Tracking torso orientation to generate inputs for computer systems

• US 10,540,006 B2
• Filed: 11/15/2017
• Issued: 01/21/2020
• Est. Priority Date: 05/16/2017
• Status: Active Grant

• Current Assignee: Finchxr Limited
• Original Assignee: Finch Technologies Ltd.
• Inventors: Erivantcev, Viktor Vladimirovich, Kulchurin, Rustam Rafikovich, Lobanov, Alexander Sergeevich, Sergeev, Iakov Evgenevich, Kartashov, Alexey Ivanovich
• Primary Examiner(s): Shah, Priyank J
• Application Number:
  US15/813,813
• Publication Number:
  US 20180335834A1
• Time in Patent Office: 797 Days
• CPC Class Codes: B81B 2201/0235 Accelerometers
• CPC Class Codes: B81B 2201/0242 Gyroscopes
• CPC Class Codes: B81B 7/02 containing distinct electrical or optical devices of particular relevance for their function, e.g. microelectro-mechanical systems [MEMS] B81B7/04 takes precedence
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/012 Head tracking input arrangements
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user

Abstract

A system including: two arm modules each having an inertial measurement unit and attached to an upper arm of a user to measure the current orientations of the upper arms of the user; a head module having an inertial measurement unit and attached to the head of the user to measure the current orientation of the head; and a computing device coupled to the arm modules and the head module to calculate, based on the current orientations of the upper arms and the current orientation of the head, the current orientation of the torso of the user.

Claims

1. A system, comprising:

a first sensor module having an inertial measurement unit and attached to a left upper arm of a user, the first sensor module generating first motion data identifying an orientation of the left upper arm;

a second sensor module having an inertial measurement unit and attached to a right upper arm of the user, the second sensor module generating second motion data identifying an orientation of the right upper arm;

a third sensor module having an inertial measurement unit and attached to a head of the user, the third sensor module generating third motion data identifying an orientation of the head; and

a computing device coupled to the first sensor module, the second sensor module, and the third sensor module through communication links, the computing device calculating an orientation of a torso of the user based on the orientation of the left upper arm, the orientation of the right upper arm, and the orientation of the head, the calculating the orientation of the torso comprising

computing a facing direction of the user'"'"'s torso based on identifying a bisecting direction that bisects the first and second motion data, and

calculating the orientation of the torso by identifying a second direction based on the bisecting direction and a predetermined ration, the predetermined ratio representing the angles between the second direction and the bisecting direction and the second direction and a direction of the orientation of the user'"'"'s head.

2. The system of claim 1, wherein the computing device calculates the orientation of the torso by:

determining a first rotation along a vertical axis between the orientation of the left upper arm and the orientation of the right upper arm;

calculating a second rotation that is one half of the first rotation;

determining a first orientation that has the second rotation along the vertical axis from the orientation of the left upper arm and the second rotation along the vertical axis from the orientation of the right upper arm;

determining a third rotation along a vertical axis between the orientation of the first orientation and the orientation of the head;

calculating a fourth rotation according to a predetermined ratio between the fourth rotation and the third rotation; and

determining a second orientation that has the fourth rotation along the vertical axis from the first orientation towards the orientation of the head.

3. The system of claim 2, wherein the predetermined ratio is 1/3.

4. The system of claim 2, wherein the third sensor module is integrated in a head mount display device.

5. The system of claim 1, wherein each of the first sensor module, the second sensor module, the third sensor module further includes a communication device for a communication link with the computing device.

6. The system of claim 1, wherein each of the inertial measurement unit of the first sensor module, the inertial measurement of the second sensor module, and the inertial measurement of the third sensor module includes a micro-electromechanical system (MEMS) gyroscope.

7. The system of claim 6, wherein each of the inertial measurement unit of the first sensor module, the inertial measurement of the second sensor module, and the inertial measurement of the third sensor module further includes a magnetometer and a MEMS accelerometer.

8. The system of claim 1, wherein the orientation of the torso is calculated without an inertial measurement unit attached to the torso of the user.

9. The system of claim 1, wherein the orientation of the torso is calculated without a sensor module on the torso of the user.

