APPARATUS AND METHOD FOR ANALYSING A GOLF SWING
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Abstract
The system analyses a golf swing, determining individual joint powers generated in a player'"'"'s body with high levels of accuracy, using inverse dynamics and detailed modelling of the player'"'"'s body. A depth camera is used to measure body segment shapes and a magnetic motion capture system and 3D force plate system used to measure swing parameters. The system produces an expeditious analysis without the need for highly skilled technical personnel and is suitable for individual coaching and compilation of large golf swing databases.
45 Citations
174 Claims
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1-108. -108. (canceled)
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109. An apparatus for analysing a golf swing involving a player and club, comprising measurement means and processing means,
wherein the measurement means and processing means are operable to determine swing parameters; - characterised in that the processing means is operable;
(A) to utilise a model of the player'"'"'s body in calculations; where said model comprises a plurality of substantially rigid body segments and a plurality of body joints; said body segments are linked in a chain or in chains by said body joints; and said body segments have determined body segment inertial parameters which are used in said calculations, including moment of inertia parameters; (B) to utilise said determined body segment inertial parameters in said calculations;
where said body segment inertial parameters are determined from measurements of said player;(C) to analyse the swing utilising said body model and determined swing parameters, where said calculations use joint-by-joint or segment-by-segment calculations along the said chain, or chains, of body segments linked by body joints; (D) to analyse the swing in relation to energy generation in the player'"'"'s body and/or energy transfer through the player'"'"'s body and club;
including analysis involving energy generated, or rate of energy generated, at individual body joints or groups of body joints in said body model;(E) to analyse the downswing portion of the swing, including fast swings with high rates of acceleration, such as swings using driver and long iron clubs; and (F) to analyse the swing in a manner;
that is meaningful and of practical use in meeting the needs of golf coaching or training, including isolating elements of good and bad play;
or that is meaningful and of practical use in compilation of databases used in meeting the needs of golf coaching or training, including isolating elements of good and bad play;
by being operable;(i) to process said calculations in an automatic manner, or largely automatic manner with little involvement required from operators including experts and technicians; (ii) to use meaningful scientifically based analysis, including analysis related to energy generation and transfer within the body; (iii) to increase accuracy, by using swing parameters which are determined from measurements of the player, including body segment inertial parameters determined from measurements of the player. - View Dependent Claims (110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141)
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110. An apparatus according to claim 109, wherein the processing means is operable to analyse the swing using a plurality of analysis parameters.
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111. An apparatus according to claim 109, wherein the processing means is operable to model the player as a system of jointed substantially rigid segments and the model comprises a selection from the following features:
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the processing means is operable to model the player with each of the player'"'"'s right lower leg, right upper leg, left lower leg, left upper leg, pelvis, upper trunk, head, right upper arm, right lower arm, left upper arm and left lower arm in different segments, or different groups of segments of the model; the processing means is operable to model with joints and segments which include an upper or mid-upper trunk segment, jointed to a middle trunk segment, where the joint lies approximately between the boundaries of the two segments on an anterior-posterior line passing through the spine, either centrally on the spine or at a point between the spine and a point which is one third inwards from the anterior end of the line; the processing means is operable to model with joints and segments which include a pelvis segment, jointed to a middle trunk segment, where the joint lies approximately between the boundaries of the two segments on an anterior-posterior line passing through the spine, either centrally on the spine or at a point between the spine and a point which is one third inwards from the anterior end of the line; the processing means is operable to model with joints and segments which include right and left upper trunk segments, jointed between a mid-upper trunk segment and right and left upper arm segments, respectively; the processing means is operable to model with joints and segments which include right and left hand segments, jointed to a club segment, with a single grip joint approximately positioned on the central axis of the club shaft between the positions of the left and right hands; the processing means is operable to model with joints and segments which include right and left hand segments, jointed to right and left lower arm segments, respectively; the processing means is operable to model with joints and segments which include right and left foot segments, jointed to right and left lower leg segments, respectively; the processing means is operable to model a head segment including an upper portion of the neck, jointed to an upper trunk segment; the processing means is operable to model boundaries between adjacent segments of upper legs and pelvis, and between upper arms and upper trunk, approximately matched to notional movement planes; the processing means is operable to model boundaries of most adjacent segments to lie on different sides of the joint connecting those segments; the processing means is operable to model the joint between a head segment and an upper or mid-upper trunk segment positioned approximately at the height, when a player is upright, of the seventh cervical vertebra; the processing means is operable to model the joint and boundary between a middle trunk segment and an upper or mid-upper trunk segment, positioned approximately at the height, when a player is upright, of the eight thoracic vertebra T8; and the processing means is operable to model the joint and boundary between a middle trunk segment and a pelvis segment, positioned approximately at the height, when a player is upright, between the fifth lumbar vertebra and sacrum L5-S 1.
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112. An apparatus according to claim 109, wherein the processing means is operable to model the player and club as a rigid clubhead and flexible shaft and to include a selection from the following techniques and features:
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the processing means models the shaft using finite element analysis to determine the flexing behaviour of the shaft; the processing means models club types using finite element analysis specific to club type, where a limited variety of club types, representative of club types used by players, is used in testing; and the processing means uses measured movement of the grip end of the club as an input for finite element analysis.
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113. An apparatus according to claim 109, wherein the processing means is operable to use a calculation method based on principles of inverse dynamics.
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114. An apparatus according to claim 113, wherein the processing means is operable to use a selection from the following inverse dynamics calculation characteristics:
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calculations start from four points comprising the proximal right and left foot contacts with the ground and the distal ends of the club and the head; the termination points where the proximal and distal calculations are terminated is decided by choosing the joint which is expected to yield the more accurate and reliable result from the distal-to-proximal or proximal-to-distal calculations; and joints distal to the said termination point use distal-to-proximal values for calculating parameters and joints proximal to the termination point use proximal-to-distal values for calculating parameters, where distal refers to directions along the player'"'"'s body and attached club, directed towards the clubhead or the player'"'"'s head, and proximal refers to opposite directions along the player'"'"'s body directed towards the contact between the player'"'"'s left or right feet and the ground.
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115. An apparatus according to claim 109 wherein the processing means is operable to carry out measurement or analysis of energy generated in a player'"'"'s body, or energy transferred through a player'"'"'s body and club, using a selection from the following characteristics:
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energy generated by the numerous and complex muscles of the player is measured or analysed as energy generated by groups of muscles acting directly about specific individual joints; energy generated by a group of muscles at a joint is calculated as the product of torque and angular displacement about the joint and the power of a group of muscles at a joint is calculated as the product of torque and angular velocity about the joint; a principal analysis parameter of energy generated in a player is joint power at individual joints; and an important analysis parameter of energy transferred through a player and club is rate of change of energy of individual segments.
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116. An apparatus according to claim 109, wherein the measurements means is operable to measure kinematic parameters, including parameters measured by a magnetic motion capture means with active sensors positioned on the player or parameters measured by a high-speed photographic motion capture means with passive markers or targets positioned on the player.
