Automated motion data processing

• US 10,563,981 B1
• Filed: 08/20/2014
• Issued: 02/18/2020
• Est. Priority Date: 08/22/2013
• Status: Active Grant

• Current Assignee: Moov Inc.
• Original Assignee: Moov Inc.
• Inventors: Li, Meng, Hu, Yaohua, Yuan, Tong
• Primary Examiner(s): Betsch, Regis J
• Assistant Examiner(s): Knox, Kaleria
• Application Number:
  US14/464,250
• Time in Patent Office: 2,008 Days
• Field of Search: 342 42, 73 138, 700245, 701104, 701141, 701 96, 33700, 601 69, 702160
• CPC Class Codes: A63B 71/06 Indicating or scoring devices for games or players , or for other sports activities
• CPC Class Codes: G01C 19/00 Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
• CPC Class Codes: G01C 22/006 Pedometers
• CPC Class Codes: G01P 15/00 Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
• CPC Class Codes: G09B 19/00 Teaching not covered by other main groups of this subclass teaching or practice apparatus for gun-aiming or gun-laying F41G3/26
• CPC Class Codes: G09B 19/0038 Sports

Abstract

Motion data processing includes receiving a plurality of motion data samples, wherein the plurality of motion data samples comprises a plurality of acceleration data samples obtained by an accelerometer and a plurality of angular velocity data samples obtained by a gyroscope, and the plurality of motion data samples pertains to a plurality of motions performed by a user; and correcting for distortions in the motion data samples, including determining, based at least in part on some of the motion data samples, a set of one or more corrected core measurements of the user'"'"'s body positions during a subset of the plurality of motions.

Claims

1. A motion data processing system, comprising:

a communication interface to receive a plurality of motion data samples, wherein the plurality of motion data samples comprises a plurality of acceleration data samples obtained by an accelerometer and a plurality of angular velocity data samples obtained by a gyroscope, and the plurality of motion data samples pertains to a plurality of motions performed by a user;

an evaluation module coupled to the communication interface, to correct for distortions in the motion data samples, including to determine, based at least in part on some of the motion data samples, a set of one or more corrected core measurements of the user'"'"'s body positions during a subset of the plurality of motions, and compare the plurality of motions performed by the user to a set of reference motions, wherein to determine the set of one or more corrected core measurements of the user'"'"'s body positions during the subset of the plurality of motions includes to;

generate corrected orientation data based at least in part on some of the plurality of acceleration data samples and some of the plurality of angular velocity data samples, wherein to generate the corrected orientation data includes to;

determine a current orientation data sample based at least in part on at least some of the angular velocity data samples;

determine a corrected current orientation data sample based at least in part on at least some of the acceleration data samples; and

determine an interpolated and corrected orientation data sample by interpolating the current orientation data sample and the corrected current orientation data sample; and

generate corrected velocity data based at least in part on the corrected orientation data and a statistical model; and

a user interface to provide feedback to the user, the feedback being based at least in part on a result of the comparing the plurality of motions performed by the user to the set of reference motions.

2. The system of claim 1, wherein the plurality of motion data samples further comprises a plurality of magnetic field data samples.

3. The system of claim 1, wherein the set of one or more corrected core measurements is determined based at least in part on a statistical model.

4. The system of claim 1, wherein to determine the current orientation data sample includes performing a quaternion transform of a previous interpolated and corrected orientation data sample and a current angular velocity data sample.

5. The system of claim 1, wherein the statistical model is a distribution model of sensor output features to ground truth motion velocity.

6. The system of claim 1, wherein to generate the corrected velocity data includes to:

determine an acceleration in world space;

integrate the acceleration to determine a current velocity data sample;

determine a probability distribution of a ground truth velocity based at least in part on the statistical model;

determine an offset velocity to maximize a sum of probabilities for a sample window; and

determine a corrected current output velocity based at least in part on the probability distribution and the offset velocity.

7. The system of claim 1, wherein the plurality of acceleration data samples and the plurality of angular velocity data samples are preprocessed, the preprocessing including to detect a lost data sample and to estimate the lost data sample by interpolation of received data samples.

8. The system of claim 1, wherein the evaluation module is further to determine a form measurement that characterizes the user'"'"'s form during the subset of the plurality of motions.

9. The system of claim 8, wherein the form measurement is determined based at least in part on pattern recognition.

10. The system of claim 8, wherein to determine the form measurement includes to:

determine a dominant rotational axis based at least in part on the set of the corrected core measurements; and

identify a first set of samples involved in a first rotational direction and a second set of samples that are involved in a second rotational direction based on a projection on the dominant rotational axis.

11. The system of claim 8, wherein to determine the form measurement further includes to identify distinct parts of the set of corrected core measurements based on pattern recognition;

and

determine the form measurement based on the identified distinct parts.

