5DT Data Glove Ultra Series User manual

5DT Data Glove Ultra Series
User’s Manual
Fifth Dimension Technologies
www.5DT.com

5DT Data Glove Ultra
User’s Manual
Copyright © 2007 5DT (Fifth Dimension Technologies), All rights reserved. No part of
this manual, software or hardware may be copied, reproduced, translated or reduced
to any electronic medium or machine readable format without the written consent of
5DT (Fifth Dimension Technologies).
All trademarks and trade names are the respective property of their owners.
Version 1.2 January 2007

Table of Contents
1. Introduction ............................................................................................................1
2. Setup and Installation.............................................................................................2
2.1. Package Contents........................................................................................2
2.2. Connecting the Glove ..................................................................................2
3. Software Installation...............................................................................................3
3.1. CD Contents ................................................................................................3
3.2. Installed Software ........................................................................................4
4. Using GloveManager..............................................................................................5
4.1. Starting GloveManager................................................................................5
4.2. Opening USB Gloves...................................................................................5
4.2.1 Scanning for Gloves .............................................................................5
4.2.2 Opening Gloves....................................................................................6
4.3. Opening Serial and Wireless Gloves ...........................................................8
4.3.1 Scanning for Gloves .............................................................................8
4.3.2 Opening Gloves....................................................................................8
4.4. The Graph View.........................................................................................10
4.4.1 The Menu Bar.....................................................................................11
4.4.2 Toolbar................................................................................................12
4.4.3 Tab Bar...............................................................................................13
4.4.4 The Sensor Graphs ............................................................................13
4.4.5 The Sensor Info Box...........................................................................14
4.4.6 The Status Bar....................................................................................16
4.5. The Sensor Selection View........................................................................16
4.6. Glove Calibration .......................................................................................17
4.7. Recording...................................................................................................19
5. Using the Gloves in Kaydara MOCAP™..............................................................20
5.1. Installation..................................................................................................20
5.2. Opening the Glove.....................................................................................20
5.3. Opening Wireless Gloves...........................................................................21
5.4. Calibration..................................................................................................23
5.5. Model Binding............................................................................................24
6. Using the SDK......................................................................................................27
6.1. Introduction................................................................................................27
6.2. Using the SDK ...........................................................................................27

6.3. Sample Source Code.................................................................................27
6.4. Supported Gloves......................................................................................28
6.5. Sensor Mappings for the 5DT Data Glove 5 ..............................................28
6.6. Sensor Mappings for the 5DT Data Glove 16 and 14 Ultra........................29
6.7. Gesture Definitions ....................................................................................30
6.8. Auto-Calibration.........................................................................................32
7. Troubleshooting and Support...............................................................................33
7.1. General Troubleshooting ...........................................................................33
7.1.1 Physical Connection Problems...........................................................33
7.1.2 Software Connection Problems ..........................................................33
7.2. Frequently Asked Questions (FAQ)...........................................................33
7.3. Support ......................................................................................................34
8. Warranty Information............................................................................................35
8.1. Thirty (30) Day Customer Satisfaction Guarantee .....................................35
8.2. One (1) Year Product Warranty .................................................................35
8.3. Exclusions..................................................................................................35
8.4. Warranty Claim Instructions.......................................................................35
9. About 5DT............................................................................................................37
Appendix A – Hardware Specifications ....................................................................39
Appendix B – Serial Protocol....................................................................................40
Appendix C – SDK Function Descriptions................................................................42

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1. Introduction
The 5DT Data Glove Ultra is a hand data motion capturing solution for
animation and virtual reality.
The 5DT Data Glove Ultra is the second generation of 5DT’s high-end data
glove and has been completely redesigned and optimized for the best
performance and ease of use. This glove measures finger flexure as well as the
abduction between the fingers. Finger flexure is measured at two places (1st
joint (knuckle), 2nd joint) on each finger.
Among the features of this kit are:
•The glove is comfortable with an improved design for differently-sized
hands.
•The accurate and sensitive sensors give a clean signal, minimizing the
need for additional filtering.
•Diagnostic software is included with the capability to record hand data.
•The package includes a plug-in for Kaydara MOCAP™.
•The gloves’ functions and data are accessible via the 5DT Data Glove
SDK.
•The glove data stream from the optional serial kit is an RS-232 data
stream with an open protocol allowing for various platform
implementations.