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117. An apparatus according to claim 109, wherein the measurement means includes a magnetic motion capture means and is operable to directly track the 3D position and 3D orientation of the club and a plurality of player segments in a magnetic reference field and is operable to include a selection from the following techniques or features:
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the measurement means directly tracks the club by tracking a sensor on the upper portion of the club shaft below the grip; the measurement means directly tracks the right and left lower legs, right and left upper legs, pelvis, mid-upper trunk, right and left upper arms, right and left lower arms, right and left hands and head by tracking sensors on those segments; the measurement means does not comprise sensors on the lower arms; the measurement means does not comprise sensors on the left upper trunk and right upper trunk; the measurement means does not comprise sensors on the left and right feet; the measurement means and processing means indirectly track segments which are not directly tracked, by reference to directly tracked sensors on adjacent segments; sensors on the legs are operable to be attached with straps, and/or on the pelvis and mid-upper trunk are operable to be attached to a jacket, and/or on the hands are operable to be attached to gloves, and/or on the head are operable to be attached to a cap or hat; sensors on the lower legs are operable to be positioned near the upper portions of the lower legs to avoid metallic signal interference from apparatus measuring ground reaction forces; and sensors attached to metal shafted clubs mounted on non-metallic members which position them away from, but in fixed relationship to, the club.
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118. An apparatus according to claim 109, wherein the measurement means includes means for measuring or determining forces associated with the player'"'"'s feet or legs and the measurement means and processing means are operable to measure parameters related to the distribution of forces in individual legs and are operable to carry out a selection from the following techniques or features:
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the measurement means and processing means measure forces at a selection from the contact between the ground and right foot and at a point from the right foot to the right hip joint, and at a selection from the contact between the ground and left foot and at a point from the left foot to left hip joint, and the processing means uses these measured forces to determine the distribution of forces in individual legs; the measurement means measures ground reaction forces (GRFs), which occur at the regions of contact of the left and right feet with the ground or standing surface; the measurement means measures GRFs using a pair of force plates; the measurement means measure three dimensional forces at the contact between the ground and the player'"'"'s feet; the measurement means measures three dimensional forces using a pair of three-axes force plates; the measurement means aligns the reference frame of a motion capture system with forces measured at the contact between the ground and the player'"'"'s feet; and the measurement means aligns the reference frame of a motion capture system with forces measured at the contact between the ground and the player'"'"'s feet using a stylus operating within the magnetic reference frame of the motion capture system.
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119. An apparatus according to claim 109, wherein the measurement means includes means for measuring or determining forces related to the distribution of forces and/or joint powers in individual arms, and is operable to measure or determine forces with a selection from the following techniques or features:
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the measurement means and processing means are operable to measure forces or powers at a grip joint between the right hand segment, left hand segment and club; a profile of grip joint forces or powers and corresponding shaft angle positions is measured and recorded, and later synchronised with another swing by matching a parameter which is readily measured in both swings, including shaft angle position; a profile of grip joint forces or powers and corresponding shaft angle positions is measured and recorded for a range of representative club types for a player'"'"'s swings, and later applied to other swings by that player; a profile of grip joint forces or powers and corresponding shaft angle positions is measured and recorded for a range of representative club types, and later applied to swings by other players; forces or powers at the grip joint position are determined by measuring comprehensive 3D forces at the grip joint and used directly in inverse dynamics calculations; forces or powers at the grip joint position are determined by measuring simple moments at the grip joint and used to determine the relative proportions of forces and powers in the right and left arms; the grip joint is located along the central axis of the club shaft, between the right and left hand positions; the measurement means includes strain gauges which are positioned on the club shaft in the region of the grip joint; the measurement means includes strain gauges which are positioned in the region of the grip joint on a member which supports the club shaft across the grip joint; the measurement means includes strain gauges which are arranged in a balanced bridge arrangement; the measurement means includes strain gauges which measure bending moments and are aligned with the long axis of the club shaft; and the measurement means includes strain gauges which measuring torsion and are aligned at an angle to the long axis of the club shaft, such as an angle of approximately 45°
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120. An apparatus according to claim 109, wherein the measurement means and processing means are operable to measure parameters related to body segment inertial parameters (BSIPs), and include a selection from the following techniques or features:
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the measurement means and processing means measure or determine a selection of body segment inertial parameters including segment joint positions, segment mass, segment mass distribution or centers of mass and segment moments of inertia in each of the principal mutually orthogonal directions; the processing means appropriately or proportionately adjusts the mass parameters in a player'"'"'s BSIPs such that the sum of the mass parameters of all the player'"'"'s segments corresponds to the measured player'"'"'s measurement overall mass; the processing means applies BSIP related measurements taken on one side of the player'"'"'s body to the other side of the player'"'"'s body; the processing means automatically applies BSIP related measurements, which are not required to establish joint centers relative to a particular sensor, on one side of the body to the other side of the body; and the measurement means and processing means measure or determine joint centers relative to a sensor positioned on an adjacent segment.
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121. An apparatus according to claim 109, wherein the measurement means and processing means are operable to measure or determine middle trunk BSIPs with a selection from the following techniques or features:
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measurements are taken for the middle trunk with the player in a position leaning forward, approximating to a ball address position or position at impact; measurements are taken for the middle trunk in at least two positions, one with the player standing upright or relatively upright, similar to a balanced upright position or a top-of-backswing position, and the other with the player position leaning forward, similar to a ball address position or position at impact, applied BSIP values are varied during the swing across a range approximately varying from those measured at the upright position and those measured at the leaning forward position; applied BSIP values are automatically varied during the swing across a range approximately varying from those measured at the upright position and those measured at the leaning forward position corresponding to the angular displacement of the club as determined by empirical methods, and with values at top-of-backswing approximating to upright measured values and values at impact approximating to leaning forward measured values; and measurements are taken for the middle trunk in at least two positions, one with the player standing upright or relatively upright, similar to a balanced upright position or a top-of-backswing position, and the other with the player position leaning forward, similar to a ball address position or position at impact. BSIP values are determined for a compromise between these two positions and applied across the swing.
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122. An apparatus according to claim 109, wherein the measurement means and processing means are operable to measure or determine body segment inertial parameters with respect to 3D geometric shapes using a selection from the following techniques or features:
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shapes and volumes of body segments are calculated from simplified geometric representations of the segments, defined by specific anthropometric measured landmarks on the segment boundaries; upper leg and upper arm segments comprise component solids consisting of truncated elliptical cones with surfaces approximately angled in the notional movement plane of the joint with the upper trunk or pelvis; geometric measurements taken of the central portions of the foot, lower leg, upper leg, upper arm, lower arm and hand segments on one side of the body are automatically applied to the other side; and geometric solids used in the representation of segments, are defined by eight landmarks, four at each end defining the width and depth.
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123. An apparatus according to claim 109, wherein the measurement means, processing means and communication means are operable to measure or determine body segment inertial parameters when assisted by palpation by a human operator using a selection from the following techniques or features:
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an implement, is placed at an anatomical landmark and a reading is taken; an implement is placed at an anatomical landmark and a reading is taken, where the implement is a stylus tracked in a reference frame of a motion capture system; an implement is placed at an anatomical landmark on a segment and a reading is taken, where the implement is a stylus tracked in a reference frame, and the segment is also tracked in the same reference frame; the measurement means includes a stylus which operates within a magnetic reference frame and is operable to measure, relative to a sensor, the positions of points on the surface of the player, the club or system apparatus; and
/or locate body and club landmarks and surfaces or shapes of segments used in the determination or calculation of joint centers, segment volumes and segment mass distribution;the measurement means includes motion capture sensors and a stylus which operate within the same magnetic reference frame; and the communication means is controlled by a processing means and is operable to provide an audible or visual communication which indicates landmarks, one-at-a-time by a name familiar to an operator, stepping through landmarks or points to be measured and automatically registering the measurements as that communicated to the operator.
