Orientation and motion sensing in athletic training systems, physical rehabilitation and evaluation systems, and hand-held devices

• US 20070015611A1
• Filed: 07/12/2006
• Published: 01/18/2007
• Est. Priority Date: 07/13/2005
• Status: Active Grant

• Current Assignee: Nokia Technologies Oy (Nokia Corporation)
• Original Assignee: Ultimate Balance Inc.
• Inventors: Noble, Christopher, Lyons, Kenneth
• Granted Patent: US 7,383,728 B2
• Time in Patent Office: Days
• US Class Current: 473/450
• CPC Class Codes: A61B 2503/10 Athletes
• CPC Class Codes: A61B 2505/09 Rehabilitation or training
• CPC Class Codes: A61B 2560/0223 of calibration, e.g. protocols for calibrating sensors
• CPC Class Codes: A61B 2562/0219 Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
• CPC Class Codes: A61B 5/1116 Determining posture transitions
• CPC Class Codes: A61B 5/1122 of movement trajectories
• CPC Class Codes: A61B 5/1126 using a particular sensing technique
• CPC Class Codes: A61B 5/6803 Head-worn items, e.g. helmets, masks, headphones or goggles
• CPC Class Codes: A63B 2024/0012 Comparing movements or motion sequences with a registered reference
• CPC Class Codes: A63B 2071/0625 Emitting sound, noise or music
• CPC Class Codes: A63B 2209/10 with adhesive type surfaces, i.e. hook and loop-type fastener
• CPC Class Codes: A63B 2230/62 posture
• CPC Class Codes: A63B 24/0003 Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
• CPC Class Codes: A63B 69/3608 Attachments on the body, e.g. for measuring, aligning, restraining A63B69/0059, A63B69/3673 take precedence
• CPC Class Codes: A63B 69/3629 Visual means not attached to the body for aligning, positioning the trainee's head or for detecting head movement, e.g. by parallax
• 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

Improved apparatus and methods of sensing or monitoring body orientation and motion and measuring range of motion (ROM) for use in athletic training and physical rehabilitation and evaluation. The apparatus includes a 3-axis sensor, at least one memory, and at least one processor, and is attachable to an object to be monitored. The 3-axis sensor senses a magnitude of tilt along each of a first, second, and third axis, the memory stores data representing the sensed magnitudes of tilt, and the processor processes the data stored in the memory. In one embodiment, the processor determines an angle between each of the first, second, and third axes and a horizontal plane, and selects the two axes corresponding to the two smallest angles between the three axes and the horizontal plane. The processor then generates an indication of the orientation of the object based upon the sensed magnitudes of tilt along the two selected axes.

Claims

1. An apparatus for monitoring an orientation of an object in 3-dimensional space, said apparatus being mountable to said object, comprising:

a 3-axis sensor configured to sense a magnitude of tilt along each of a first axis, a second axis, and a third axis;

at least one memory operative to store data representative of the sensed magnitude of tilt along each of said first, second, and third axes; and

at least one processor operative to process the data stored in said at least one memory, wherein said at least one processor is operative;

to determine an angle between each of said first, second, and third axes and a horizontal plane;

to select two of said first, second, and third axes corresponding to two smallest angles between said first, second, and third axes and the horizontal plane; and

to generate an indication of the orientation of said object based upon the sensed magnitude of tilt along the two selected axes.

2. The apparatus of claim 1 wherein said 3-axis sensor includes at least one accelerometer, said 3-axis sensor being operative to measure a magnitude of an apparent gravity force along each of said first, second, and third axes.

3. The apparatus of claim 2 wherein said at least one processor is operative to monitor an acceleration of said object by monitoring the magnitude of said apparent gravity force.

4. The apparatus of claim 2

wherein said first and second axes are disposed at a first specified angle to one another and define a first plane, said third axis being disposed at a second specified angle to the first plane;

wherein each of said first and second specified angles is equal to 90°

, and

wherein said at least one processor is operative to determine a direction of said apparent gravity force, said apparent gravity force being defined in a spherical coordinate system by angles θ and

φ

such that

(cos θ

)²=x²/(x²+y²), and
(cos φ

)²=1−

(x²+y²),

wherein “

x”

represents a magnitude of said apparent gravity force measured along said first axis, and

wherein “

y”

represents a magnitude of said apparent gravity force measured along said second axis.

