Motion capture device and associated method
First Claim
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1. Motion capture device of a structure consisting of N successive solid segments articulated with respect to one another from a segment of rank 1 as far as a segment of rank N, N being an integer number greater than or equal to 2, the segment of rank n (n=2, . . . , N) being articulated with the segment of rank n−
- 1 at an articulation point pn, the motion capture device comprising;
first means (ML) that deliver information able to restore an absolute acceleration vector {right arrow over (a)}1 of a point on the segment of rank 1 in a reference frame forming a reference, at successive times tk, k being an integer number greater than or equal to 1,second measuring means (MD1) fixed to the segment of rank 1 and which deliver, at each time tk, a measurement (M1) representing an orientation vector {right arrow over (Θ
)}1 of the segment of rank 1 in the reference frame, andsupplementary measurement means (MDn) fixed to each segment of rank n (n=2, . . . , N), and which deliver, at each time tk, a measurement representing an orientation vector {right arrow over (Θ
)}n of the segment of rank n.
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Abstract
The invention concerns a device for capturing the motion of a structure consisting of N articulated segments, characterized in that it comprises:
- first means (ML) that deliver at least one item of information able to restore an absolute acceleration vector {right arrow over (a)}1 of a point on the segment of rank 1 in a reference frame forming a reference, at successive times tk, k being an integer number greater than or equal to 1, and
- second measuring means (MD1, MDn) distributed over the various segments and which deliver, for each segment of rank 1 to N, at each time tk, a measurement (M1, Mn) representing an orientation vector ({right arrow over (Θ)}1, {right arrow over (Θ)}n) of the segment in the reference frame.
Application to biomechanical analysis, telemanipulation, animation of characters, etc.
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Citations
21 Claims
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1. Motion capture device of a structure consisting of N successive solid segments articulated with respect to one another from a segment of rank 1 as far as a segment of rank N, N being an integer number greater than or equal to 2, the segment of rank n (n=2, . . . , N) being articulated with the segment of rank n−
- 1 at an articulation point pn, the motion capture device comprising;
first means (ML) that deliver information able to restore an absolute acceleration vector {right arrow over (a)}1 of a point on the segment of rank 1 in a reference frame forming a reference, at successive times tk, k being an integer number greater than or equal to 1, second measuring means (MD1) fixed to the segment of rank 1 and which deliver, at each time tk, a measurement (M1) representing an orientation vector {right arrow over (Θ
)}1 of the segment of rank 1 in the reference frame, andsupplementary measurement means (MDn) fixed to each segment of rank n (n=2, . . . , N), and which deliver, at each time tk, a measurement representing an orientation vector {right arrow over (Θ
)}n of the segment of rank n. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
- 1 at an articulation point pn, the motion capture device comprising;
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16. Method of capturing the motion of a structure consisting of N successive solid segments articulated with respect to one another from a segment of rank 1 as far as a segment of rank N, N being an integer number greater than or equal to 2, the segment of rang n (n=2, . . . , N) being articulated with the segment of rank n−
- 1 at an articulation point pn, the method comprising;
obtaining from a first device at least one determination of an item of information able to restore an absolute acceleration vector {right arrow over (a)}1 of a point on the segment of rank 1 in a reference frame, at successive times tk, k being an integer number greater than or equal to 1, obtaining from a second device at least one measurement representing an orientation vector {right arrow over (Θ
)}1 of the segment of rank 1 in the reference frame, at each of the successive times tk, andobtaining from a supplementary device for each segment of rank n, at least one supplementary measurement of an orientation vector {right arrow over (Θ
)}n of the segment of rank n in the reference frame, at each of the successive times tk. - View Dependent Claims (17, 18, 19, 20, 21)
- 1 at an articulation point pn, the method comprising;
Specification