06-12 At&T Corp. Wireless myoelectric control apparatus and methods
WO2001095799A2 (fr) * 2000-06-13 2001-12-20 The United States Of America, As Represented By The Administrator Of The National Aeronautics And Space Administration (Nasa) Caracterisation de potentiels bioelectriques

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Title
"COMPUTER INPUT DEVICE VIA NERVE SIGNAL DETECTION", IBM TECHNICAL DISCLOSURE BULLETIN, IBM CORP. NEW YORK, US, vol. 32, no. 3A, 1 August 1989 (1989-08-01), pages 424 - 426, XP000049409, ISSN: 0018-8689 *
AXISA F ET AL: "Wrist ambulatory monitoring system and smart glove for real time emotional, sensorial and physiological analysis", PROCEEDINGS OF THE 26TH. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE. ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. EMBS. SAN FRANCISCO, CA, USA 1-5 SEPT. 2004, PISCATAWAY, NJ, USA,IEEE, US, vol. 3, 1 September 2004 (2004-09-01), pages 2161 - 2164Vol.3, XP010775403, ISBN: 978-0-7803-8439-2 *
MINORU HOSHIYAMA ET AL.: "Peripheral nerve conduction recorded by a micro gradiometer system (micro-SQUID) in humans", NEUROSCIENCE LETTERS, vol. 272, no. 3, 13 September 1999 (1999-09-13), pages 199 - 202, XP002540076 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016212682A1 (de) 2016-07-12 2018-01-18 Audi Ag Gestensteuerung mittels eines Laufzeitmessungskamerasystems
DE102016212682B4 (de) 2016-07-12 2024-08-14 Audi Ag Gestensteuerung mittels eines Laufzeitmessungskamerasystems

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