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2. Setup and Installation
2.1. Package Contents
When first unpacking your glove, please ensure that all the parts are there. If
you are missing anything please contact 5DT or your reseller immediately.
The 5DT Data Glove Ultra consists of the following:
1. 5DT Data Glove Ultra (5 or 14 Sensor)
2. 5DT Data Glove Ultra Series USB cable
3. 5DT Data Glove CD
2.2. Connecting the Glove
Connect the glove to the PC as shown in Figure 1.
Figure 1 – Connecting the Glove to the PC.
You can use GloveManager to test the operation of the glove. Detail on this is
given in Section 4of this manual.

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3. Software Installation
Your package comes with a CD that contains documentation and utilities to help
you get up and running with the gloves as quickly as possible.
Most of the supplied programs and software are intended for 32-bit Windows,
and require Windows 98, ME, 2000, or XP.
The setup program should run when you insert the CD, but if it doesn’t, run the
program setup.exe in the install directory and follow the on-screen instructions.
When prompted, check the 5DT Data Glove Ultra box to install the software for
this product.
3.1. CD Contents
The CD contains the following directories:
…\Acrobat
This copy of Adobe®Acrobat®Reader will allow you to read the documentation.
…\DirectX
The CD-ROM also contains the redistributable version of DirectX 9.0. You will
need this if you want to run the DirectX implementations of the Glove Demos
(DirectX and OpenGL demos are supplied). To install DirectX 9.0, open the
folder and run dxsetup.exe.
…\Install
This contains the software installation files.

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3.2. Installed Software
By default the setup program will install your files to the following directory:
C:\Program Files\5DT\Data Glove Ultra
The installation contains the following directories:
…\Demo
This folder contains the 3D glove demo. Click on GloveDemo.exe to start the
demo1.
…\Documents
This directory contains the electronic copy of this manual in pdf format and
application notes as they become available.
…\GloveManager
GloveManager is a program that allows you to test your gloves and access
advanced glove functions which may not be available in the plug-ins. More
detail on this is given in Section 4.
…\Plugins
This directory contains the plug-in for Kaydara MOCAP™ which replaces the
built-in Kaydara glove plug-in. More detail on this is given in Section 5.
…\SDK
This directory contains the 5DT Glove SDK files. These are described in detail
in Section 6.
1The 3D glove demo will not function with the Data Glove Ultra USB.

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4. Using GloveManager
The 5DT GloveManager is a useful tool accompanying the Data Glove which
may be used for the following:
•Testing the 5DT Data Glove
•Obtaining good calibrated values for the 5DT Data Glove
•Logging data obtained from the 5DT Data Glove
Note: All images are shown for the Data Glove 14 Ultra. Images will differ
slightly for the Data Glove 5 Ultra.
4.1. Starting GloveManager
Start the program by running GloveManager.exe, which is installed in the
\Data Glove Ultra\GloveManager\ folder by default. The setup tab window will
appear (see below).
Figure 2 – The Setup Tab Window
4.2. Opening USB Gloves
4.2.1 Scanning for Gloves
Clicking the button in the setup tab window causes GloveManager to
scan the USB for available gloves. This is useful if you have plugged in the

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glove after starting GloveManager. Once the USB scan is complete the USB
device tree will be updated to show available gloves.
Figure 3 – Result of the USB Scan
As can be seen in Figure 3, the Port Scan has found two wireless gloves on
COM1. The right hand glove is plugged into Port A of the wireless transmitter
unit. The left hand glove is plugged into Port B.
4.2.2 Opening Gloves
A glove may by opened by clicking the button after a USB glove has
been selected in the device tree.
Figure 4 – Selecting the Glove to be Opened
If the glove has been successfully opened the tab window will automatically
switch to the newly opened glove, as shown in Figure 5. Double-clicking on a
USB glove will also cause GloveManager to attempt to open the glove.

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Figure 5 – GloveManager after the USB Glove is Successfully Opened
Clicking on the tab will cause GloveManager to display the setup tab
window again. To open the second wireless glove, select it from the COM port
tree.

