CN107825393A - A kind of total joint measurement type data glove - Google Patents

Abstract

The invention discloses a full-joint measuring data glove, which is connected with a manipulator or a computer terminal; the data glove includes a glove body with a two-layer structure, a plurality of bending sensors and a plurality of bending sensors located between the two-layer structures. A strain sensor; the curvature sensor is arranged at the metacarpophalangeal joint and the interphalangeal joint of the glove body; the strain sensor is arranged at the metacarpophalangeal joint of the glove body; the curvature sensor and the strain sensor are used to obtain the finger perpendicular to the palm The motion information of the fingers and the motion information of the fingers parallel to the palm. The data glove provided by the invention can obtain the longitudinal and lateral movement information of the operator's fingers, and transmit the movement information to the manipulator or the computer terminal. In addition, the inner structure of the glove body is made of nitrile or rubber, and the outer structure is made of cotton. The data glove provided by the present invention also has the advantages of relatively simple wearing and low maintenance difficulty.

Description

A full-joint measuring data glove

technical field

The invention relates to the field of robots, in particular to an all-joint measuring data glove.

Background technique

With the advancement of science, the field of robotics has developed rapidly. Among them, the teleoperation follower robot has attracted more attention because of its advantages of separating the operator from the robot body to protect the operator. At the same time, people's requirements for the operation accuracy and flexibility of the teleoperation follower robot are also constantly increasing. It is hoped that the teleoperation follower robot can realize the functions of human hands, thus highlighting the importance of data gloves.

The data glove can collect the operator's hand movements and convert them into digital signals and transmit them to the robot. In this way, the operator's hand movements can be well restored on the robot manipulator, so as to improve the operation accuracy and flexibility of the teleoperation follower robot. purpose of sexual demands.

At present, data gloves are widely designed as external structure data gloves or exoskeleton data gloves attached to the outside of the human hand to detect joint movement. The finger movement data is obtained through the potentiometer installed on the external measurement point of the hand, so as to control the manipulator or computer scene. The virtual hand movements of the controlled slave hand and the operator's finger joints act in unison. However, the above-mentioned data glove has the following disadvantages: first, the data glove can only obtain motion data of fingers perpendicular to the direction of the palm, but cannot obtain motion data of fingers parallel to the direction of the palm, which leads to incomplete acquisition of hand motion data, thus The controlled manipulator or the virtual hand in the computer scene cannot fully restore the hand movement; second, the data glove has a large mechanical entity, which will affect the operator's hand movement, resulting in a certain amount of hand movement data collected. distortion, and the data glove has many physical connectors, which is not convenient for putting on and taking off the glove and maintaining it.

Contents of the invention

The object of the present invention is to propose a wearable full-joint measurement data glove aiming at the disadvantages of the existing data glove, such as lack of finger lateral motion data capture, complex structure, and high difficulty in wearing and maintenance.

To achieve the above object, the present invention provides the following scheme:

A full-joint measurement data glove, the full-joint measurement data glove is connected to a manipulator or a computer; the full-joint measurement data glove includes a glove body, a plurality of bending sensors and a plurality of strain sensors; the The glove body includes a two-layer structure; the curvature sensor and the strain sensor are located between the two-layer structure of the glove body; the curvature sensor is arranged at the metacarpophalangeal joint and the interphalangeal joint of the glove body The strain gauge sensor is arranged below the metacarpophalangeal joint of the glove body; the curvature sensor and the strain gauge sensor are used to obtain motion information of fingers perpendicular to the palm and motion information of fingers parallel to the palm.

Optionally, the two-layer structure of the glove body is specifically an inner layer structure and an outer layer structure; the material of the inner layer structure is nitrile or rubber; the material of the outer layer structure is cotton.

Optionally, the curvature sensors include a plurality of little finger curvature sensors, a plurality of ring finger curvature sensors, a plurality of middle finger curvature sensors, a plurality of index finger curvature sensors and a plurality of first thumb curvature sensors; wherein, The little finger curvature sensor, the ring finger curvature sensor, the middle finger curvature sensor, and the index finger curvature sensor are all arranged at the metacarpophalangeal joints and interphalangeal joints on the back side of the hand of the glove body; A thumb bending sensor is arranged at the metacarpophalangeal joint and the interphalangeal joint on the outer side of the glove body away from the thumb of the four fingers; the interphalangeal joint includes a distal interphalangeal joint and a proximal interphalangeal joint.

