Force sensing apparatus and method to determine the radius of rotation of a moving object
DC CAFCFirst Claim
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1. An apparatus comprising:
- a body having at least two accelerometers mounted in the body, the accelerometers are separated in space and sense movement on at least one sensitivity axis;
a processor in communication with the accelerometers to receive sensed motion data from said accelerometers and to compute motion of said body from said motion data; and
said processor to execute instructions to compute a radius of rotation and direction to an axis of rotation for each of the accelerometers, said radius of rotation and direction to an axis of rotation defining the axis of rotation of said body, said instructions to apply geometrical principals to real-time accelerometer readings and fixed orientation and position of the accelerometers in reference to the body.
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Abstract
An apparatus having an arrangement of two or more identical accelerometers with aligned sensitivity axes. Each of the accelerometers senses motion over at least one axis. The accelerometer readings include a component corresponding to gravitational force that is the same for each accelerometer in the arrangement. Logic circuitry in communication with the accelerometer arrangement couples accelerometer signals to a processor to compute motion variables.
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Citations
27 Claims
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1. An apparatus comprising:
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a body having at least two accelerometers mounted in the body, the accelerometers are separated in space and sense movement on at least one sensitivity axis; a processor in communication with the accelerometers to receive sensed motion data from said accelerometers and to compute motion of said body from said motion data; and said processor to execute instructions to compute a radius of rotation and direction to an axis of rotation for each of the accelerometers, said radius of rotation and direction to an axis of rotation defining the axis of rotation of said body, said instructions to apply geometrical principals to real-time accelerometer readings and fixed orientation and position of the accelerometers in reference to the body. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. An article comprising:
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a body having at least one mounted accelerometer, configured to sense movement on at least one sensitivity axis; a computer readable carrier including a motion input algorithm configured to translate the sensed movement received from the at least one accelerometer into a command, and a step motion algorithm to process the command, the step motion algorithm including instructions comprising; instructions to execute a command from the motion input algorithm, instructions to send a sleep command to the motion input algorithm after the command is executed; and instructions to re-activate the motion sensing algorithm from the sleep command after elapse of a defined period of time. - View Dependent Claims (23, 24, 25, 26)
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27. A method to sense movement of a body, comprising
mounting at least two accelerometers in a body, said accelerometers configured to sense movement on at least one sensitivity axis; -
a processor in communication with the accelerometers for receiving sensed motion data from accelerometer data; said processor computing motion of said body from said motion data; and said processor executing instructions for computing a radius of rotation and direction to an axis of rotation for each of the accelerometers, said radius of rotation and direction to an axis of rotation defining the axis of rotation of said body, and applying geometrical principals to real-time accelerometer readings and fixed orientation and position of the accelerometers.
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Specification