30
6.7. Gesture Definitions
The currently defined set of gestures is comprised of binary open/close
configurations of the fingers excluding the thumb. There are 2
4
= 16 such
possible combinations. Gesture number 0 is defined as all the fingers (excluding
the thumb) being closed, and gesture number 15 as all the fingers open. The
index finger indicates the least significant bit. For example, the index finger
point gesture will therefore be number 1, and the little finger point gesture
number will be 8. An invalid (unrecognizable) gesture is defined as the value -1.
A scaled sensor value of higher than the upper threshold setting will indicate a
closed finger, while a scaled sensor value of lower than the lower threshold
setting will indicate an open finger. A value in-between is invalid and will result
in an invalid gesture. In the case of multiple finger joint angle measurements,
the maximum of the individual joint sensor values is taken to obtain a closed
gesture and the minimum to obtain an open gesture. Closed gestures take
precedence, in other words, bending only one joint of a finger will count as a
closed gesture.
Finger:
Little
Ring
Middle
Index
5DT Data Glove 5
sensor:
E D C B
5DT Data Glove 16 &
14 Ultra sensor:
12,13 9,10 6,7 3,4
Driver sensor index: 12,13# 9,10# 6,7# 3,4#
Gesture
Number
Flexure (0=flexed, 1=unflexed)
Gesture Description
Fig.
0 0 0 0 0
Fist
16.0
1
0
0
0
1
Index finger point
16.1
2 0 0 1 0
Middle
finger
point
16.2
3
0
0
1
1
Two finger point
16.3
4
0
1
0
0
Ring finger point
16.4
5
0
1
0
1
Ring index point
16.5
6
0
1
1
0
Ring middle point
16.6
7 0 1 1 1
Three
finger
point
16.7
8
1
0
0
0
Little finger point
16.8
9 1 0 0 1
Index and little finger
i
16.9
10
1
0
1
0
Little middle point
16.1
0
11
1
0
1
1
Not ring finger point
16.1
1
12
1
1
0
0
Little ring point
16.1
2
13
1
1
0
1
Not middle finger point
16.1
3
14
1
1
1
0
Not index finger point
16.1
4
15 1 1 1 1
Flat
hand 16.1
5
Table 4 - Gesture Definition Scheme as Implemented for the 5DT Data Glove SDK
#
When the 5DT Data Glove 5 is used, both these driver sensor indices will
return the same value.