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4.3. Opening Serial and Wireless Gloves
4.3.1 Scanning for Gloves
Clicking the button in the setup tab window causes GloveManager to
scan the COM ports for available gloves. This is useful if you do not know on
which COM port your glove is connected to, or you simply want to scan for
available gloves. Once the COM port scan is complete the COM port tree will be
updated to show available gloves.
Figure 6 – Result of the Port Scan
As can be seen in Figure 6, the Port Scan has found two wireless gloves on
COM1. The right hand glove is plugged into Port A of the wireless transmitter
unit. The left hand glove is plugged into Port B.
4.3.2 Opening Gloves
A glove may by opened by clicking the button after a COM port has
been selected in the COM port tree.
Figure 7 – Selecting the First Glove to be Opened
If the glove has been successfully opened the tab window will automatically
switch to the newly opened glove, as shown in Figure 8. Double-clicking on a
COM port will also cause GloveManager to attempt to open a glove on that
COM port.

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Figure 8 – GloveManager after the First Glove is Successfully Opened
Clicking on the tab will cause GloveManager to display the setup tab
window again. To open the second wireless glove, select it from the COM port
tree.
Figure 9 – Selecting the Second Glove to be Opened
Click on the button again to open the second glove. If GloveManager
was successful in opening the second glove, a new glove tab window will
appear.

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Figure 10 – The Tab Bar with Two Gloves Open
You may switch between open gloves by clicking on either of the Glove Tabs.
4.4. The Graph View
The following information fields are available in Graph View:
•Menu bar
•Toolbar
•Tab bar – Allows you to tab between gloves
•Sensor graph – A real-time graph of the glove sensor
•Sensor name and values – Displays the sensor name and the following
real-time values (the amount of information displayed is dependent on
the resolution available):
oRaw sensor value [Value between 0 and 4095]
oSensor dynamic range [Value between 0 and 4095]
oScaled sensor value [Scaled value from 0 to 4095]
oLower calibrated value [Value between 0 and 4095]
oUpper calibrated value [Value between 0 and 4095]
oGraph top value [Value between 0 and 4095]
oCurrent graph value [Value between 0 and 4095]
oGraph bottom value [Value between 0 and 4095]
•Status bar – Displays status information, such as:
oProgram status and information messages
oThe packet rate
oAn indication if recording is currently on
oAn indication if auto calibration is currently on
oThe model of the current glove
oThe handedness of the current glove
oAn indication if the current glove is wired or wireless
oThe firmware version of the current glove

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Status bar
Sensor
graph Sensor name
and values
Tab bar Toolbar
Menu bar
Figure 11 – Available Fields in Graph View
4.4.1 The Menu Bar
The following commands are available from the menu:
Item Shortcut Description
File | New Recording Ctrl+N Creates a new recording file
File | Save Recording Ctrl+S Saves the current recording
File | Save Recording As… Saves the current recording as a new file name
File | Close Current Glove Alt+C Closes the currently visible glove
File | Exit Exits GloveManager
View | Toolbar Shows/Hides the Toolbar
View | Status Bar Shows/Hides the Status Bar
View | Show View Setup V Toggles between the sensor selection and the graph view
View | Show Scaled Graphs S Shows/Hides the Scaled Graphs
View | Show Raw Graphs X Shows/Hides the Raw Graphs
Recording | Record Ctrl+R Toggles recording of glove data on or off

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Item Shortcut Description
Calibration | Auto Calibration A Toggles between auto and manual calibration
Calibration | Manual Calibration M Toggles between auto and manual calibration
Calibration | Reset Calibration R Resets the auto calibration values, and turns auto calibration on
Calibration | Load Calibration Values Alt+O Load the calibration values from file, turns auto calibration off
Calibration | Save Calibration ValuesAlt+S Save the current calibration values to file
About | About GloveManager… Displays information about GloveManager
Table 1 – Menu Commands Available in GloveManager
4.4.2 Toolbar
The following buttons are available on the toolbar:
Icon Shortcut Description
Ctrl+N Creates a new recording file
Ctrl+S Saves the current recording
Ctrl+R Toggles recording of glove data on or off
X Shows/Hides the raw graphs
S Shows/Hides the scaled graphs
R Resets the auto calibration values, and turns auto calibration on
Alt+O Load the calibration values from file, turns auto calibration off
Alt+S Save the current calibration values to file
A Toggles between auto and manual calibration
M Toggles between auto and manual calibration
V Toggles between the sensor view setup and the graph view
Alt+C Closes the currently visible glove
Table 2 – Buttons Available on the GloveManager Toolbar

