Exercise information display system, exercise information display method and computer-readable recording medium

• US 10,105,106 B2
• Filed: 11/16/2015
• Issued: 10/23/2018
• Est. Priority Date: 12/12/2014
• Status: Active Grant

• Current Assignee: Casio Computer Company Limited
• Original Assignee: Casio Computer Company Limited
• Inventors: Nakajima, Mitsuyasu
• Primary Examiner(s): GEBREMICHAEL, BRUK A
• Application Number:
  US14/942,803
• Publication Number:
  US 20160166880A1
• Time in Patent Office: 1,072 Days
• Field of Search: None
• CPC Class Codes: A61B 2560/0209 adapted for power saving
• CPC Class Codes: A61B 2560/0223 of calibration, e.g. protocols for calibrating sensors
• CPC Class Codes: A61B 5/1121 Determining geometric values, e.g. centre of rotation or angular range of movement
• CPC Class Codes: A61B 5/486 Bio-feedback A61B5/375 takes precedence
• CPC Class Codes: A61B 5/6829 Foot or ankle
• CPC Class Codes: A61B 5/743 Displaying an image simultaneously with additional graphical information, e.g. symbols, charts, function plots
• CPC Class Codes: G06Q 10/0639 Performance analysis of employees; Performance analysis of enterprise or organisation operations
• CPC Class Codes: G16H 20/30 relating to physical therapies or activities, e.g. physiotherapy, acupressure or exercising
• CPC Class Codes: G16H 20/40 relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 30/40 for processing medical images, e.g. editing
• CPC Class Codes: G16H 40/67 for remote operation

Abstract

Provided is an exercise information display system including a sensor unit attached to an ankle of one leg of a human body to output data on a motion state of the leg and a control unit processing the data. The control unit acquires a parameter based on data output from the sensor unit in a case where the human body performs a calibration motion for acquiring the parameter expressing at least one of an attachment orientation and an attachment position in the one leg of the sensor unit and a posture of the one leg in standing on the one leg, generates a reproduction image where a motion state of the leg during the exercise is reproduced in pseudo manner based on data output from the sensor unit in a case where the human body performs exercise of moving the leg and the parameter, and displays an image including at least the reproduction image as exercise information on the display unit.

Claims

1. An exercise information display system comprising:

a sensor unit which is attached to an ankle of one leg of a human body and outputs data on a motion state of the one leg;

a display unit; and

a control unit which processes the data,

wherein the control unit performs;

acquiring the data as calibration data when the human body performs a calibration motion for acquiring a parameter expressing at least one of an attachment orientation of the sensor unit, an attachment position of the sensor unit on the one leg, and a posture of the one leg when standing on the one leg,

acquiring the parameter based on the calibration data,

acquiring the data as exercise data when the human body performs an exercise of moving at least the one leg,

generating a first animation where the motion state of the one leg during the exercise is reproduced in a pseudo manner based on the exercise data and the parameter,

estimating a motion state of the other leg during the exercise based on the first animation, and generating a second animation where the motion state of the other leg which is estimated is reproduced in a pseudo manner,

generating a reproduction animation where a motion state of the two legs during the exercise is reproduced in a pseudo manner by combining the first animation and the second animation, and

displaying at least the reproduction animation as exercise information on the display unit.

2. The exercise information display system according to claim 1, wherein:

the calibration motion includes a first motion where the two legs are bent/stretched in a state where two knees of the two legs are kept together, and

the control unit acquires a correction matrix for correcting a difference of the attachment orientation of the sensor unit from a correct attachment orientation as the parameter based on first data output from the sensor unit when the human body performs the first motion as the calibration motion.

3. The exercise information display system according to claim 2, wherein the control unit acquires corrected first data of one cycle of the motion of the human body by converting the first data output from the sensor unit during the exercise by using the correction matrix and generates the reproduction animation based on the corrected first data.

4. The exercise information display system according to claim 1, wherein:

the calibration motion includes a second motion where the one leg is in an erect posture by allowing a sole of a foot of the one leg to be in contact with a ground and the other leg is separated from the ground, and

the control unit acquires a posture matrix expressing the reference posture as the parameter based on second data output from the sensor unit when the human body performs the second motion as the calibration motion.