5. The apparatus of claim 2

wherein said first and second axes are disposed at a first specified angle to one another and define a first plane, said third axis being disposed at a second specified angle to the first plane;

wherein each of said first and second specified angles is equal to 90°

, and

wherein said at least one processor is operative to determine the magnitude of said apparent gravity force, the magnitude of said apparent gravity force being expressible as

ρ

=x²+y²+z²,

wherein “

x”

represents a magnitude of said apparent gravity force measured along said first axis,

wherein “

y”

represents a magnitude of said apparent gravity force measured along said second axis, and

wherein “

z”

represents a magnitude of said apparent gravity force measured along said third axis.

6. The apparatus of claim 5 wherein said at least one processor is operative to monitor an acceleration of said object by monitoring the magnitude of said apparent gravity force, and wherein the magnitude ρ

of said apparent gravity force, normalized to earth'"'"'s gravity at the earth'"'"'s surface, is expressible as

ρ

=x²+y²+z²>

1, or
ρ

=x²+y²+z²<

1

in a presence of an acceleration of said object.

7. The apparatus of claim 5 wherein said at least one processor is operative to monitor an acceleration of said object by monitoring the magnitude of said apparent gravity force, and wherein the magnitude ρ

of said apparent gravity force, normalized to earth'"'"'s gravity at the earth'"'"'s surface, is expressible as

ρ

=x²+y²+z²=1

in an absence of an acceleration of said object.

8. A method of monitoring an orientation of an object in 3-dimensional space, comprising the steps of:

in a positioning step, positioning a housing including a 3-axis sensor against said object;

in a sensing step, sensing, by said 3-axis sensor, a magnitude of tilt along a first axis, a second axis, and a third axis;

in a determining step, determining an angle between each of said first, second, and third axes and a horizontal plane;

in a selecting step, selecting two of said first, second, and third axes corresponding to two smallest angles between said first, second, and third axes and the horizontal plane; and

in a first generating step, generating an indication of the orientation of said object based upon the sensed magnitude of tilt along the two selected axes.

9. The method of claim 8 wherein said sensing step includes measuring, by said 3-axis sensor, a magnitude of an apparent gravity force along each of said first, second, and third axes.

10. The method of claim 9 further including the step of monitoring the magnitude ρ

of said apparent gravity force to determine a presence or an absence of an acceleration of said object.

11. The method of claim 9 further including the steps of

filtering a signal representing a direction of said apparent gravity force to determine a direction of an actual gravity force,

subtracting a first vector representing said actual gravity force from a second vector representing said apparent gravity force to obtain a third vector, said third vector representing a periodic acceleration of said object, and

in a second generating step, generating an indication of at least one of a direction and a magnitude of the third vector representing the acceleration of said object.

12. The method of claim 8 further including generating an audible message corresponding to at least one word or phrase at a start or completion of at least one of said positioning step, said sensing step, said determining step, said selecting step, and said first generating step.

13. The method of claim 12 wherein the at least one word or phrase corresponding to said audible message comprises at least one instructional word or phrase.

14. The method of claim 12 wherein the at least one word or phrase corresponding to said audible message comprises a confirmation of the start or completion of a specified act.

15. A method of monitoring an orientation of a body part of a user in 3-dimensional space, comprising the steps of:

in a positioning step, positioning said body part in a first orientation within the 3-dimensional space;

in a first measuring step, measuring an apparent gravity force acting on said body part at the first orientation to obtain a first direction of said apparent gravity force;

in a first causing step, causing a first angular displacement of said body part about at least one axis from the first orientation to a second orientation within the 3-dimensional space;

in a second measuring step, measuring said apparent gravity force acting on said body part at the second orientation to obtain a second direction of said apparent gravity force;

in a first determining step, determining a reference orientation of said user within the 3-dimensional space based upon the first and second directions of said apparent gravity force acting on said body part at the first and second orientations, respectively; and

in a storing step, storing an indication of the reference orientation of said user.