Optionally, the number of the little finger curvature sensors is 2, which are respectively arranged at the metacarpophalangeal joint and the proximal interphalangeal joint on the back side of the hand of the glove body; the number of the ring finger curvature sensors is 3 one, respectively arranged at the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint on the back side of the hand of the glove body; the number of the middle finger curvature sensors is three, which are respectively arranged on the glove body The metacarpophalangeal joints, proximal interphalangeal joints, and distal interphalangeal joints on the back of the hand; the number of the index finger curvature sensors is 3, which are respectively arranged on the metacarpophalangeal joints, proximal interphalangeal joints, and On the end interphalangeal joint and the distal interphalangeal joint; the number of the first thumb flexion sensors is 2, which are respectively arranged on the metacarpophalangeal joint and the outer side of the thumb away from the four fingers of the glove body. At the proximal interphalangeal joint; the little finger curvature sensor is used to obtain the motion information of the little finger perpendicular to the palm; the ring finger curvature sensor is used to obtain the motion information of the ring finger perpendicular to the palm; the middle finger curvature sensor is used to obtain The movement information of the middle finger perpendicular to the palm; the index finger curvature sensor is used to obtain the movement information of the index finger perpendicular to the palm; the first thumb curvature sensor is used to obtain the movement information of the thumb perpendicular to the palm.

Optionally, the curvature sensor also includes a second thumb curvature sensor; the second thumb curvature sensor is arranged at the mouth of the glove body on the back side of the hand; the second thumb curvature sensor It is used to obtain the motion information of the thumb parallel to the palm.

Optionally, the strain sensor includes ring finger-middle finger strain sensor, index finger-middle finger strain sensor and little finger-ring finger strain sensor; the ring finger-middle finger strain sensor and the index finger-middle finger strain sensor are all set Below the metacarpophalangeal joint of the middle finger on the back side of the glove body, and the pins of the ring finger-middle finger strain sensor point to the ring finger, and the pins of the index finger-middle finger strain sensor point to the index finger; the little finger -The ring finger strain sensor is arranged between the little finger and the ring finger on the back of the hand side of the glove body, and the pins of the little finger-ring finger strain sensor point to the little finger; the ring finger-middle finger strain sensor is used to obtain ring finger parallel to The motion information of the palm; the index finger-middle finger strain sensor is used to obtain the motion information of the index finger parallel to the palm; the little finger-ring finger strain sensor is used to obtain the motion information of the little finger parallel to the palm.

Optionally, both the ring finger-middle finger strain sensor and the index finger-middle finger strain sensor are located at 1cm-2cm below the metacarpophalangeal joint of the middle finger on the back side of the glove body.

Optionally, the full-joint measurement data glove also includes a circuit board and a CAN bus; the circuit board includes a sampling circuit, a signal amplification circuit and a single-chip microcomputer connected in sequence; the sampling circuit is also connected to the bending sensor, The strain gauge sensor is connected; the circuit board is connected with the manipulator or the computer terminal through the CAN bus.

Optionally, the model of the single-chip microcomputer is STM32F103ZET6.

Optionally, the model of the bending sensor is RB-02S046; the model of the strain gauge sensor is RX-D1016.

According to the specific embodiments provided by the invention, the invention discloses the following technical effects:

The invention provides a full-joint measurement data glove, which is connected to a manipulator or a computer; the full-joint measurement data glove includes a glove body, multiple bending sensors and multiple strain sensors; The glove body includes a two-layer structure; the curvature sensor and the strain sensor are both located between the two-layer structure of the glove body; the curvature sensor is arranged on the metacarpophalangeal joints and finger The strain sensor is arranged at the metacarpophalangeal joint of the glove body; the curvature sensor and the strain sensor are used to obtain motion information of fingers perpendicular to the palm and motion information of fingers parallel to the palm , and carry out real-time transmission, so that the controlled manipulator or the virtual hand of the computer scene restores the operator's hand movements. Therefore, the data glove provided by the present invention has the advantages of being able to detect the longitudinal and lateral movements of the operator's fingers, having good real-time data transmission, and a relatively simple control method.

