IMU system for assessing head and torso orientation during physical motion

• US 10,293,205 B2
• Filed: 01/26/2015
• Issued: 05/21/2019
• Est. Priority Date: 01/27/2014
• Status: Active Grant

• Current Assignee: Board of Regents of the University of Michigan (University of Michigan)
• Original Assignee: Board of Regents of the University of Michigan (University of Michigan)
• Inventors: Perkins, Noel C., McGinnis, Ryan S., Copple, Brian R.
• Primary Examiner(s): LaBalle, Clayton E.
• Assistant Examiner(s): Butler, Kevin C
• Application Number:
  US15/112,515
• Publication Number:
  US 20160339293A1
• Time in Patent Office: 1,576 Days
• Field of Search: 73493
• CPC Class Codes: A61B 2503/10 Athletes
• CPC Class Codes: A61B 2562/0219 Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
• CPC Class Codes: A61B 2562/0223 Magnetic field sensors
• CPC Class Codes: A61B 5/11 Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb for measuring pulse A61B5/02 ;A61B5/1038 takes precedence; motion detection to correct for motion artifacts in physiological signals A61B5/721
• CPC Class Codes: A61B 5/1114 Tracking parts of the body
• CPC Class Codes: A61B 5/1116 Determining posture transitions
• CPC Class Codes: A61B 5/1124 Determining motor skills
• CPC Class Codes: A61B 5/6803 Head-worn items, e.g. helmets, masks, headphones or goggles
• CPC Class Codes: A61B 5/6804 Garments; Clothes
• CPC Class Codes: A63B 2220/40 Acceleration
• CPC Class Codes: A63B 2220/44 Angular acceleration
• CPC Class Codes: A63B 2225/20 with means for remote communication, e.g. internet or the like
• CPC Class Codes: A63B 2225/50 Wireless data transmission, e.g. by radio transmitters or telemetry
• CPC Class Codes: A63B 2225/52 modulated by measured values
• CPC Class Codes: A63B 2243/007 American football
• CPC Class Codes: A63B 23/0244 with signalling or indicating means, e.g. of incorrect posture, for deep-breathing exercises
• CPC Class Codes: A63B 71/0054 Features for injury prevention on an apparatus, e.g. shock absorbers mats or the like for absorbing shocks for jumping A63B6/00
• CPC Class Codes: G01C 19/5783 Mountings or housings not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
• CPC Class Codes: G01P 1/02 Housings
• CPC Class Codes: G01P 1/023 for acceleration measuring devices
• CPC Class Codes: G01P 15/08 : with conversion into electric or magnetic values
• CPC Class Codes: G01P 15/18 : in two or more dimensions
• CPC Class Codes: G01R 33/0206 : Three-component magnetometers
• CPC Class Codes: G06V 40/23 : Recognition of whole body movements, e.g. for sport training
• CPC Class Codes: G09B 19/0038 : Sports

Abstract

A method and apparatus for monitoring the head and torso orientation of a subject during physical motion. The method and apparatus employ at least two inertial measurement units (IMUs) being temporally synchronized with each other and each measuring three degrees of freedom of angular velocity, acceleration, and optionally magnetic field. A first IMU being affixed to the head of the subject and the second IMU being affixed to the torso of the subject. The orientation of the head, the orientation of the torso, and optionally the relative orientation of the head and torso are calculated based on the data from the IMU'"'"'s and optionally magnetometer data. The resultant output data is transmitted to a host device (computer, tablet, smart phone) and can be used for monitoring, training, coaching, worker safety and health, and/or rehabilitation.

Claims

1. An apparatus for athlete development, coaching, or training using real time monitoring of the head and cervical spine orientation of an athlete during physical motion on a field of play, said apparatus comprising:

at least two inertial measurement units each measuring three degrees of freedom of angular velocity and three degrees of freedom of acceleration and outputting acceleration data and angular rate gyro data, a first of the at least two inertial measurement units being temporally synchronized with a second of the at least two inertial measurement units such that the acceleration data and angular rate gyro data from the first inertial measurement unit and the second inertial measurement unit are temporally synchronized;

a first mounting system supporting the first inertial measurement unit for movement therewith, the first mounting system configured to be connectable to the head of the subject such that the data from the first inertial measurement unit is used to calculate the orientation of the head of the subject;

a second mounting system supporting the second inertial measurement unit for movement therewith, the second mounting system configured to be connectable to the cervical spine of the subject such that the data from the second inertial measurement unit is used to calculate the orientation of the cervical spine of the subject;

a central processing unit configured to receive in real time the acceleration data and the angular rate gyro data from the first and second inertial measurements units, the central processing unit calculating the real time orientation of the head, the real time orientation of the cervical spine, and the real time orientation of the head relative to the cervical spine in response to the acceleration data and the angular rate gyro data from the first and second inertial measurement units during the physical motion on the field of play and outputting resultant real time data; and

a host device receiving the resultant real time data and outputting a response to a user on the host device indicative of the real time orientation of the head and the orientation of the cervical spine of the athlete on the field of play.