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124. An apparatus according to claim 109, wherein the measurement means and processing means are operable to measure or determine the position of a joint center using a selection from the following techniques or features:
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the processing means determines the position as the point which is closest to being stationary relative to the two adjacent segments when movement of the joint takes place, where the position is common to two adjacent segments which are separately tracked by motion capture means or other means, the technique being referred to as the common-center technique; the processing means determines the position as the point which is closest to being stationary relative to the first segment and combination of two segments when movement of the joint takes place when the player consciously locks the joint between the combination of two segments, where the position is common to an adjacent first segment and an adjacent combination of two segments where the first segment and the combination of segments are separately tracked by motion capture means or other means, the method being referred to as the locked-common-center technique; the measurement means measures defined movement of the joint which represents movement relevant to a golf swing, where the processing means determines the position by the common-center or locked-common-center technique; the measurement means measures a defined movement which facilitates keeping the joint within the combination of two segments locked in fixed relationship to each other, where the processing means determines the position by the locked-common-center technique; a selection is taken from the following techniques, where the measurement means and processing means determine the position by the common-center or locked-common-center technique using sensors attached to segments;
the measurement means measures a defined movement which is as large as can be comfortably carried out within the limits of a golf swing, the measurement means measures a defined movement which is of a magnitude which does not cause significant or undue movement of the sensors due to skin movement relative to the joint, sensors are positioned on areas of segment surfaces which are less likely to be disturbed by underlying muscle activation, and sensors are positioned such as to increase their radial distance from the joint;the measurement means and processing means determine the position, using the common-center or locked-common-center techniques, in relation to anatomical landmarks on players in general on a once-off basis, and the measurement means and processing means subsequently use this relationship between joint center and anatomical landmarks to determine the position of a joint center on a specific player; and the measurement means and processing means determine the position, using the common-center or locked-common-center techniques, to directly determine the specific joint centers of players on an individual basis.
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125. An apparatus according to claim 109, wherein the measurement means and processing means are operable to measure or determine body segment inertial parameters (BSIPs) using determinations of the 3D surfaces of a player'"'"'s body.
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126. An apparatus according to claim 125, wherein the measurement means and processing means are operable to measure or determine BSIPs by moving a stylus tracked by motion capture over representative portions of a segment surface, causing a succession of surface points to be measured and recorded, continuing to collect points at least until sufficient points have been collected to determine the shape of the segment surface, and then determining the shape of the segment surface from the measured points.
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127. An apparatus according to claim 125, wherein the measurement or determination means and processing means include a 3D camera means which is operable to determine the 3D surfaces of a player'"'"'s body using optical depth determination.
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128. An apparatus according to claim 125, wherein the measurement or determination means and processing means include a 3D camera means which is operable to determine the 3D surfaces of a player'"'"'s body using optical depth determination and are operable to carry out the following steps where the term ‘
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refers to segments or combinations of adjoining segments;the measurement or determination means and processing means determine portions of surfaces of segments by optical depth determination when a player executes poses and motions; the processing means determines 3D shapes of segments from the determined portions of surfaces; the processing means constructs a partial model of the player with determined joint centers and/or determined reference frames for each segment from information other than that from determined 3D surfaces; the processing means constructs a model of the player with the 3D segment shapes fitted to the joint centers and/or segment reference frames; the processing means applies predetermined densities to the 3D segment shapes; and the processing means determines BSIPs from the model and densities applied to the 3D segment shapes; where the apparatus is operable to aid the step of fitting the 3D segment shapes to the joint centers and/or segment reference frames by a selection from the following techniques; joint centers are determined for determined segment shapes using a 3D camera matched to the joint centers of the partial model, where the 3D camera comprises inbuilt software capable of image processing, extraction of a jointed segment model of a human subject and motion tracking of the jointed segment model; joint centers are determined for determined segment shapes using the common-center or locked-common-center technique and matched to the joint centers of the partial model, where the position is determined in the common-center technique as the point which is closest to being stationary relative to two adjacent segments when movement of the joint takes place, and the position is determined in the locked-common-center technique as the point which is closest to being stationary relative to a first segment and combination of two segments when movement of the joint takes place when the player consciously locks the joint between the combination of two segments, where the position is common to an adjacent first segment and an adjacent combination of two segments; segment ends are determined from segment shapes, and joint centers assumed to be at segment ends, and matched to the joint centers of the partial model; and segment shapes are matched to potential segment shape ranges or templates constructed within the partial model.
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129. An apparatus according to claim 125, wherein the measurement or determination means and processing means include a 3D camera means which is operable to measure or determine the 3D surfaces of a player'"'"'s body using optical depth determination and are operable to carry out the following steps:
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the measurement or determination means and processing means determine portions of surfaces of segments by optical depth determination when a player executes poses and motions; the processing means determines 3D shapes of segments from the determined portions of surfaces; the measurement or determination means and processing means determine segment reference frames and estimates of joint centers from motion capture when the player separately executes poses and motions, where the term motion capture is understood not to include optical depth determination; the processing means determines improved estimates of joint centers using additional available information; the processing means constructs a partial model of the player with the improved estimates of joint centers and determined reference frames for each segment; the processing means constructs a model of the player from the joint centers and 3D segment shapes fitted to the segment reference frames; the processing means applies predetermined densities to the 3D segment shapes; and the processing means determines BSIPs from the constructed model and from densities applied to the 3D segment shapes.
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130. An apparatus according to claim 125, wherein the measurement or determination means and processing means include a 3D camera means which is operable to measure or determine the 3D surfaces of a player'"'"'s body using optical depth measurement and are operable to carry out the following steps:
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the measurement or determination means and processing means determine portions of surfaces of segments by optical depth measurement and by motion capture when a player executes poses and motions, where the term motion capture is understood not to include optical depth determination; the processing means determines portions of surfaces of segments from optical depth determination; the processing means determines 3D shapes of segments from determined portions of segment surfaces; the measurement means and processing means determine segment reference frames and estimates of joint centers from motion capture; the processing means determines improved estimates of joint centers using additional available information; the processing means constructs a partial model of the player with the improved estimates of joint centers and determined reference frames for each segment; the processing means constructs a model of the player from the joint centers and 3D segment shapes fitted to the segment reference frames; the processing means applies predetermined densities to the 3D segment shapes; and the processing means determines BSIPs from the model and from densities applied to the 3D segment shapes.
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131. An apparatus according to claim 130, wherein the measurement or determination means and processing means are operable to carry out a selection from the following techniques or features:
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the reference frames for optical depth determination and motion capture are aligned, where the term motion capture is understood not to include optical depth determination; optical depth determination and motion capture are carried out simultaneously; and optical depth determination and motion capture are carried out in a common location.