In addition, the inner structure of the glove body uses nitrile or rubber, which can completely fit the glove on the hand, and the bending sensor and the strain sensor are tightly installed outside the inner structure to ensure that the bending sensor and the strain sensor are When the operator's hand moves, there will be no relative displacement with the glove body, which will introduce unnecessary interference; the outer structure of the glove body can be ordinary autumn and winter cotton gloves, which can protect the bending sensor and strain sensor, and avoid the glove body. The outer structure squeezes the bending sensor and the strain sensor to avoid data distortion.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without paying creative labor.

Fig. 1 is a schematic structural view of a full-joint measuring data glove according to an embodiment of the present invention;

Fig. 2 is a schematic diagram of the back side of the hand of the all-joint measuring data glove of the present invention;

Fig. 3 is a schematic diagram of the palm side of the all-joint measuring data glove of the present invention;

Fig. 4 is a schematic diagram of a data glove for measuring the vertical palm movement of fingers with all joints of the present invention;

Fig. 5 is a schematic diagram of a data glove for measuring finger-parallel palm movement with all joints of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

The object of the present invention is to propose a wearable full-joint measurement data glove aiming at the disadvantages of the existing data glove, such as lack of finger lateral motion data capture, complex structure, and high difficulty in wearing and maintenance.

In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

The full-joint measurement data glove provided by the invention is connected with a manipulator or a computer terminal.

FIG. 1 is a schematic structural view of a full-joint measurement data glove according to an embodiment of the present invention. As shown in FIG. 1 , the full-joint measurement data glove includes: a circuit board 1 , a glove body 2 , multiple bending sensors, multiple strain gauge sensors, and a CAN bus. The glove body 2 includes two layers, namely an inner layer structure and an outer layer structure. Both the curvature sensor and the strain sensor are located between the inner structure and the outer structure of the glove body 2 .

Because the bending sensor is a sensor that simply measures the bending strength, it has a thinner package, and it can be fixed on the surface to be measured. With the analog output, it is convenient to collect and process the bending information. With the AD conversion circuit, it can The joint bending degree is converted into a voltage signal, which can easily obtain the bending degree information of the finger joints, and is more suitable for the bending degree detection of the metacarpophalangeal joints and interphalangeal joints; the strain sensor is used to detect the movement of the operator's fingers parallel to the palm, The motion information of each finger parallel to the palm is determined by detecting the degree of opening and closing of each metacarpophalangeal joint parallel to the palm. The strain sensor is a sensor based on measuring the strain generated by the force deformation of the object. The present invention mainly uses a resistance strain gauge to convert the change of strain on the mechanical component into a change of resistance. This strain sensor has many advantages, and its resolution High, can detect small strains, small size, suitable for measurement on the back of the hand, large measurement range, from elastic deformation to plastic deformation (1%-2%), easy to transmit and process measurement results, and The price is low, and the cost can be reduced. Therefore, the present invention adopts a bending sensor and a strain sensor to obtain the motion information of the fingers perpendicular to the palm and the motion information of the fingers parallel to the palm.

Both the bending sensor and the strain sensor are connected to the circuit board 1 through wires, and the circuit board 1 is connected to the manipulator or the computer terminal through the CAN bus to capture and transmit all joint movement information of the operator's hand. The data is sent to the manipulator or computer, so that the controlled manipulator or computer scene virtual hand can restore the operator's hand movement.

The circuit board 1 specifically includes a sampling circuit, a signal amplification circuit and a single-chip microcomputer connected in sequence; the sampling circuit is also connected with the bending sensor and the strain gauge sensor respectively; The manipulator or computer is connected; the manipulator is used to restore the operator's hand movement according to the control signal sent by the single-chip microcomputer. The computer terminal is used to virtually restore the operator's hand movement according to the control signal sent by the single-chip microcomputer. The model of the single-chip microcomputer is STM32F103ZET6.