5. The exercise information display system according to claim 4, wherein the control unit estimates a posture of the sensor unit during the exercise in an absolute coordinate by using the posture matrix and generates the reproduction animation based on the estimated posture of the sensor unit.

6. The exercise information display system according to claim 1, wherein:

the calibration motion includes a third motion where the one leg is in an erect posture by allowing a sole of a foot of the one leg to be in contact with a ground, after that, rotating a lower leg of the one leg at least 90 degrees by using a knee of the one leg as a rotation axis, and after that, returning the one leg to an erect posture by allowing the sole of the foot of the one leg to be in contact with the ground, and

the control unit acquires a length between the knee of the one leg and the attachment position of the sensor unit as a lower leg length of the one leg as the parameter based on third data output from the sensor unit according to the motion of the human body when the human body performs the third motion as the calibration motion.

7. The exercise information display system according to claim 6, wherein the control unit generates the reproduction animation based on the acquired lower leg length.

8. The exercise information display system according to claim 1, wherein:

the calibration motion includes;

a first motion where the two legs are bent/stretched in a state where two knees of the two legs are kept together;

a second motion where the one leg is in an erect posture by allowing a sole of a foot of the one leg to be in contact with a ground and the other leg is separated from the ground; and

a third motion where the one leg is in an erect posture by allowing the sole of the foot of the one leg to be in contact with the ground, after that, rotating a lower leg of the one leg at least 90 degrees by using the knee of the one leg as a rotation axis, and after that, returning the one leg to an erect posture by allowing the sole of the foot of the one leg to be in contact with the ground, and

the control unit;

acquires a correction matrix for correcting a difference of the attachment orientation of the sensor unit from a correct attachment orientation as the parameter based on first data output from the sensor unit according to the motion of the human body when the human body performs the first motion as the calibration motion,

acquires a posture matrix defining the reference posture based on second data output from the sensor unit according to the motion of the human body when the human body performs the second motion as the calibration motion,

acquires a length between the knee of the one leg and the attachment position of the sensor unit as a lower leg length of the one leg as the parameter based on third data output from the sensor unit according to the motion of the human body when the human body performs the third motion as the calibration motion,

acquires corrected first data and corrected second data of one cycle of the motion of the human body by converting the first data and the second data by using the correction matrix,

estimates a posture of the sensor unit during the exercise in an absolute coordinate by using the posture matrix,

estimates a position of the sensor unit during the exercise in the absolute coordinate by removing a gravitational acceleration component from the corrected second data and performing two-times integration, and

generates the reproduction animation of the one cycle based on the estimated posture and position of the sensor unit, the acquired lower leg length, and a known relationship between a lower leg length and a position of a base of a thigh of the human body.

9. An exercise information display method comprising:

acquiring data output from a sensor unit as calibration data attached to an ankle of one leg of a human body when the human body performs a calibration motion for acquiring a parameter expressing at least one of an attachment orientation of the sensor unit, an attachment position of the sensor unit on the one leg, and a posture of the one leg when standing on the one leg;

acquiring the parameter based on the calibration data;

acquiring the data as exercise data when the human body performs an exercise of moving at least the one leg;

generating a first animation where the motion state of the one leg during the exercise is reproduced in a pseudo manner based on the exercise data and the parameter;

estimating a motion state of the other leg during the exercise based on the first animation, and generating a second animation where the motion state of the other leg which is estimated is reproduced in a pseudo manner;

generating a reproduction animation where a motion state of the two legs during the exercise is reproduced in a pseudo manner by combining the first animation and the second animation; and

displaying at least the reproduction animation as exercise information on a display unit.

10. The exercise information display method according to claim 9, wherein:

the calibration motion includes a first motion where the two legs are bent/stretched in a state where two knees of the two legs are kept together, and

the acquiring the parameter includes acquiring a correction matrix for correcting a difference of the attachment orientation of the sensor unit from a correct attachment orientation as the parameter based on first data output from the sensor unit when the human body performs the first motion as the calibration motion.

11. The exercise information display method according to claim 10, wherein the generating the reproduction animation includes acquiring corrected first data of one cycle of the motion of the human body by converting the first data output from the sensor unit during the exercise by using the correction matrix and generating the reproduction animation based on the corrected first data.

