基于动作捕捉追踪器及数据手套的VR拓展设备设计  

Design of VR Extension Device Based on Motion Capture Tracker and Data Glove

作　　者：王灵芝 张俊 陈颖频 周云杰 WANG Lingzhi;ZHANG Jun;CHEN Yingpin;ZHOU Yunjie(Department of Artificial Intelligence,Xiamen City University,Xiamen 361008,China;School of Physics and Information Engineering,Minnan Normal University,Zhangzhou 363000,China)

机构地区：[1]厦门城市职业学院人工智能学院,福建厦门361008 [2]闽南师范大学物理与信息工程学院,福建漳州363000

出　　处：《长春师范大学学报》2024年第2期73-83,共11页Journal of Changchun Normal University

基　　金：福建省自然科学基金项目“结构稀疏时频分析及其在油气勘探的应用”(2020J069);福建省自然科学基金项目“面向脑磁共振影像分割的多分辨率驱动下跨域聚类模型研究”(2020J0816);厦门城市职业学院高层次人才科研启动金(G3R2022-9)。

摘　　要：元宇宙应用对虚拟设备提出了更高的交互需求,为此设计了一种基于动作捕捉追踪器及数据手套的VR拓展设备。该动作捕捉追踪器通过采集惯性传感器(IMU)获取人体胸部、腰部、腿部身体姿态数据,由数据手套采集定位器的电压获取5个手指的弯曲程。该系统采用ESP32作为主控器,搭载FreeRTOS嵌入式实时操作系统,各终端通过Wi-Fi及蓝牙协议与PC通信。数据接入SlimeVR Server及Open Gloves等开源VR系统,生成3D模型并在虚拟环境下还原人体动作。下位机同时获取手指限位数据,输出PWM信号控制舵机,实现了VR力反馈体感手套,各下位机终端均具有完善的调试接口及电源设计,各设备利用Solidworks软件建模并进行3D打印。通过开源项目的支持,本设计可在已有家用VR头戴及其配套定位手柄的情况下,提供腰部、腿部、脚部及手指等部位的追踪,在VR软件中实现全身追踪效果,从而提升了虚拟设备交互能力。The emergence of the metaverse has necessitated enhanced interactive experiences with virtual devices,leading to increased demands for virtual reality applications.A VR expansion device that utilizes motion capture trackers and data gloves is proposed.Motion capture trackers collect inertial sensors(IMU)to obtain posture data on the chest,waist,and legs.The data glove collects the voltage of the limiter to obtain the curvature of the five fingers.The system uses ESP32 as the main control and FreeRTOS embedded real-time operating system.Each terminal communicates with PC through Wi-Fi and Bluetooth protocol.Data is connected to Open source VR systems such as SlimeVR Server and Open Gloves to generate 3D models and restore human actions in virtual environments.At the same time,ESP32 obtains the finger-limit data and outputs PWM signals to control the steering gear,realizing the VR force feedback body sensing glove finally.Each lower machine terminal has a perfect debugging interface and power supply design.Each device is modeled and 3D printed using Solidworks software.With the support of open-source projects,this design facilitates the tracking of various body parts,including the waist,legs,feet,and fingers on existing home VR headsets and accompanying positional controllers.Consequently,it enables comprehensive full-body tracking within virtual reality software,thereby augmenting the interactive capabilities of virtual devices.

关 键 词：动作捕捉追踪器 数据手套 VR拓展设备 ESP32 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] TP212[自动化与计算机技术—计算机科学与技术]