As shown in FIG. 1 , the bending sensor is arranged at the metacarpophalangeal joint and the interphalangeal joint of the glove body 2 ; the strain gauge sensor is arranged under the metacarpophalangeal joint of the glove body 2 . The model of the bending sensor is RB-02S046. The model of the strain gauge sensor is RX-D1016. The movement data of each finger perpendicular to the direction of the palm and parallel to the direction of the palm is detected by the bending sensor and the strain sensor, and then converted into corresponding voltage signals. The single-chip microcomputer samples each voltage signal, and the sampling interval is about 10ms. Coding is carried out and transmitted to the controlled manipulator or virtual hand in the computer scene through the CAN bus, and the motion data collection and transmission of the entire hand and fingers are completed.

The curvature sensor comprises a plurality of little finger curvature sensors 3, a plurality of ring finger curvature sensors 4, a plurality of middle finger curvature sensors 5, a plurality of forefinger curvature sensors 6, a plurality of first thumb curvature sensors 7 and a plurality of first thumb curvature sensors. Two thumb flexion sensors 8; the strain sensors include ring finger-middle finger strain sensor 9, index finger-middle finger strain sensor 10 and little finger-ring finger strain sensor 11.

Wherein, the little finger curvature sensor 3, the ring finger curvature sensor 4, the middle finger curvature sensor 5, and the index finger curvature sensor 6 are all arranged at the metacarpophalangeal joints and finger joints on the back of the hand side of the glove body 2. Interphalangeal joints; interphalangeal joints include distal interphalangeal joints and proximal interphalangeal joints. The first thumb flexion sensor 7 is arranged on the metacarpophalangeal joint and the interphalangeal joint on the outer side of the glove body 2 away from the thumb of the four fingers. The little finger curvature sensor 3 is used to obtain the movement information of the little finger perpendicular to the palm; the ring finger curvature sensor 4 is used to obtain the movement information of the ring finger perpendicular to the palm; the middle finger curvature sensor 5 is used to obtain the middle finger perpendicular to the palm The index finger curvature sensor 6 is used to obtain the movement information of the index finger perpendicular to the palm; the first thumb curvature sensor 7 is used to obtain the movement information of the first thumb perpendicular to the palm.

The second thumb flexion sensor 8 is arranged at the tiger's mouth on the back side of the glove body 2; the second thumb flexion sensor 8 is used to acquire motion information of the thumb parallel to the palm.

The ring finger-middle finger strain sensor 9 and the index finger-middle finger strain sensor 10 are all arranged below the metacarpophalangeal joints on the back of the hand side of the glove body 2; the little finger-ring finger strain sensor 11 is arranged on the Between the little finger and the ring finger on the back side of the hand of the glove body 2; the ring finger-middle finger strain sensor 9 is used to obtain the motion information of the ring finger parallel to the palm; the index finger-middle finger strain sensor 10 is used to obtain the index finger parallel The motion information of the palm; the little finger-ring finger strain sensor 11 is used to obtain the motion information of the little finger parallel to the palm.

FIG. 2 is a schematic diagram of the back of the hand of the all-joint measuring data glove of the present invention. As shown in FIG. 2 , the glove body 2 includes two layers of structure, namely an inner layer structure 21 and an outer layer structure 22 . The inner layer structure 21 of the glove body 2 is a rubber glove or nitrile glove, which is close to the hand, so that the glove will not move relative to the operator's hand to avoid distortion of motion data. The outer structure 22 of the glove body 2 is an ordinary cotton glove, which is used to protect the bending sensor and the strain sensor, so that the bending sensor and each strain sensor installed outside the inner rubber glove will not be damaged by external factors. Produces excessive distortion. Fig. 3 is a schematic diagram of the palm side of the all-joint measuring data glove of the present invention.

