Accurate, rapid, reliable position sensing using multiple sensing technologies

• US 6,148,280 A
• Filed: 05/11/1999
• Issued: 11/14/2000
• Est. Priority Date: 02/28/1995
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Virtual Technologies, Inc. (Immersion Corporation)
• Inventors: Kramer, James F.
• Primary Examiner(s): Hoff, Marc S.
• Assistant Examiner(s): VO, HIEN XUAN
• Application Number:
  US09/309,319
• Time in Patent Office: 553 Days
• Field of Search: 702/153, 702/150, 702/93, 702/94, 702/104, 702/41-42, 702/139, 702/141, 702/142, 702/151, 340/524, 340/619, 340/686.1, 463/49, 73/865.3, 73/865.4
• US Class Current: 702/153
• CPC Class Codes: A63B 2220/10 Positions
• CPC Class Codes: A63B 2220/24 Angular displacement
• CPC Class Codes: A63B 2220/34 Angular speed
• CPC Class Codes: A63B 2220/805 Optical or opto-electronic sensors
• CPC Class Codes: A63B 2220/833 Sensors arranged on the exercise apparatus or sports implement
• CPC Class Codes: A63B 2220/836 Sensors arranged on the body of the user
• CPC Class Codes: A63B 69/3608 Attachments on the body, e.g. for measuring, aligning, restraining A63B69/0059, A63B69/3673 take precedence
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00

Abstract

In accordance with the subject invention, devices and methods are provided for the accurate reporting of movement of an entity. Sensors which are accurate, but provide a delayed signal ("delayed signal sensors"), which delay is unacceptable for many applications, may be used in conjunction with fast sensors ("fast signal sensors"), which are usually subject to drift and other inaccuracies in providing information about a position. Additional sensors which may provide even more accurate and/or less signal sensor delay for a period of time, but which sensor signal is subject to periods of interrupted or undesirable output thereby making it unreliable ("unreliable signal sensors") may also be used in combination with one or more of the delayed signal sensors and fast signal sensors. By using a combination of such sensors, accurate, reliable position information is rapidly obtained to allow high-resolution and/or real-time analysis and depictions of movement. Complex rapid movements associated with athletics, music, and other rapid activities can be monitored in real-time to provide accurate information during the movement. Such information may then be used to analyze the movement, for instruction for improvement, for repeating the activity in a virtual setting and the like.

Claims

1. A method for relating components of at least one of motion data and physiological function by attaching to a human subject, a plurality of motion, orientation and/or physiological function measuring devices and/or devices used in conjunction with said human subject, said devices comprising an LED in conjunction with a device for receiving light, a position sensor selected from the group consisting of an accelerometer, a bend sensor, and an electromagnetic sensor, a pressure sensitive platform, a pressure sensor, a force sensor, an eye gaze sensor, an electrooptigraph, a respiration sensor, an electroencephalograph, an ear phone, a microphone, a perspiration detector, and an electromyograph, said method comprising:

employing at least two of said devices in relation to said human subject to correlate movement and physiological response of said human subject, while said subject is in motion;

transferring signals from said devices to a data processor to provide data; and

analyzing said data in relation to said motion of said human subject.

2. A method according to claim 1, wherein said devices include at least one position sensor and at least one electromyograph sensor.

3. A method according to claim 1, wherein said devices include a bend sensor as part of an instrumented glove.

4. A method according to claim 1, wherein said devices include at least one of an accelerometer, an LED in conjunction with a device for receiving light and electromagnetic sensor.

5. A method according to claim 1, wherein said devices include at least one of a pressure or force sensor and an electromyograph.

6. A method for relating components of at least one of motion data and physiological function by attaching to a human subject a plurality of motion, orientation and/or physiological function measuring devices and/or devices used in conjunction with said human subject, said method comprising:

employing at least one of the following combinations of devices with said human subject;

(a) a bend sensor on a joint and an electromyograph sensor on either side of said joint;

(b) electromagnetic sensors on two linked limbs, and an electromyograph sensor on one of said two linked limbs; and

(c) a pressure or force sensor and an electromyograph sensor;

transferring signals from said devices to a data processor to provide data; and

analyzing said data in relation to said motion of said human subject.