12. The exercise information display method according to claim 9, wherein:

the calibration motion includes a second motion where the one leg is in an erect posture by allowing a sole of a foot of the one leg to be in contact with a ground and the other leg is separated from the ground, and

the acquiring the parameter includes acquiring a posture matrix expressing the reference posture as the parameter based on second data output from the sensor unit when the human body performs the second motion as the calibration motion.

13. The exercise information display method according to claim 12, wherein the generating the reproduction animation includes estimating a posture of the sensor unit during the exercise in an absolute coordinate by using the posture matrix and generating the reproduction animation based on the estimated posture of the sensor unit.

14. The exercise information display method according to claim 9, wherein:

the calibration motion includes a third motion where the one leg is in an erect posture by allowing a sole of a foot of the one leg to be in contact with a ground, after that, rotating a lower leg of the one leg at least 90 degrees by using a knee of the one leg as a rotation axis, and after that, returning the one leg to an erect posture by allowing the sole of the foot of the one leg to be in contact with the ground, and

the acquiring the parameter includes acquiring a length between the knee of the one leg and the attachment position of the sensor unit as a lower leg length of the one leg as the parameter based on third data output from the sensor unit according to the motion of the human body when the human body performs the third motion as the calibration motion.

15. The exercise information display method according to claim 14, wherein the reproduction animation is generated based on the acquired lower leg length.

16. The exercise information display method according to claim 9, wherein:

the calibration motion includes;

a first motion where the two legs are bent/stretched in a state where two knees of the two legs are kept together;

a second motion where the one leg is in an erect reference posture by allowing a sole of a foot of the one leg to be in contact with a ground and the other leg is separated from the ground; and

a third motion where the one leg is in an erect posture by allowing the sole of the foot of the one leg to be in contact with the ground, after that, rotating a lower leg of the one leg at least 90 degrees by using the knee of the one leg as a rotation axis, and after that, returning the one leg to an erect posture by allowing the sole of the foot of the one leg to be in contact with the ground,

the acquiring the parameter includes;

acquiring a correction matrix for correcting a difference of the attachment orientation of the sensor unit from a correct attachment orientation as the parameter based on first data output from the sensor unit according to the motion of the human body when the human body performs the first motion as the calibration motion;

acquiring a posture matrix defining the reference posture based on second data output from the sensor unit according to the motion of the human body when the human body performs the second motion as the calibration motion; and

acquiring a length between the knee of the one leg and the attachment position of the sensor unit as a lower leg length of the one leg as the parameter based on third data output from the sensor unit according to the motion of the human body when the human body performs the third motion as the calibration motion, and

the generating the reproduction animation includes;

acquiring corrected first data and corrected second data of one cycle of the motion of the human body by converting the first data and the second data by using the correction matrix;

estimating a posture of the sensor unit during the exercise in an absolute coordinate by using the posture matrix;

estimating a position of the sensor unit during the exercise in the absolute coordinate by removing a gravitational acceleration component from the corrected second data and performing two-times integration; and

generating the reproduction animation of the one cycle based on the estimated posture and position of the sensor unit, the acquired lower leg length, and a known relationship between a lower leg length and a position of a base of a thigh of the human body.

17. A non-transitory computer-readable recording medium storing an exercise information display program for causing a computer to execute:

acquiring data from a sensor unit as calibration data, the sensor unit being attached to an ankle of one leg of a human body, when the human body performs a calibration motion for acquiring a parameter expressing at least one of an attachment orientation of the sensor unit, an attachment position of the sensor unit on the one leg, and a posture of the one leg when standing one the one leg;

acquiring the parameter based on the calibration data;

acquiring the data as exercise data when the human body performs an exercise of moving at least the one leg;

generating a first animation where the motion state of the one leg during the exercise is reproduced in a pseudo manner based on the exercise data and the parameter;

estimating a motion state of the other leg during the exercise based on the first animation, and generating a second animation where the motion state of the other leg which is estimated is reproduced in a pseudo manner;

generating a reproduction animation where a motion state of the two legs during the exercise is reproduced in a pseudo manner by combining the first animation and the second animation; and

displaying at least the reproduction animation as exercise information on a display unit.