According to the law of human finger movement, it is necessary to place the ring finger curvature sensor 4, the middle finger curvature sensor 5, and the index finger curvature sensor 6 at the metacarpophalangeal joints and interphalangeal joints of the index finger, middle finger and ring finger (comprising the distal interphalangeal joints and The proximal interphalangeal joints) are respectively installed with three sections of curvature sensors, and the curvature sensors are fixed on the back of the outer hand of the rubber glove in the inner layer of the glove body, and each section of curvature sensors is located on the back of the hand side of the corresponding joint. Install the curvature sensor when the corresponding finger of the glove is kept straight, and ensure that the curvature sensor is tightly attached to the back of the glove, so that the curvature sensor will not move relative to the glove to avoid distortion of the detection data. It is required to install the bending sensor directly above each joint, and there should be no connecting parts between the bending sensors to prevent each joint bending sensor from interacting with each other when the operator performs hand movements, resulting in distortion of the detected data.

In addition, since the thumb has only two joints in the direction perpendicular to the palm, the metacarpophalangeal joint and the interphalangeal joint, motion information of the thumb can be obtained by detecting the motion of these two joints. At the same time, due to the movement characteristics of the thumb, it will encounter resistance during movement, which will cause the direction of the thumb to change. For example, when making a fist, the direction of movement will change when the thumb presses the other four fingers, so the curvature of the first thumb The length of the sensor 7 is relatively short, and it is installed directly above the metacarpophalangeal joint and the interphalangeal joint. Distortion of motion data. The little finger has three joints, the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint, but because the distance is too small, and the distal interphalangeal joint of the little finger is not very useful for hand movement, it is not in the distal interphalangeal joint of the little finger. The little finger curvature sensor 6 is arranged on the joint.

Fig. 4 is a schematic diagram of a data glove for measuring finger vertical palm movement with all joints of the present invention.

Preferably, as shown in FIG. 4 , the number of the little finger curvature sensors 3 is two, which are respectively arranged at the metacarpophalangeal joints and the proximal interphalangeal joints on the back side of the hand of the glove body 2; The number of degree sensors 4 is 3, which are respectively arranged at the metacarpophalangeal joints, the proximal interphalangeal joints and the distal interphalangeal joints on the back of the hand side of the glove body 2; the number of the middle finger curvature sensors 5 is 3, respectively arranged at the metacarpophalangeal joints, proximal interphalangeal joints and distal interphalangeal joints on the back side of the hand of the glove body 2; the number of the index finger curvature sensors 6 is 3, respectively arranged at the The metacarpophalangeal joints, the proximal interphalangeal joints, and the distal interphalangeal joints on the back of the hand of the glove body 2; the number of the first thumb flexion sensors 7 is two, which are respectively arranged on the glove body 2 at the metacarpophalangeal joint and the proximal interphalangeal joint on the outer side of the thumb away from the fourth finger.

According to the law of hand movement, the opening and closing angle of the thumb parallel to the direction of the palm is about 90 degrees, which is much larger than the opening and closing angles of the other four fingers that are less than 45 degrees between two adjacent fingers. Therefore, when detecting the movement of the thumb parallel to the direction of the palm When it comes to data, it is not suitable to use a strain sensor that detects small deformations and has a small stretch range. Instead, use a bending sensor to obtain the movement information of the thumb parallel to the palm by collecting the opening and closing angle of the tiger's mouth. The installation of the bending sensor needs to be done with the thumb fully extended. The program sets this as the zero point of the angle, and then uses the AD conversion circuit to sample the voltage signal output by the bending sensor to obtain the angle data, and finally obtains the tiger’s mouth by comparing it with the set zero point. The spread angle, thus obtaining the motion data of the thumb parallel to the palm.