12. The system of claim 1, wherein the set of one or more corrected core measurements includes a quaternion vector associated with the subset of the motions and a velocity vector associated with the subset of the motions.

20. The system of claim 1, wherein to determine the set of one or more corrected core measurements of the user'"'"'s body positions during the subset of the plurality of motions includes to performing a transformation of one or more vectors representing at least part of the motion data samples from a local space in which the motion data samples are measured to a world space.

13. A method comprising:

receiving a plurality of motion data samples, wherein the plurality of motion data samples comprises a plurality of acceleration data samples obtained by an accelerometer and a plurality of angular velocity data samples obtained by a gyroscope, and the plurality of motion data samples pertains to a plurality of motions performed by a user;

correcting for distortions in the motion data samples, including determining, based at least in part on some of the motion data samples, a set of one or more corrected core measurements of the user'"'"'s body positions during a subset of the plurality of motions, the determining the set of one or more corrected core measurements of the user'"'"'s body positions during the subset of the plurality of motions including;

generating corrected orientation data based at least in part on some of the plurality of acceleration data samples and some of the plurality of angular velocity data samples, wherein the generating the corrected orientation data includes;

determining a current orientation data sample based at least in part on at least some of the angular velocity data samples;

determining a corrected current orientation data sample based at least in part on at least some of the acceleration data samples; and

determining an interpolated and corrected orientation data sample by interpolating the current orientation data sample and the corrected current orientation data sample; and

generating corrected velocity data based at least in part on the corrected orientation data and a statistical model;

comparing the plurality of motions performed by the user to a set of reference motions; and

providing feedback to the user, the feedback being based at least in part on a result of the comparing the plurality of motions performed by the user to the set of reference motions.

14. The method of claim 13, further comprising determining a form measurement that characterizes the user'"'"'s form during the subset of the plurality of motions.

15. The method of claim 13, wherein the set of one or more corrected core measurements is determined based at least in part on a statistical model.

18. The method of claim 13, wherein the feedback comprises a recommendation for the user to adjust a form of an exercise.

19. The method of claim 13, wherein the feedback comprises a difference between the plurality of motions performed by a user and the set of reference motions.

16. A computer program product for motion data processing, the computer program product being embodied in a tangible computer readable storage medium and comprising computer instructions for:

receiving a plurality of motion data samples, wherein the plurality of motion data samples comprises a plurality of acceleration data samples obtained by an accelerometer and a plurality of angular velocity data samples obtained by a gyroscope, and the plurality of motion data samples pertains to a plurality of motions performed by a user;

correcting for distortions in the motion data samples, including determining, based at least in part on some of the motion data samples, a set of one or more corrected core measurements of the user'"'"'s body positions during a subset of the plurality of motions, the determining the set of one or more corrected core measurements of the user'"'"'s body positions during the subset of the plurality of motions including;

generating corrected orientation data based at least in part on some of the plurality of acceleration data samples and some of the plurality of angular velocity data samples, wherein the generating the corrected orientation data includes;

determining a current orientation data sample based at least in part on at least some of the angular velocity data samples;

determining a corrected current orientation data sample based at least in part on at least some of the acceleration data samples; and

determining an interpolated and corrected orientation data sample by interpolating the current orientation data sample and the corrected current orientation data sample; and

generating corrected velocity data based at least in part on the corrected orientation data and a statistical model;

comparing the plurality of motions performed by the user to a set of reference motions; and

providing feedback to the user, the feedback being based at least in part on a result of the comparing the plurality of motions performed by the user to the set of reference motions.

17. An automated fitness coaching system, comprising:

a motion sensor comprising;

an accelerometer to take acceleration measurements pertaining to a plurality of motions performed by a user and outputs a plurality of acceleration data samples; and

a gyroscope to take angular velocity measurements pertaining to the plurality of motions performed by the user and outputs a plurality of angular velocity data samples;

a communication interface coupled to the motion sensor and to transfer at least the plurality of acceleration data samples and the plurality of angular velocity data samples to a processor to determine a set of one or more corrected core measurements of the user'"'"'s body positions during a subset of the plurality of motions, wherein to determine the set of one or more corrected core measurements of the user'"'"'s body positions during the subset of the plurality of motions includes to;

generate corrected orientation data based at least in part on some of the plurality of acceleration data samples and some of the plurality of angular velocity data samples, wherein to generate the corrected orientation data includes to;

determine a current orientation data sample based at least in part on at least some of the angular velocity data samples;

determine a corrected current orientation data sample based at least in part on at least some of the acceleration data samples; and

determine an interpolated and corrected orientation data sample by interpolating the current orientation data sample and the corrected current orientation data sample; and

generate corrected velocity data based at least in part on the corrected orientation data and a statistical model; and

a user interface to provide feedback to the user, the feedback being based at least in part on a result of a comparison the plurality of motions performed by the user to the set of reference motions.