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132. An apparatus according to claim 127, wherein the measurement or determination means and processing means are operable to carry out a selection from the following techniques or features to improve estimates of joint centers using additional available information:
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the processing means uses common-center techniques, essentially determined as a point which displays least movement relative to two independently detected movements, from motion capture or optical depth determination; the processing means uses position symmetry information, which assumes left and right ankle, knee, hip, inner shoulder, outer shoulder, elbow, and wrist joints are symmetrical about a vertical saggital plane bisecting the player when the player stands in a balanced upright position; the processing means uses position symmetry information, which assumes that lumbar, thorax and neck joints lie on a vertical saggital plane bisecting the player when the player stands in a balanced upright position; the processing means uses position symmetry information, which assumes equal distances between joint centers on left and right lower legs, upper legs, upper arms and lower arms; the processing means uses position symmetry information, which assumes equal distances between joint centers between left and right hips to lumbar, thorax to inner shoulder and inner shoulder to outer shoulder; the processing means uses known relationships between joint centers, including an assumption that the distance between left and right hip joints remains substantially constant for all positions during motion capture; the processing means uses position information related to average human geometry, appropriately scaled to the player model, including scaling average lengths between joints on a specific segment to lengths between joints which can be determined with a high degree of accuracy, such as those determined by techniques equivalent to common-center techniques; the processing means uses jointed segment model information available from optical depth determination systems; and the processing means combines and uses a plurality of estimates of joint centers, and is operable to apply weightings to determine their proportional influence, corresponding to their expected levels of accuracy.
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133. An apparatus according to claim 125, wherein the measurement or determination means and processing means include a 3D camera means which is operable to measure or determine the 3D surfaces of a player'"'"'s body using optical depth determination and are operable to carry out the following steps:
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a motion capture means measures a player; the motion capture means and processing means determine segment positions and joint centers in the motion capture reference frames; the measurement means includes a depth measurement means which is tracked within the reference frames of the motion capture means, and the measurement means and processing means, controlled by an operator, measure portions of surfaces of segments in the motion capture reference frames using optical depth determination; the measurement means and processing means determine 3D shapes of segments in the motion capture reference frames from the determined portions of surfaces; the processing means constructs a model of the player from the joint centers and 3D segment shapes fitted to the segment reference frames; the processing means applies predetermined densities to the 3D segment shapes; and the processing means determines BSIPs from the model and from densities applied to the 3D segment shapes.
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134. An apparatus according to claim 115, wherein the measurement or determination means and processing means are operable to carry out a selection from the following techniques to improve estimates of joint centers using additional available information:
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the processing means constructs a model of the player in a format relevant to inverse dynamics calculations; the measurement or determination means and processing means disregard items, including sensors or markers attached to segments, which significantly obscure or distort the determination of segment surfaces in optical depth determination; the measurement or determination means and processing means recognise and disregard items which significantly obscure or distort the determination of segment surfaces in optical depth determination, by these items being coloured to facilitate their recognition; the measurement or determination means and processing means make allowances for clothing thickness in optical depth determination based on predetermined adjustment factors; and the measurement means and processing means comprise a depth determination camera with inbuilt processing means and software which is capable of extracting a jointed segment model of the player.
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135. An apparatus according to claim 109, wherein the processing means is operable to carry out monitoring checks using a selection from the following monitoring checks and related techniques and features:
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the processing means gradually constructs a model of the player and club as anthropometric landmarks are measured and recorded, and the gradually constructed model is displayed to an operator or user, whereby the operator or user is alerted to obvious errors; when measurements and calculations of some or all of a player'"'"'s BSIPs are completed, the processing means checks symmetry in calculated lengths between joints, compared between left and right segments of each of the following pairs—
lower legs, upper legs, upper arms, and lower arms;when measurements and calculations of some or all of a player'"'"'s BSIPs are completed, the processing means checks alignment of points related to the player'"'"'s spine, including the midpoint of a line between the outer shoulder joints, the thorax joint, the lumbar joint, and the midpoint of a line between the hip joints; when measurements and calculations of some or all of a player'"'"'s BSIPs are completed, the processing means checks differences between weight determined by weighing-scales and weight determined from BSIP measurement and calculation, making appropriate allowances and adjustments; when swing measurement is in progress, the processing means checks symmetry in calculated lengths between joints, compared between left and right segments of each of the following pairs—
lower legs, upper legs, upper arms, and lower arms;when swing measurement is in progress, the processing means monitors and checks agreement between calculated joint centers where the joint center is tracked with more than one sensor, including the hip and knee joints; when swing measurement is in progress, the processing means monitors and checks the alignment of points related to the player'"'"'s spine, including the midpoint of a line between the outer shoulder-rotation joints;
the thorax joint;
the lumbar joint; and
the midpoint of a line between the hip joints;when basic swing analysis calculations are completed, by inverse dynamics or similar methods, the processing means compares and checks the proximal-to-distal and distal-to-proximal calculations of torque or power at joints where both of these parameters can be calculated with meaningful levels of accuracy; when basic swing analysis calculations are completed, by inverse dynamics or similar methods, the processing means compares and checks the rate of change of total segment energy and the rate of change of total combined joint power through the swing; the processing means automatically carries out checks and the communication means automatically communicates a result to an operator or user; the processing means automatically carries out checks and the communication means automatically communicates a result to an operator or user without delay, whereby faults are promptly detected and/or corrected; and the processing means associates a check with a plurality of settable threshold levels. One threshold triggers an alert warning to an operator or user, prompting a check on the system, a later threshold triggers a more urgent warning, preventing continuation of testing until relevant issues are resolved.
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136. An apparatus according to claim 109, wherein the processing means is operable to filter measurement signals to remove signal noise using a selection from the following techniques and features:
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the frequency content of the signal from measurement means is localised by a filter; noisy data from measurement means is transformed by a filter into the frequency domain by means of a transformation, such as a wavelet or Fourier or transform; filters are individually arranged to provide optimum performance in sensors or measurement means measuring a particular body segment movement or a particular force output; noise is removed from signals from measurement means using a filter, from the signal parameter which precedes the final differentiation when calculating time derivatives; the processing means uses an optimum wavelet function which has been selected to obtain the best characterisation of the frequency content of the signal from measurement means by trialling different wavelets and evaluating the results using cross correlation or auto correlation methods; and the processing means uses optimum values for thresholding decomposed signals, from measurement means, which have been selected by empirical observation and judgement across a large number of signals.
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137. An apparatus according to claim 109, wherein the processing means is operable to carry out the following steps:
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the processing means converts a time-series signal to a wavelet transform; the processing means decomposes the signal into different wavelets; the processing means thresholds the wavelets; and the processing means reconverts the results to a time-series signal.
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138. An apparatus according to claim 109, wherein the measurement means and processing means are operable to carry out the following steps:
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the measurement means and processing means measure or determine clubhead speed profile approaching impact with a ball and determine a best estimate of speed profile; the measurement means and processing means measure or determine clubhead speed after impact with the ball and determine a best estimate of speed profile; a ball measurement means measures ball speed after impact or the processing means obtains ball speed after impact; the processing means determines the change in clubhead speed at impact, using assumptions of conservation of ball and clubhead momentum and constant clubhead deceleration over typical impact duration; and the processing means adjusts clubhead speed profile approaching, through and after impact by incorporating the change in clubhead speed at impact.