According to the movement law of human fingers, when the fingers move parallel to the palm, the middle finger does not move, and the index finger and ring point to both sides, and the ring finger-middle finger strain sensor 9 and the index finger-middle finger strain sensor 10 are installed with two strain gauges. Under the metacarpophalangeal joint of the middle finger, the tube foot extends to the metacarpophalangeal joint of the index finger and the metacarpophalangeal joint of the ring finger. When the index finger and ring finger spread to both sides, the distance change of the metacarpophalangeal joint of the index finger and the metacarpophalangeal joint of the ring finger relative to the metacarpophalangeal joint of the middle finger is measured. Install the strain gauge sensor when the index finger, middle finger and ring finger are close together, and pay attention to the installation position is strictly guaranteed to be 1cm-2cm below the metacarpophalangeal joint. This position ensures that the expansion of the index finger and ring finger can be detected without excessive displacement, causing The strain gauge resistance sensor is damaged due to excessive strain. Use the little finger-ring finger strain gauge sensor 11 to measure the movement of the little finger parallel to the palm, collect the degree of expansion of the little finger relative to the ring finger, and on this basis add the degree of expansion of the ring finger relative to the middle finger to obtain the degree of expansion of the little finger corresponding to the middle finger, Thus, the movement information of the little finger parallel to the palm direction is obtained.

Fig. 5 is a schematic diagram of a data glove for measuring finger-parallel palm movement with all joints of the present invention.

Preferably, as shown in FIG. 5 , the ring finger-middle finger strain sensor 9 and the index finger-middle finger strain sensor 10 are both arranged below the metacarpophalangeal joint of the middle finger on the back of the hand side of the glove body, and the The pins of the ring finger-middle finger strain sensor 9 point to the ring finger, the pins of the index finger-middle finger strain sensor 10 point to the index finger; the little finger-ring finger strain sensor 11 is arranged on the little finger and the back of the hand side of the glove body Between the ring fingers, and the pins of the little finger-ring finger strain sensor 11 point to the little finger, the ring finger-middle finger strain sensor 9, the index finger-middle finger strain sensor 10 are all located at the middle finger on the back of the hand side of the glove body 1cm-2cm below the metacarpophalangeal joints.

The working process of the data glove provided by the present invention is as follows: the operator puts on the glove body and requires it to fit the hand as much as possible without gaps. After turning on the power, keep the thumb fully open and the other four fingers completely closed for a few seconds until the glove body The buzzer sounds to indicate that the initialization is complete and the hand movement can begin.

The present invention processes the output signals of the bending sensor and the strain gauge sensor through each sampling circuit and signal amplifying circuit on the circuit board, obtains a voltage signal that can be processed by the single-chip microcomputer on the circuit board, and passes through the signal transmission circuit on the circuit board, mainly including CAN bus and serial port for data communication, among which CAN bus is used to transmit data signals to the controlled manipulator or the virtual hand of the computer scene, so that it can restore the operator's hand movements, and the power conversion module on the circuit board can The entire system is powered by a 3.3V battery, which does not affect the operator's hand movements. The circuit board is also designed with a buzzer to obtain a signal that the glove initialization is complete. The operator wearing this data glove can remotely control the controlled manipulator or the virtual hand of the computer scene. It can not only realize simple grasping actions, but also accurately restore each hand movement of the operator and record relevant data, which overcomes the existing The data glove does not have the data capture of the lateral motion of the fingers, the structure is relatively complex, and it is difficult to wear and maintain. It also has the advantages of good real-time data transmission and relatively simple control methods.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.

In this paper, specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; meanwhile, for those of ordinary skill in the art, according to the present invention Thoughts, there will be changes in specific implementation methods and application ranges. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims (10)

