Method of recording a motion for robotic playback
First Claim
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1. A method of recording a motion of a physical object executed by a human operator to enhance motor learning of a trainee by repetition of said motion comprising:
- a) instrumenting said physical object with electromechanical sensors that sense a 3-dimensional position of the object at sequential instants of time during said motion and provide electronic positional signals during said motion,b) acquiring the electronic positional signals from the sensors during said motion of said physical object over at least one training trajectory by said operator and storing the positional signals in a data format that allows for subsequent signal processing,c) verifying that the stored positional data corresponds to a valid training trajectory by comparison with previously established limits,d) transferring the stored positional data for each training trajectory to a signal processor and the data to form a motion data record in a coordinate system particular to a motion-processing generating device,e) reconstructing 3-dimensional acceleration, velocity and position data based on the motion data record,f) attaching the physical object to the motion-generating device wherein said trainee interacts with said physical object in a normal operational manner, andg) translating the reconstructed 3-dimensional acceleration, velocity and position data into motion control commands that are applied to motion controllers within the motion-generating device to cause the motion-generating device to repeatedly move said physical object over said training trajectory while said trainee interacts with said physical object.
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Abstract
A method of recording the motion of a physical object moved under human control is described that allows repeated replay of the exact motion using a robot to cause the motion of the object to occur in such a way as to allow a human student to interact with the object and experience the fundamental movements required to reproduce the motion consistently, thereby enhancing motor learning.
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Citations
13 Claims
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1. A method of recording a motion of a physical object executed by a human operator to enhance motor learning of a trainee by repetition of said motion comprising:
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a) instrumenting said physical object with electromechanical sensors that sense a 3-dimensional position of the object at sequential instants of time during said motion and provide electronic positional signals during said motion, b) acquiring the electronic positional signals from the sensors during said motion of said physical object over at least one training trajectory by said operator and storing the positional signals in a data format that allows for subsequent signal processing, c) verifying that the stored positional data corresponds to a valid training trajectory by comparison with previously established limits, d) transferring the stored positional data for each training trajectory to a signal processor and the data to form a motion data record in a coordinate system particular to a motion-processing generating device, e) reconstructing 3-dimensional acceleration, velocity and position data based on the motion data record, f) attaching the physical object to the motion-generating device wherein said trainee interacts with said physical object in a normal operational manner, and g) translating the reconstructed 3-dimensional acceleration, velocity and position data into motion control commands that are applied to motion controllers within the motion-generating device to cause the motion-generating device to repeatedly move said physical object over said training trajectory while said trainee interacts with said physical object. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method of recording a motion of a golf club executed by a human operator to enhance motor learning of a trainee by repetition of said motion comprising:
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a) measuring the position of the top of the golf club, the position of the shoulders of the human operator and the swing plane angle of the golf club, b) positioning a motion-generating device such that the position of the top of the golf club, the shoulders of the human operator and the swing plane angle are constrained to the measured positions when the golf club is attached to the motion-generating, a) instrumenting said golf club with electromechanical sensors that sense a 3-dimensional position of the object at sequential instants of time during said motion and provide electronic positional signals during said motion, b) acquiring the electronic positional signals from the sensors during said motion of said golf club over at least one training trajectory by said operator and storing the positional signals in a data format that allows for subsequent signal processing, c) verifying that the stored positional data corresponds to a valid training trajectory by comparison with previously established limits, d) transferring the stored positional data for each training trajectory to a signal processor and processing the data to form a motion data record in a coordinate system particular to the motion-generating device, e) reconstructing 3-dimensional acceleration, velocity and position data in the coordinate system particular to the motion-generating device based on the motion data record, f) attaching the golf club to the motion-generating device wherein said trainee interacts with said golf club in a normal operational manner, and g) applying the reconstructed 3-dimensional acceleration, velocity and position data to motion controllers within the motion-generating device to cause the motion-generating device to repeatedly move said golf club over said training trajectory while said trainee interacts with said golf club. - View Dependent Claims (8, 9, 10, 11)
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12. A method of replaying a recorded motion on a motion-generating device said method comprising:
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a) recording a motion of an object by recording a data file of the position of the object at sequential instants of time in three dimensions, b) translating the time varying recorded coordinates of the object to coordinates of rotational motion of servo motors contained in the motion-generating device such that when the servo motors are rotated and object attached to the motion generating device would follow the same path as the recorded motion, c) for each coordinate of rotational motion determining the starting position, the ending position, the points in time of maximum acceleration and velocity, the points in time of minimum acceleration and velocity, d) constructing a new data file of the position of the object at sequential instants of time wherein the starting position, the ending position, the points in time of maximum acceleration and velocity and the points in time of minimum acceleration and velocity are the same as that in the recorded file and that a curve describing position at sequential instants of time and the first and second derivatives of the curve are continuous, e) using the constructed new data file to drive the servo motors in the motion-generating device to cause the motion-generating device to move an object attached to said motion-generating device along a path approximating the recorded motion. - View Dependent Claims (13)
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Specification