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139. An apparatus according to claim 109, wherein the measurement means and processing means are operable to determine the time of impact by detecting an impact shock wave at one or more points sensed by the measurement means, which travels in a distal to proximal direction from the clubhead, through the club shaft and the player and the processing means is operable, using empirical data, to make allowance for delays in the impact shock wave travelling from the clubhead to the points where it is sensed.
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140. An apparatus according to claim 109, wherein measurement means and processing means are operable to carry out the following steps:
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measurement means and processing means measure and determine kinematic parameters, BSIPs and GRF parameters of the swings of a large number of players; processing means determine parameters related to energy generation in a player'"'"'s body and/or energy transfer through a player'"'"'s body and club, which shall be referred to as energy parameters, from the measured kinematics, BSIPs and GRF parameters; processing means train an artificial intelligence with the GRF parameter inputs and energy parameter outputs; processing means use the trained artificial intelligence to predict energy parameters of an end-use swing using GRF parameters measured in the end-use swing; and the apparatus includes a selection from the following features and techniques; processing means use an artificial intelligence which comprises a neural network or set of neural networks; measurement means measure GRF parameters separately for right and left feet; and measurement means and processing means calculate GRF parameters which include calculated center of pressure data for right, left and combined feet.
-
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141. An apparatus according to claim 109, which is operable to include a selection from the following techniques or features:
-
measurement or analysis is focussed on or limited to the downswing; it is suitable for golf swing with high acceleration elements, including accomplished swings using driver and long iron clubs; its operation does not require adjustment or manipulation of parameters or results by personnel; it operates in an automatic or largely automatic manner; it operates without the need for highly skilled personnel; it operates in a manner convenient to the player; it operates quickly and at low unit cost; it operates with little involvement required from operators, including experts and technicians; it is suitable for researching and isolating elements of good and bad play; it is suitable for use in coaching professional and low handicap players; it is suitable for determining or calculating energy generation and/or energy transfer with sufficient accuracy to be usable for practical and meaningful individual golf coaching; it produces results with sufficient accuracy to usefully and meaningfully compare and evaluate different recorded swings by the same player; it is suitable for determining or calculating kinematic or kinetic parameters with sufficient accuracy for practical and meaningful golf coaching or activities related to meaningful golf coaching; and measurement or analysis is carried out without necessary recourse to kinematic or kinetic data obtained from previous measurement or analysis.
-
-
110. An apparatus according to claim 109, wherein the processing means is operable to analyse the swing using a plurality of analysis parameters.
- characterised in that the processing means is operable;
-
142. A method of analysing a golf swing involving a player and club;
-
by measuring and determining swing parameters;
characterised by;(A) utilising a model of the player'"'"'s body in calculations; where said model comprises a plurality of substantially rigid body segments and a plurality of body joints; said body segments are linked in a chain or in chains by said body joints; and said body segments have determined body segment inertial parameters which are used in said calculations, including moment of inertia parameters; (B) utilising said determined body segment inertial parameters in said calculations;
where said body segment inertial parameters are determined from measurements of said player;(C) analysing the swing utilising said model and determined swing parameters, where said calculations use joint-by-joint or segment-by-segment calculations along the said chain, or chains, of body segments linked by body joints; (D) analysing the swing in relation to energy generation in the player'"'"'s body and/or energy transfer through the player'"'"'s body and club;
including analysis involving energy generated, or rate of energy generated, at individual joints or groups of joints in said model;(E) analysing the downswing portion of the swing, including fast swings with high rates of acceleration, such as swings using driver and long iron clubs; and (F) analysing the swing in a manner;
that is meaningful and of practical use in meeting the needs of golf coaching or training, including isolating elements of good and bad play;
or that is meaningful and of practical use in compilation of databases used in meeting the needs of golf coaching or training, including isolating elements of good and bad play;
by;(i) processing said calculations in an automatic manner, or largely automatic manner with little involvement required from operators including experts and technicians; (ii) using meaningful scientifically based analysis, including analysis related to energy generation and transfer within the body; (iii) increasing accuracy, by using swing parameters which are determined from measurements of the player, including segment inertial parameters determined from measurements of the player. - View Dependent Claims (143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174)
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143. A method according to claim 142, wherein a plurality of analysis parameters are used to analyse the swing.
-
144. A method according to claim 142, wherein the player is modelled in calculations as a system of jointed substantially rigid segments, and the model comprises a selection from the following features:
-
the player'"'"'s right lower leg, right upper leg, left lower leg, left upper leg, pelvis, upper trunk, head, right upper arm, right lower arm, left upper ailii and left lower arm are each in different segments, or different groups of segments, of the model; joints and segments include an upper or mid-upper trunk segment, jointed to a middle trunk segment, where the joint lies approximately between the boundaries of the two segments on an anterior-posterior line passing through the spine, either centrally on the spine or at a point between the spine and a point which is one third inwards from the anterior end of the line; joints and segments include a pelvis segment, jointed to a middle trunk segment, where the joint lies approximately between the boundaries of the two segments on an anterior-posterior line passing through the spine, either centrally on the spine or at a point between the spine and a point which is one third inwards from the anterior end of the line; joints and segments include right and left upper trunk segments, jointed between a mid-upper trunk segment and right and left upper arm segments, respectively; joints and segments include right and left hand segments, jointed to a club segment, with a single grip joint approximately positioned on the central axis of the club shaft between the positions of the left and right hands; joints and segments include right and left hand segments, jointed to right and left lower arm segments, respectively; joints and segments include right and left foot segments, jointed to right and left lower leg segments, respectively; boundaries between adjacent segments of upper legs and pelvis, and between upper arms and upper trunk, are approximately matched to notional movement planes; boundaries of adjacent segments lie on different sides of the joint connecting those segments; a head segment including an upper portion of the neck, jointed to an upper trunk segment; the joint between a head segment and an upper or mid-upper trunk segment is positioned approximately at the height, when a player is upright, of the seventh cervical vertebra; the joint and boundary between a middle trunk segment and an upper or mid-upper trunk segment is positioned approximately at the height, when a player is upright, of the eight thoracic vertebra T8; and the joint and boundary between a middle trunk segment and a pelvis segment are positioned approximately at the height, when a player is upright, between the fifth lumbar vertebra and sacrum L5-S1.
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145. A method according to claim 142, wherein the club is modelled as a rigid clubhead and flexible shaft, and includes a selection from the following techniques and features:
-
the shaft is modelled using finite element analysis to determine the flexing behaviour of the shaft; a limited variety of club types, representative of club types used by players, is used in testing, and club types are modelled using finite element analysis specific to club type; and measured movement of the grip end of the club is used as an input for finite element analysis.
-
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146. A method according to claim 142, wherein the calculation method is based on principles of inverse dynamics.
-
147. A method according to claim 146, which includes a selection from the following inverse dynamics calculation characteristics:
-
calculations start from four points comprising the proximal right and left foot contacts with the ground and the distal ends of the club and the head; the termination points where the proximal and distal calculations are terminated are decided by choosing the joint which is expected to yield the more accurate and reliable result from the distal-to-proximal or proximal-to-distal calculations; and joints distal to the said termination point use distal-to-proximal values for calculating parameters and joints proximal to the termination point use proximal-to-distal values for calculating parameters, where distal refers to directions along the player'"'"'s body and attached club, directed towards the clubhead or the player'"'"'s head, and proximal refers to opposite directions along the player'"'"'s body directed towards the contact between the player'"'"'s left or right feet and the ground.