7. A method according to claim 6, wherein at least one of the following devices is used in relation to said human subject:

an LED in conjunction with a device for receiving light, a position sensor selected from the group consisting of an accelerometer, a bend sensor, and an electromagnetic sensor, a pressure sensitive platform, a pressure sensor, a force sensor, an eye gaze sensor, an electrooptigraph, a respiration sensor, an electroencephalograph, an ear phone, a microphone, a perspiration detector.

8. A method for relating components of at least one of human motion data and human physiological function using a plurality of measuring devices attached to a human subject, said method comprising:

employing at least first and second ones of said measuring devices in relation to said human subject to correlate motion and physiological response of said human subject, while said subject is in motion;

generating first and second sensed signals indicative of a measured human motion data or a human physiological function data from said first and second measuring devices respectively;

transferring at least said first and second sensed signals from said devices to a data processor; and

processing said transferred data to analyze said transferred data in relation to said motion of said human subject.

9. The method in claim 8, wherein said plurality of measuring devices is selected from the group consisting of motion measuring devices, orientation measuring devices, physiological function measuring devices, and devices used in conjunction with said human subject.

10. The method in claim 8, wherein each of said plurality of measuring devices comprises a light emitter and a light receiver.

11. The method in claim 10, wherein said light emitter comprises a LED for emitting light and said light receiver comprises a photo-diode generating a signal related to light received.

12. The method in claim 8, wherein said measuring devices further comprise a position sensor selected from the group consisting of an accelerometer, a bend sensor, an electromagnetic sensor, a pressure sensitive platform, a pressure sensor, a force sensor, an eye gaze sensor, an electrooptigraph, a respiration sensor, an electroencephalograph, an ear phone, a microphone, a perspiration detector, an electromyograph, and combinations thereof.

13. The method in claim 8, wherein:

said plurality of measuring devices is selected from the group consisting of motion measuring devices, orientation measuring devices, physiological function measuring devices, and devices used in conjunction with said human subject;

each of said plurality of measuring devices comprises a light emitter and a light receiver;

said light emitter comprises a LED for emitting light and said light receiver comprises a photo-diode generating a signal related to light received; and

said measuring devices further comprise a position sensor selected from the group consisting of an accelerometer, a bend sensor, an electromagnetic sensor, a pressure sensitive platform, a pressure sensor, a force sensor, an eye gaze sensor, an electrooptigraph, a respiration sensor, an electroencephalograph, an ear phone, a microphone, a perspiration detector, an electromyograph, and combinations thereof.

14. A system for relating components of at least one of human motion data and human physiological function using a plurality of measuring devices attached to a human subject, said system comprising:

at least first and second measuring devices attached to said human subject for generating first and second sensed signals pertaining to motion and physiological response of said human subject, while said subject is in motion;

communication means for transferring at least said first and second sensed signals from said devices to a data processor; and

a data processor including means for correlating motion and physiological response of said human subject while said subject is in motion, receiving said first and second sensed signals, and processing said signals to correlate motion and physiological responses and generate a correlation data.

15. The system in claim 14, wherein said plurality of measuring devices is selected from the group consisting of motion measuring devices, orientation measuring devices, physiological function measuring devices, and devices used in conjunction with said human subject.

16. The method in claim 14, wherein each of said plurality of measuring devices comprises a light emitter and a light receiver.

17. The method in claim 16, wherein said light emitter comprises a LED for emitting light and said light receiver comprises a photo-diode generating a signal related to light received.

18. The method in claim 14, wherein said measuring devices further comprise a position sensor selected from the group consisting of an accelerometer, a bend sensor, an electromagnetic sensor, a pressure sensitive platform, a pressure sensor, a force sensor, an eye gaze sensor, an electrooptigraph, a respiration sensor, an electroencephalograph, an ear phone, a microphone, a perspiration detector, an electromyograph, and combinations thereof.

19. The method in claim 14, wherein:

said plurality of measuring devices is selected from the group consisting of motion measuring devices, orientation measuring devices, physiological function measuring devices, and devices used in conjunction with said human subject;

each of said plurality of measuring devices comprises a light emitter and a light receiver;

said light emitter comprises a LED for emitting light and said light receiver comprises a photo-diode generating a signal related to light received; and

said measuring devices further comprise a position sensor selected from the group consisting of an accelerometer, a bend sensor, an electromagnetic sensor, a pressure sensitive platform, a pressure sensor, a force sensor, an eye gaze sensor, an electrooptigraph, a respiration sensor, an electroencephalograph, an ear phone, a microphone, a perspiration detector, an electromyograph, and combinations thereof.