10. A method, comprising:

receiving, from a first sensor module attached to a left upper arm of a user, first motion data identifying an orientation of the left upper arm;

receiving, from a second sensor module attached to a right upper arm of the user, second motion data identifying an orientation of the right upper arm;

calculating an orientation of a torso of the user based at least on the orientation of the left upper arm and the orientation of the right upper arm, wherein the calculating includes;

determining a first direction that bisects, in a horizontal plane;

a projection of a lengthwise direction of the left upper arm on the horizontal plane; and

a projection of a lengthwise direction of the right upper arm on the horizontal plane;

wherein the orientation of the torso of the user is based on the first direction; and

determining a position of the user in a three dimensional space based on the orientation of the left upper arm, the orientation of the torso, the orientation of the right upper arm, and a skeleton model of the user.

11. The method of claim 10, wherein the calculating further includes:

computing the lengthwise direction of the left upper arm from the orientation of the left upper arm;

projecting the lengthwise direction of the left upper arm onto the horizontal plane to obtain a projected lengthwise direction of the left upper arm;

computing the lengthwise direction of the right upper arm from the orientation of the right upper arm;

projecting the lengthwise direction of the right upper arm onto the horizontal plane to obtain a projected lengthwise direction of the right upper arm; and

computing an angle between the projected lengthwise direction of the left upper arm and the projected lengthwise direction of the right upper arm.

12. The method of claim 11, wherein the first direction is calculated by rotating in the horizontal plane the projected lengthwise direction of the left upper arm, or the projected lengthwise direction of the right upper arm, according to one half of the angle.

13. The method of claim 10, wherein the calculating further includes:

determining that an orientation of a head of user is not available; and

identifying the orientation of the torso to face the first direction.

14. The method of claim 10, further comprising:

receiving, from a third sensor module attached to a head of the user, third motion data identifying an orientation of the head;

wherein the calculating further includes;

determining a second direction that divides, in the horizontal plane and according to a predetermined ratio, an angle between;

a projection of a forward-facing direction of the head in the horizontal plane; and

the first direction; and

identifying the orientation of the torso to face the second direction.

15. The method of claim 14, wherein the predetermined ratio is 1:

2.

16. The method of claim 14, wherein the determining of the second direction includes:

projecting the forward-facing direction of the head onto the horizontal plane to obtain a third direction;

computing the angle of rotation in the horizontal plane and between the first direction and the third direction;

determining a portion of the angle according to the predetermined ratio; and

rotating the first direction within the horizontal plane by the portion of the angle towards the third direction.

17. A non-transitory computer storage medium storing instructions which, when executed by a computing device, instructs the computing device to perform a method, the method comprising:

receiving, from a first sensor module attached to a left upper arm of a user, first motion data identifying an orientation of the left upper arm;

receiving, from a second sensor module attached to a right upper arm of the user, second motion data identifying an orientation of the right upper arm;

calculating an orientation of a torso of the user based at least on the orientation of the left upper arm and the orientation of the right upper arm, wherein the calculating includes;

determining a first direction that bisects, in a horizontal plane;

a projection of a lengthwise direction of the left upper arm on the horizontal plane; and

a projection of a lengthwise direction of the right upper arm on the horizontal plane;

wherein the orientation of the torso of the user is based on the first direction; and

determining a position of the user in a three dimensional space based on the orientation of the left upper arm, the orientation of the torso, the orientation of the right upper arm, and a skeleton model of the user.

18. The non-transitory computer storage medium of claim 17, wherein the calculating comprises:

receiving, from a third sensor module attached to a head of the user, third motion data identifying an orientation of the head;

wherein the calculating further includes;

determining a second direction that divides, in the horizontal plane and according to a predetermined ratio, an angle between;

a projection of a forward-facing direction of the head in the horizontal plane; and

the first direction; and

identifying the orientation of the torso as facing the second direction.

19. The non-transitory computer storage medium of claim 17, wherein the calculating comprises:

in response to a determination that an orientation of a head of user is not available, identifying the orientation of the torso as facing the first direction.