-
-
148. A method according to claim 142, wherein measurement or analysis of energy generated in a player'"'"'s body, or energy transferred through a player'"'"'s body and club, includes a selection from the following characteristics:
-
energy generated by the numerous and complex muscles of the player is measured or analysed as energy generated by groups of muscles acting directly about specific individual joints; energy generated by a group of muscles at a joint is calculated as the product of torque and angular displacement about the joint and the power of a group of muscles at a joint is calculated as the product of torque and angular velocity about the joint; a principal analysis parameter is joint power at individual joints; and an important analysis parameter is rate of change of energy of individual segments.
-
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149. A method according to claim 142, wherein the measured parameters include kinematic parameters, including parameters measured by magnetic motion capture or parameters measured by high-speed photographic motion capture.
-
150. A method according to claim 142, wherein the 3D position and 3D orientation of the club and a plurality of player segments are directly tracked by magnetic motion capture in a magnetic reference field and include a selection from the following techniques and features:
-
the club is tracked by directly tracking the upper portion of the club shaft below the grip; the right and left lower legs, right and left upper legs, pelvis, mid-upper trunk, right and left upper arms, right and left lower arms, right and left hands and head are directly tracked; the lower aims are not directly tracked; the left upper trunk and right upper trunk are not directly tracked; the left and right feet are not directly tracked; and segments which are not directly tracked, are indirectly tracked by reference to directly tracked adjacent segments.
-
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151. A method according to any one of claim 142, wherein measured parameters include parameters related to the distribution of forces in individual legs and includes a selection from the following techniques or features:
-
forces are measured at a selection from the contact between the ground and right foot and at a point from the right foot to the right hip joint, and at a selection from the contact between the ground and left foot and at a point from the left foot to left hip joint, and these measured forces are used to determine the distribution of forces in individual legs; forces measured are ground reaction forces (GRFs), which occur at the regions of contact of the left and right feet with the ground or standing surface; forces measured at the contact between the ground and the player'"'"'s feet are measured as three dimensional forces; and forces measured at the contact between the ground and the player'"'"'s feet are aligned to a reference frame of a motion capture system.
-
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152. A method according to claim 142, wherein measured parameters include parameters related to the distribution of forces and/or joint powers in individual arms and includes a selection from the following techniques or features:
-
forces or powers are measured at a grip joint between the right hand segment, left hand segment and club; a profile of grip joint forces or powers and corresponding shaft angle positions is measured and recorded, and later synchronised with another swing by matching a parameter which is readily measured in both swings, including shaft angle position; a profile of grip joint forces or powers and corresponding shaft angle positions is measured and recorded for a range of representative club types for a player'"'"'s swings, and later applied to other swings by that player; a profile of grip joint forces or powers and corresponding shaft angle positions is measured and recorded for a range of representative club types, and later applied to swings by other players; forces or powers at the grip joint position are determined by measuring comprehensive 3D forces at the grip joint and used directly in inverse dynamics calculations; forces or powers at the grip joint position are determined by measuring simple moments at the grip joint and used to determine the relative proportions of forces and powers in the right and left arms; and the grip joint is located along the central axis of the club shaft, between the right and left hand positions.
-
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153. A method according to claim 142, wherein measured parameters include parameters related to body segment inertial parameters (BSIPs), and include a selection from the following techniques or features:
-
body segment inertial parameters include a selection from segment joint positions, segment mass, segment mass distribution or centers of mass and segment moments of inertia in each of the principal mutually orthogonal directions; the mass parameters in a player'"'"'s BSIPs are appropriately or proportionately adjusted such that the sum of the mass parameters of all the player'"'"'s segments corresponds to the measured player'"'"'s measured overall mass; and BSIP related measurements taken on one side of the player'"'"'s body are applied to the other side of the player'"'"'s body.
-
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154. A method according to claim 142, wherein middle trunk BSIPs are measured or determined with a selection from the following techniques or features:
-
measurements are taken for the middle trunk with the player in a position leaning forward, approximating to a ball address position or position at impact; measurements are taken for the middle trunk in at least two positions, one with the player standing upright or relatively upright, similar to a balanced upright position or a top-of-backswing position, and the other with the player position leaning forward, similar to a ball address position or position at impact. Applied BSIP values are varied during the swing across a range approximately varying from those measured at the upright position and those measured at the leaning forward position; applied BSIP values are automatically varied during the swing across a range approximately varying from those measured at the upright position and those measured at the leaning forward position, corresponding to the angular displacement of the club as determined by empirical methods, and with values at the top-of-backswing approximating to upright measured values and values at impact approximating to leaning forward measured values; and measurements are taken for the middle trunk in at least two positions, one with the player standing upright or relatively upright, similar to a balanced upright position or a top-of-backswing position, and the other with the player position leaning forward, similar to a ball address position or position at impact. BSIP values are determined for a compromise between these two positions and applied across the swing.
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155. A method according to claim 142, wherein body segment inertial parameters are measured or determined with respect to 3D geometric shapes using a selection from the following techniques or features:
-
shapes and volumes of body segments are calculated from simplified geometric representations of the segments, defined by specific anthropometric measured landmarks on the segment boundaries; upper leg and upper arm segments comprise component solids consisting of truncated elliptical cones with surfaces approximately angled in the notional movement plane of the joint with the upper trunk or pelvis; geometric measurements taken of the central portions of the foot, lower leg, upper leg, upper arm, lower arm and hand segments on one side of the body are automatically applied to the other side; and geometric solids used in the representation of segments, are defined by eight landmarks, four at each end defining the width and depth.
-
-
156. A method according to claim 142, wherein body segment inertial parameters are measured or determined by palpation by a human operator using a selection from the following techniques or features:
-
an implement, is placed at an anatomical landmark and a reading is taken; an implement is placed at an anatomical landmark and a reading is taken, where the implement is a stylus tracked in a reference frame of a motion capture system; an implement is placed at an anatomical landmark on a segment and a reading is taken, where the implement is a stylus tracked in a reference frame, and the segment is also tracked in the same reference frame; and an audible or visual communication which indicates landmarks, are given one-at-a-time to an operator by a name familiar to the operator, stepping through landmarks or points to be measured and measurements are automatically registered while being communicated to the operator.
-
-
157. A method according to claim 142, wherein the position of a joint center is measured or determined using a selection from the following techniques or features:
-
the position is determined as the point which is closest to being stationary relative to two adjacent segments when movement of the joint takes place, where the position is common to the two adjacent segments which are separately tracked by motion capture or other methods, the technique being referred to as the ‘
common-center’
technique;the position is determined as the point which is closest to being stationary relative to a first segment and combination of two segments when movement of the joint takes place when the player consciously locks the joint between the combination of two segments, where the position is common to an adjacent first segment and an adjacent combination of two segments where the first segment and the combination of segments are separately tracked by motion capture or other methods, the method being referred to as the ‘
locked-common-center’
technique;the defined movement of the joint represents movement relevant to a golf swing, where the position is found by the ‘
common-center’
or ‘
locked-common-center’
technique;the defined movement facilitates keeping the joint within the combination of two segments locked in fixed relationship to each other, where the position is found by the ‘
locked-common-center’
technique;a selection is taken from the following techniques where the position is found by the ‘
common-center’
or ‘
locked-common-center’
technique using sensors attached to segments;
the defined movement is as large as can be comfortably carried out within the limits of a golf swing, the defined movement is of a magnitude which does not cause significant or undue movement of the sensors due to skin movement relative to the joint, sensors are positioned on areas of segment surfaces which are less likely to be disturbed by underlying muscle activation, and sensors are positioned such as to increase their radial distance from the joint;joint centers are determined in relation to anatomical landmarks on players in general on a once-off basis, and this relationship between joint center and anatomical landmarks is subsequently used to determine a joint center on a specific player, where the position is found, using the common-center or locked-common-center techniques; and the specific joint centers of players are directly determined on an individual basis, where the position is found, using the common-center or locked-common-center techniques.