16. The method of claim 15 further including the steps of

in a second causing step, causing at least one next angular displacement of said body part about said at least one axis to at least one next orientation within the 3-dimensional space,

in a third measuring step, measuring said apparent gravity force acting on said body part at the next orientation to obtain a next direction of said apparent gravity force;

and

in a second determining step, determining, relative to the reference orientation of said user, a direction corresponding to said next angular displacement based upon the second and next orientations of said body part.

17. The method of claim 15 wherein the reference orientation of said user determined in said first determining step corresponds to a direction along a great circle arc from an end of a first vector representing said apparent gravity force measured in said first measuring step to an end of a second vector representing said apparent gravity force measured in said second measuring step.

18. The method of claim 15 wherein the first angular displacement corresponds to a length of a great circle arc from an end of a first vector representing said apparent gravity force measured in said first measuring step to an end of a second vector representing said apparent gravity force measured in said second measuring step.

19. The method of claim 16 wherein the next angular displacement corresponds to a length of a great circle arc from an end of a first vector representing said apparent gravity force measured in said second measuring step to an end of a second vector representing said apparent gravity force measured in said third measuring step.

20. The method of claim 16 wherein the orientation of said user determined in said second determining step corresponds to a direction along a great circle arc from an end of a first vector representing said apparent gravity force measured in said second measuring step to an end of a second vector representing said apparent gravity force measured in said third measuring step.

21. The method of claim 15 further including generating an audible message corresponding to at least one word or phrase at a start or completion of at least one of said positioning step, said first measuring step, said first causing step, said second measuring step, said first determining step, and said storing step.

22. The method of claim 21 wherein the at least one word or phrase corresponding to said audible message comprises at least one instructional word or phrase.

23. The method of claim 21 wherein the at least one word or phrase corresponding to said audible message comprises a confirmation of the start or completion of a specified act.

24. A method of monitoring a range of motion of a body part, said body part being rotatable about a joint to which said body part is coupled, comprising the steps of:

in a first positioning step, positioning a housing including a sensor against said body part;

in a second positioning step, positioning said body part in a first orientation relative to the joint;

in a first measuring step, measuring, by said sensor in 3-dimensional space, an apparent gravity force acting on said housing disposed against said body part at the first orientation to obtain a first direction of said apparent gravity force;

in a third positioning step, positioning said body part in a second orientation relative to the joint;

in a second measuring step, measuring, by said sensor in 3-dimensional space, said apparent gravity force acting on said housing disposed against said body part at the second orientation to obtain a second direction of said apparent gravity force;

in a determining step, determining a magnitude of rotation of said body part from the first orientation to the second orientation based upon the first and second directions of said apparent gravity force; and

in a providing step, providing an indication of the magnitude of rotation of said body part.

25. The method of claim 24 wherein said first positioning step includes positioning said housing including said sensor against said body part, wherein said sensor has at least two axes.

26. The method of claim 24 wherein the magnitude of rotation of said body part corresponds to a length of a great circle arc from an end of a first vector representing said apparent gravity force measured in said first measuring step to an end of a second vector representing said apparent gravity force measured in said second measuring step.

27. The method of claim 24 wherein said second measuring step includes performing a plurality of measurements of said apparent gravity force at substantially the second orientation to obtain a plurality of second directions of said apparent gravity force, wherein the determining step includes determining a plurality of magnitudes of rotation of said body part from the first orientation to substantially the second orientation based upon the first direction and the plurality of second directions of said apparent gravity force, and further including storing a maximum of the plurality of magnitudes of rotation.

28. The method of claim 24 further including generating an audible message corresponding to at least one word or phrase at a start or completion of at least one of said first positioning step, said second positioning step, said first measuring step, said third positioning step, said second measuring step, said determining step, and said providing step.

29. The method of claim 28 wherein the at least one word or phrase corresponding to said audible message comprises at least one instructional word or phrase.

30. The method of claim 28 wherein the at least one word or phrase corresponding to said audible message comprises a confirmation of the start or completion of a specified act.