1. A full-joint measurement data glove, characterized in that, the full-joint measurement data glove is connected to a manipulator or a computer; the full-joint measurement data glove includes a glove body, a plurality of bending sensors and a plurality of Strain sensor; the glove body includes a two-layer structure; the curvature sensor and the strain sensor are both located between the two-layer structure of the glove body; the curvature sensor is arranged on the palm of the glove body knuckles and interphalangeal joints; the strain sensor is arranged below the metacarpophalangeal joints of the glove body; the curvature sensor and the strain sensor are used to obtain motion information of the fingers perpendicular to the palm and parallel to the fingers Movement information in the palm of your hand. 2. The full-joint measurement data glove according to claim 1, wherein the two-layer structure of the glove body is specifically an inner layer structure and an outer layer structure; the material of the inner layer structure is nitrile or rubber ; The material of the outer structure is cotton. 3. The full-joint measurement data glove according to claim 1, wherein the curvature sensors include a plurality of little finger curvature sensors, a plurality of ring finger curvature sensors, a plurality of middle finger curvature sensors, and a plurality of index finger curvature sensors. A curvature sensor and a plurality of first thumb curvature sensors; wherein, the little finger curvature sensor, the ring finger curvature sensor, the middle finger curvature sensor, and the index finger curvature sensor are all arranged on the glove body The metacarpophalangeal joints and interphalangeal joints on the back side of the hand; the first thumb flexion sensor is arranged at the metacarpophalangeal joints and interphalangeal joints on the outside of the thumb away from the four fingers of the glove body; Interphalangeal joints include distal interphalangeal joints and proximal interphalangeal joints. 4. The full-joint measurement data glove according to claim 3, characterized in that, the number of the little finger curvature sensors is 2, which are respectively arranged on the metacarpophalangeal joint and the proximal end of the back of the hand of the glove body. At the interphalangeal joint; the number of the ring finger curvature sensors is 3, which are respectively arranged at the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint on the back side of the hand of the glove body; the middle finger is bent The number of degree sensors is 3, which are respectively arranged at the metacarpophalangeal joints, the proximal interphalangeal joints and the distal interphalangeal joints of the back of the hand of the glove body; the number of the index finger curvature sensors is 3, They are respectively arranged on the metacarpophalangeal joints, the proximal interphalangeal joints and the distal interphalangeal joints on the back side of the hand of the glove body; At the metacarpophalangeal joint and the proximal interphalangeal joint on the outer side of the thumb away from the four fingers of the glove body; the little finger curvature sensor is used to obtain the motion information of the little finger perpendicular to the palm; the ring finger curvature sensor is used to obtain ring finger The motion information perpendicular to the palm; the middle finger curvature sensor is used to obtain the motion information of the middle finger perpendicular to the palm; the index finger curvature sensor is used to obtain the motion information of the index finger perpendicular to the palm; the first thumb curvature sensor It is used to obtain the motion information of the thumb perpendicular to the palm. 5. The full-joint measurement data glove according to claim 1, wherein the curvature sensor further comprises a second thumb curvature sensor; the second thumb curvature sensor is arranged on the glove body The tiger’s mouth on the back side of the hand; the second thumb flexion sensor is used to acquire the motion information of the thumb parallel to the palm. 6. The full-joint measuring data glove according to claim 1, wherein the strain sensor includes a ring finger-middle finger strain sensor, a index finger-middle finger strain sensor, and a little finger-ring finger strain sensor; the ring finger -The middle finger strain sensor and the index finger-middle finger strain sensor are all arranged below the metacarpophalangeal joint of the middle finger on the back of the hand side of the glove body, and the pins of the ring finger-middle finger strain sensor point to the ring finger, so The pins of the index finger-middle finger strain sensor point to the index finger; the little finger-ring finger strain sensor is arranged between the little finger and the ring finger on the back of the hand side of the glove body, and the pins of the little finger-ring finger strain sensor point to Little finger; the ring finger-middle finger strain sensor is used to obtain the motion information of the ring finger parallel to the palm; the index finger-middle finger strain sensor is used to obtain the motion information of the index finger parallel to the palm; the little finger-ring finger strain sensor It is used to obtain the movement information of the little finger parallel to the palm. 7. The full-joint measurement data glove according to claim 6, characterized in that, the ring finger-middle finger strain sensor and the index finger-middle finger strain sensor are all located at the center of the middle finger on the back of the hand side of the glove body. 1cm-2cm below the metacarpophalangeal joints. 8. The full-joint measurement data glove according to claim 1, characterized in that, the full-joint measurement data glove also includes a circuit board and a CAN bus; the circuit board includes a sequentially connected sampling circuit and a signal amplification circuit and a single-chip microcomputer; the sampling circuit is also connected to the bending sensor and the strain sensor respectively; the circuit board is connected to the manipulator or the computer terminal through the CAN bus. 9. The full-joint measuring data glove according to claim 8, wherein the model of the single-chip microcomputer is STM32F103ZET6. 10. The full-joint measurement data glove according to claim 1, wherein the model of the bending sensor is RB-02S046; the model of the strain gauge sensor is RX-D1016.