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Some items may me disabled when no glove is open.
4.4.3 Tab Bar
The tab bar allows you to switch between the Setup view and the currently open
gloves. The blue dot on the tab icon indicates a wireless glove.
Figure 12 – The Tab Bar
4.4.4 The Sensor Graphs
The sensor graph is a graphical representation of the data from the sensors as
it arrives. Two graph representations can be shown:
The scaled graph (showing the values scaled between 0 and 4095)
The raw graph (showing the raw values between 0 and 4095)
4.4.4.1 Scaled Graph
The scaled graph shows the scaled version of the sensor value, normalized
between 0 and 1. The default color for this graph is blue.
Figure 13 – The Scaled Graph
4.4.4.2 Raw Graph
The raw graph represents the raw sensor value coming from the glove.
Additional to the actual graph of the raw values (drawn in red by default), the
upper (drawn in green by default) and lower calibration (drawn in orange by
default) values are also plotted, as shown in Figure 14.
Upper calibration value
Lower calibration value
Raw sensor value
Figure 14 – The Raw Graph

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4.4.4.3 Graph Zooming
You may zoom into a graph by simply clicking on it, as illustrated below:
Left click
Figure 15 – An Illustration of the Zoom Procedure
The zoomed view gives you a more detailed view of the graph, and allows you
to do fine-tuning of the calibration value.
4.4.5 The Sensor Info Box
The sensor info box provides the following information (see Figure 16):
•Raw sensor value [Value between 0 and 4095]
•Sensor dynamic range [Value between 0 and 4095]
•Scaled sensor value [Scaled value from 0 to 4095]
•Lower calibrated value [Value between 0 and 4095]
•Upper calibrated value [Value between 0 and 4095]
•Graph top value [Value between 0 and 4095]
•Current graph value [Value between 0 and 4095]
•Graph bottom value [Value between 0 and 4095]

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Sensor name Raw value
Dynamic range value
Scaled value
Lower calibration value Upper calibration value
Graph bottom
value
Graph top
value
Current graph
value
Figure 16 – The Sensor Info Box
The upper and lower calibration values may be fine-tuned by adjusting the
minimum and maximum values of the dynamic range. These values are
automatically adjusted during auto calibration. Please note that the calibration
mode is automatically switched to manual calibration during fine-tuning.
The sensor info box has three levels of detail, depending on the pixel resolution
available to GloveManager. The highest level of detail is shown in Figure 16. As
the pixel resolution decreases, the second level of detail is switched to, as in
Figure 17. The value shown next to the sensor name is:
•the current scaled value (when scaled graphs are visible)
•the current raw value (when raw graphs are visible)
Figure 17 – The Second Level of Detail of the Sensor Info Box.
If the pixel resolution is decreased more, only the sensor name and current
graph value are shown.
Figure 18 – The Lowest Level of Detail of the Sensor Info Box.

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4.4.6 The Status Bar
The status bar displays various program and glove related information,
including:
•Program status and information messages
•The packet rate
•An indication if recording is currently on
•An indication if auto calibration is currently on
•The model of the current glove
•The handedness of the current glove
•An indication if the current glove is wired or wireless
•The firmware version of the current glove
Program status/
Information messages
Recording
indicator Glove name Glove handedness
Glove Wired /
Wireless indicator
Glove firmware
version
Current packet rate Auto calibration indicator
Figure 19 - The Status Bar
4.5. The Sensor Selection View
The sensor selection view may be obtained by clicking the button on the
toolbar, by selecting the View | Show View Setup option from the menu or by
pressing the Vshortcut key. The view is shown in Figure 20.
The hand and sensor image on the left allows you to select sensors to be used
during recording. Selecting none means that this glove will not be used during
the recording process.
The hand and sensor image on the right allows you to select specific sensors to
be shown in graph view. Please note that the program will not allow you to
display zero sensors.
Clicking the , , , , , or
buttons causes the corresponding sensors to be selected or deselected. You
may also select or deselect a sensor by clicking on it ( or ).