-
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158. A method according to claim 142, wherein body segment inertial parameters (BSIPs) are measured or determined using determinations of the 3D surfaces of a player'"'"'s body.
-
159. A method according to claim 158, wherein BSIPs are measured or determined by moving a stylus tracked by motion capture over representative portions of a segment surface, causing a succession of surface points to be measured and recorded, continuing to collect points at least until sufficient points have been collected to determine the shape of the segment surface, and then determining the shape of the segment surface from the measured points.
-
160. A method according to claim 158, wherein optical depth determination is used to determine the 3D surfaces of a player'"'"'s body.
-
161. A method according to claim 158, wherein optical depth determination is used to determine the 3D surfaces of a player'"'"'s body and which includes the following steps where the term ‘
- segments’
refers to segments or combinations of adjoining segments;a player executes poses and motions and portions of surfaces of segments are determined by optical depth determination; 3D shapes of segments are determined from the determined portions of surfaces; a partial model of the player is constructed with determined joint centers and/or determined reference frames for segments from information other than that from determined 3D surfaces; a model of the player is constructed with the 3D shapes of segment fitted to the joint centers and/or segment reference frames of the partial model; predetermined densities are applied to the 3D segment shapes; and BSIPs are determined from the model and densities applied to the 3D segment shapes; where the step of fitting the 3D segment shapes to the joint centers and/or segment reference frames is aided by a selection from the following techniques; joint centers are determined for determined segment shapes using a 3D camera matched to the joint centers of the partial model, where the 3D camera comprises inbuilt software capable of image processing, extraction of a jointed segment model of a human subject and motion tracking of the jointed segment model; joint centers are determined for determined segment shapes using the common-center or locked-common-center technique and matched to the joint centers of the partial model, where the position is determined in the common-center technique as the point which is closest to being stationary relative to two adjacent segments when movement of the joint takes place, and the position is determined in the locked-common-center technique as the point which is closest to being stationary relative to a first segment and combination of two segments when movement of the joint takes place when the player consciously locks the joint between the combination of two segments, where the position is common to an adjacent first segment and an adjacent combination of two segments; segment ends are determined from segment shapes, and joint centers assumed to be at segment ends, and matched to the joint centers of the partial model; and segment shapes are matched to potential segment shape ranges or templates constructed within the partial model.
- segments’
-
162. A method according to claim 158, wherein optical depth determination is used to measure the 3D surfaces of a player'"'"'s body and which includes the following steps:
-
a player executes poses and motions and portions of surfaces of segments are determined by optical depth determination; 3D shapes of segments are determined from the determined portions of surfaces; the player separately executes poses and motions and segment reference frames and estimates of joint centers are determined from motion capture, where the term motion capture is understood not to include optical depth measurement; improved estimates of joint centers are determined using additional available information; a partial model of the player is constructed with the improved estimates of joint centers and determined reference frames for each segment; a model of the player is constructed from the joint centers and 3D segment shapes fitted to the determined segment reference frames; predetermined densities are applied to the 3D segment shapes; and BSIPs are determined from the constructed model and from densities applied to the 3D segment shapes and joint centers.
-
-
163. A method according to claim 158, wherein optical depth determination is used to determine the 3D surfaces of a player'"'"'s body and which includes the following steps:
-
a player executes poses and motions which are measured by optical depth determination and by motion capture, where the term motion capture is understood not to include optical depth determination; portions of surfaces of segments are determined from optical depth determination; 3D shapes of segments are determined from determined portions of segment surfaces; segment reference frames and estimates of joint centers are determined from motion capture; improved estimates of joint centers are determined using additional available information; a partial model of the player is constructed with the improved estimates of joint centers and determined reference frames for each segment; a model of the player is constructed from the joint centers and 3D segment shapes fitted to the segment reference frames; predetermined densities are applied to the 3D segment shapes; and BSIPs are determined from the model and from densities applied to the 3D segment shapes.
-
-
164. A method according to claim 163, which includes a selection from the following techniques or features:
-
the reference frames for optical depth measurement and motion capture are aligned, where the term motion capture is understood not to include optical depth determination; optical depth determination and motion capture are carried out simultaneously; and optical depth determination and motion capture are carried out in a common location.
-
-
165. A method according to claim 162, wherein additional available information related to improving estimates of joint centers includes a selection from the following techniques or features:
-
use of common-center techniques, essentially determined as a point which displays least movement relative to two independently detected movements, from motion capture or depth determination; use of position symmetry information, which assumes left and right ankle, knee, hip, inner shoulder, outer shoulder, elbow, and wrist joints are symmetrical about a vertical sagittal plane bisecting the player when the player stands in a balanced upright position; use of position symmetry information, which assumes that lumbar, thorax and neck joints lie on a vertical saggital plane bisecting the player when the player stands in a balanced upright position; use of position symmetry information, which assumes equal distances between joint centers on left and right lower legs, upper legs, upper arms and lower arms; use of position symmetry information, which assumes equal distances between joint centers between left and right hips to lumbar, thorax to inner shoulder and inner shoulder to outer shoulder; use of known relationships between joint centers, including an assumption that the distance between left and right hip joints remains substantially constant for all positions during motion capture; use of position information related to average human geometry, appropriately scaled to the player model, including scaling average lengths between joints on a specific segment to lengths between joints which can be determined with a high degree of accuracy, such as those determined by techniques equivalent to common-center techniques; use of jointed segment model information obtained from optical depth measurement systems; and combination and use of a plurality of estimates of joint centers, with weightings applied to determine their proportional influence, corresponding to their expected levels of accuracy.
-
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166. A method according to claim 158, wherein optical depth determination is used to determine the 3D surfaces of a player'"'"'s body and which includes the following steps:
-
a player is measured by motion capture; segment positions and joint centers are determined in the motion capture reference frames; an operator measures portions of surfaces of segments in the motion capture reference frames using optical depth determination; 3D shapes of segments are determined in the motion capture reference frames from the determined portions of surfaces; a model of the player is constructed from the joint centers and 3D segment shapes fitted to the segment reference frames; predetermined densities are applied to the 3D segment shapes; and BSIPs are determined from the model and from densities applied to the 3D segment shapes.