31. A method of initiating monitoring of an orientation of a body part in 3-dimensional space, said monitoring being performed using a sensor disposed against said body part, comprising the steps of:

in a first positioning step, positioning said body part in a first orientation within the 3-dimensional space;

in a first providing step, providing, by said sensor, data representing a first position of said body part at the first orientation;

in a second positioning step, positioning said body part in at least one second orientation within the 3-dimensional space;

in a second providing step, providing, by said sensor, data representing at least one second position of said body part at the at least one second orientation; and

in an initiating step, in the event the first position of said body part at the first orientation and the at least one second position of said body part at the at least one second orientation correspond to a specified sequence of positions of said body part, initiating said monitoring of the orientation of said body part by said sensor.

32. The method of claim 31 wherein the first providing step includes measuring, by said sensor, an apparent gravity force acting on said body part at the first orientation to obtain a first direction of said apparent gravity force, the first direction of said apparent gravity force being indicative of the first position of said body part at the first orientation, and wherein the second providing step includes measuring, by said sensor, said apparent gravity force acting on said body part at the at least one second orientation to obtain at least one second direction of said apparent gravity force, wherein the at least one second direction of said apparent gravity force is indicative of the at least one second position of said body part at the at least one second orientation.

33. The method of claim 31 further including generating an audible message corresponding to at least one word or phrase at a start or completion of at least one of said first positioning step, said first providing step, said second positioning step, said second providing step, and said initiating step.

34. The method of claim 33 wherein the at least one word or phrase corresponding to said audible message comprises at least one instructional word or phrase.

35. The method of claim 33 wherein the at least one word or phrase corresponding to said audible message comprises a confirmation of the start or completion of a specified act.

36. An apparatus for monitoring an orientation of a body part, the apparatus being attachable to said body part, comprising:

a sensor configured to sense an angular orientation of said body part, and to provide data representing the sensed angular orientation;

at least one memory operative to store data representing a plurality of words or phrases;

an audio output system operative to generate an audible message in response to an electronic input; and

at least one processor operative;

to monitor data provided by said sensor;

to access data stored in said memory corresponding to at least one word or phrase, said at least one word or phrase relating to the sensed angular orientation of said body part; and

to generate, in cooperation with said audio output system, an audible message corresponding to said at least one word or phrase.

37. The apparatus of claim 36 wherein the at least one word or phrase corresponding to said audible message comprises at least one instructional word or phrase.

38. The apparatus of claim 36 wherein the at least one word or phrase corresponding to said audible message comprises a confirmation of a start or completion of a specified act.

39. The apparatus of claim 36 wherein the at least one word or phrase corresponding to said audible message comprises a representation of a voice of one of a plurality of predetermined individuals.

40. The apparatus of claim 39 wherein one of said plurality of predetermined individuals is selectable by a user.

41. The apparatus of claim 36 wherein the data representing said plurality of words or phrases is stored in said memory in a plurality of different languages.

42. The apparatus of claim 41 wherein one of said plurality of different languages is selectable by a user.

43. The apparatus of claim 36 wherein said at least one processor is communicably coupleable to a data communications network.

44. The apparatus of claim 43 wherein said data communications network comprises one of a local area network (LAN), a wide area network (WAN), and a point-to-point network/remote-control unit.

45. The apparatus of claim 43 wherein said at least one processor is operative to receive data corresponding to said plurality of words or phrases over said network, and to store said data in said memory.

46. The apparatus of claim 36 further including an interface configured to communicate information over a data communications network, and wherein said at least one processor is operative to store said data provided by said sensor, to generate at least one data message containing said data provided by said sensor, and to communicate said data message to said interface for subsequent transmittal over said network.

47. An apparatus for monitoring an orientation of a body part of a user, the apparatus being attachable to said body part, comprising:

a sensor configured to sense an angular orientation of said body part, and to provide data representing the sensed angular orientation;

a memory operative to store data representative of a plurality of indications of the sensed angular orientation of said body part;

an output system operative to generate a plurality of indications perceptible by the user; and

at least one processor operative;

to monitor data provided by said sensor; and

to access data corresponding to at least one of said plurality of indications of the sensed angular orientation of said body part, and, in cooperation with said output system, to generate one of said indications perceptible by the user to provide the user with feedback pertaining to the orientation of said body part within the 3-dimensional space,

wherein said output system comprises at least one vibrating transducer, and said indications perceptible by the user comprise a plurality of predetermined vibration patterns.