-
-
167. A method according to claim 148, which includes a selection from the following techniques or features:
-
a player wears minimal clothing when executing poses and motions for optical depth determination; a model of the player is constructed in a format relevant to inverse dynamics calculations; items which significantly obscure or distort the measurement or determination of segment surfaces are disregarded in optical depth determination; items which significantly obscure or distort the measurement of segment surfaces are coloured to facilitate their recognition in optical depth measurement; allowances are made for clothing thickness in optical depth measurement based on predetermined adjustment factors; a player wears less obtrusive clothing when being measured by optical depth measurement than when being measured by motion capture; and a jointed segment model of the player is extracted alongside depth measurement, prior to other processing activities.
-
-
168. A method according to claim 142, which includes a selection from the following monitoring checks and related techniques and features:
-
a model of the player and club is gradually constructed as anthropometric landmarks are measured and recorded, and the gradually constructed model is displayed to an operator or user, whereby the operator or user is alerted to obvious errors; when measurements and calculations of some or all of a player'"'"'s BSIPs are completed, symmetry is checked in calculated lengths between joints, compared between left and right segments of each of the following pairs—
lower legs, upper legs, upper arms, and lower arms;when measurements and calculations of some or all of a player'"'"'s BSIPs are completed, alignment is checked of points related to the player'"'"'s spine, including the midpoint of a line between the outer shoulder joints, the thorax joint, the lumbar joint, and the midpoint of a line between the hip joints; when measurements and calculations of some or all of a player'"'"'s BSIPs are completed, differences are checked between weight determined by weighing-scales and weight determined from BSIP measurement and calculation, making appropriate allowances and adjustments; when swing measurement is in progress, symmetry is checked in calculated lengths between joints, compared between left and right segments of each of the following pairs—
lower legs, upper legs, upper arms, and lower arms;when swing measurement is in progress, agreement between calculated joint centers is monitored where the joint center is tracked with more than one sensor, including the hip and knee joints; when swing measurement is in progress, the alignment is monitored of points related to the player'"'"'s spine, including the midpoint of a line between the outer shoulder-rotation joints;
the thorax joint;
the lumbar joint; and
the midpoint of a line between the hip joints;when basic swing analysis calculations are completed, by inverse dynamics or similar methods, comparison is made and checked of the proximal-to-distal and distal-to-proximal calculations of torque or power at joints where both of these parameters can be calculated with meaningful levels of accuracy; when basic swing analysis calculations are completed, by inverse dynamics or similar methods, comparison is made and checked between the rate of change of total segment energy and the rate of change of total combined joint power through the swing; a check is automatic and a result is automatically communicated to an operator or user; a check is automatic and a result is automatically communicated to an operator or user without delay, whereby faults are promptly detected and/or corrected; and a check is associated with a plurality of settable threshold levels, one threshold triggers an alert warning to an operator or user, prompting a check on the system, a later threshold triggers a more urgent warning, preventing continuation of testing until relevant issues are resolved.
-
-
169. A method according to claim 142, wherein measurement signals are filtered to remove signal noise using a selection from the following techniques and features:
-
the frequency content of the signal is localised by a filter; noisy data is transformed by a filter into the frequency domain by means of a transformation, such as a wavelet or Fourier or transform; filters are individually arranged to provide optimum performance in measuring a particular body segment movement or a particular force output; noise is removed by a filter from the signal parameter which precedes the final differentiation when calculating time derivatives; an optimum wavelet function is used which has been selected to obtain the best characterisation of the frequency content of the signal by trialing different wavelets and evaluating the results using cross correlation or auto correlation methods; and optimum values are used for thresholding decomposed signals which have been selected by empirical observation and judgment across a large number of signals.
-
-
170. A method according to claim 142, which includes the following steps:
-
a time-series signal is converted to a wavelet transform; the signal is decomposed into different wavelets; the wavelets are thresholded; and the results are reconverted to a time-series signal.
-
-
171. A method according to claim 142, which includes the following steps:
-
clubhead speed is measured approaching impact with a ball and a best estimate of speed profile is determined; clubhead speed is measured after impact with the ball and a best estimate of speed profile is determined; ball speed is measured after impact; the change in clubhead speed at impact is determined, assuming conservation of ball and clubhead momentum and constant clubhead deceleration over typical impact duration; and clubhead speed profile approaching, through and after impact is adjusted by incorporating the change in clubhead speed at impact.
-
-
172. A method according to claim 142, wherein the time of impact is determined by detecting an impact shock wave, which travels in a distal to proximal direction from the clubhead, through the club shaft and the player and using empirical data to make allowance for delays in the impact shock wave travelling from the clubhead to the point where it is sensed.
-
173. A method according to claim 142, which includes the following steps:
- kinematic parameters, BSIPs and GRF parameters of the swings of a large number of players are measured and determined;
parameters related to energy generation in a player'"'"'s body and/or energy transfer through a player'"'"'s body and club, which shall be referred to as energy parameters, are determined from the measured kinematics, BSIPs and GRF parameters; an artificial intelligence is trained with the GRF parameter inputs and energy parameter outputs; the trained artificial intelligence uses GRF parameters measured in an end-use swing to predict energy parameters of the end-use swing; and the method includes a selection from the following features and techniques; the artificial intelligence comprises a neural network or set of neural networks; GRF parameters are measured separately for right and left feet; and GRF parameters include calculated center of pressure data for right, left and combined feet.
- kinematic parameters, BSIPs and GRF parameters of the swings of a large number of players are measured and determined;
-
174. A method according to claim 142, which includes a selection from the following techniques or features:
-
measurement or analysis is focused on or limited to the downswing; it is suitable for golf swing with high acceleration elements, including accomplished swings using driver and long iron clubs; it does not require adjustment or manipulation of parameters or results by personnel; it is carried out in an automatic or largely automatic manner; it is carried out without the need for highly skilled personnel; it is carried out in a manner convenient to the player; it is carried out quickly and at low unit cost; it is carried out with little involvement required from operators, including experts and technicians; it is suitable for researching and isolating elements of good and bad play; it is suitable for use in coaching professional and low handicap players; it is suitable for determining or calculating energy generation in a player'"'"'s body and/or energy transfer through a player'"'"'s body and club with sufficient accuracy to be usable for practical and meaningful individual golf coaching; it produces results with sufficient accuracy to usefully and meaningfully compare and evaluate different recorded swings by the same player; it is suitable for determining or calculating kinematic or kinetic parameters with sufficient accuracy for practical and meaningful golf coaching or activities related to meaningful golf coaching; and measurement or analysis is carried out without necessary recourse to kinematic or kinetic data obtained from previous measurement or analysis.
-
-
143. A method according to claim 142, wherein a plurality of analysis parameters are used to analyse the swing.
-
Specification
- Resources
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Current AssigneeBrian Francis Mooney
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Original AssigneeBrian Francis Mooney
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InventorsMooney, Brian Francis
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Granted Patent
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Time in Patent OfficeDays
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Field of Search
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US Class Current473/266
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CPC Class CodesA61B 2503/10 AthletesA61B 5/0077 Devices for viewing the sur...A61B 5/1036 Measuring load distribution...A61B 5/1122 of movement trajectoriesA61B 5/1127 using markersA61B 5/1128 using image analysis A61B5/...A61B 5/225 of the fingers, e.g. by mon...A61B 5/6895 Sport equipmentA61B 5/7267 involving training the clas...A61B 5/742 using visual displays A61B5...A63B 24/0006 Computerised comparison for...A63B 69/36 for golfG06V 40/23 Recognition of whole body m...G09B 19/0038 Sports