2. The apparatus according to claim 1 wherein at least one of the at least two inertial measurement units measures a local magnetic field and outputs magnetometer data,

wherein the central processing unit calculates the real time orientation of the head, the real time orientation of the cervical spine, and the real time orientation of the head relative to the cervical spine in response to the acceleration data, the angular rate gyro data, and the magnetometer data.

3. The apparatus of claim 1, further comprising:

a magnetometer measuring a local magnetic field and outputting magnetometer data, the magnetometer being separate from the first and second inertial measurement units,

wherein the central processing unit calculates the real time orientation of the head, the real time orientation of the cervical spine, and the real time orientation of the head relative to the cervical spine in response to the acceleration data and the angular rate gyro data from the first and second inertial measurement units and the magnetometer data from the magnetometer.

4. The apparatus according to claim 1, further comprising:

a transmission system operably coupled between the first and second inertial measurement units and the central processing unit, the transmission system transmitting the acceleration data and the angular rate gyro data from the first and second inertial measurement units to the central processing unit.

5. The apparatus according to claim 4 wherein the transmission system is wireless.

6. The apparatus according to claim 1, further comprising:

a transmission system operably coupled between the central processing unit and the host device, and the transmission system transmitting at least the resultant data to the host device.

7. The apparatus according to claim 6 wherein the transmission system is wireless.

8. The apparatus according to claim 6 wherein the transmission system transmits the acceleration data and the angular rate gyro data from the first and second inertial measurement units and the resultant data to the host device.

9. The apparatus according to claim 1 wherein the first mounting system includes a helmet worn by the subject, the first inertial measurement unit being fixedly attached to or embedded with the helmet.

10. The apparatus according to claim 1 wherein the second mounting system includes a body-worn mounting system worn by the subject, the second inertial measurement unit being fixedly attached to or embedded with the body-worn mounting system.

11. The apparatus according to claim 1 wherein the host device is a computer, tablet, smart phone, or CPU-enabled devices, wherein the output of the host device is delivered in visual, audible, or tactile forms.

12. A method for athlete development, coaching, or training using real time monitoring of the head and cervical spine orientation of an athlete during physical motion on a field of play, said method comprising:

employing at least two inertial measurement units each measuring three degrees of freedom of angular velocity and three degrees of freedom of acceleration and outputting acceleration data and angular rate gyro data, a first of the at least two inertial measurement units being temporally synchronized with a second of the at least two inertial measurement units such that the acceleration data and angular rate gyro data from the first inertial measurement unit and the second inertial measurement unit are temporally synchronized;

affixing the first inertial measurement unit to the head of the athlete for movement therewith;

affixing the second inertial measurement unit to the torso of the athlete within a cervical spine region for movement therewith;

calculating the real time orientation of the head, the real time orientation of the cervical spine, and the real time orientation of the head relative to the cervical spine in response to the acceleration data and the angular rate gyro data from the first and second inertial measurement units during the physical motion on the field of play and outputting resultant real time data; and

receiving the resultant real time data by a host device and outputting a response to a user on the host device indicative of the real time orientation of the head and the orientation of the cervical spine of the athlete on the field of play, using the response on the host device for athlete development, coaching, or training.

13. The method according to claim 12, further comprising:

employing a magnetometer measuring a local magnetic field and outputting magnetometer data, and

calculating the real time orientation of the head, the real time orientation of the cervical spine, and the real time orientation of the head relative to the cervical spine in response to the acceleration data, the angular rate gyro data, and the magnetometer data.

14. The method according to claim 13 wherein the magnetometer is separate from the at least two inertial measurement units.

15. A method for athlete development, coaching, or training using real time monitoring of the head and cervical spine orientation of a plurality of athletes during physical motion on a field of play, said method comprising:

employing at least two inertial measurement units for each of the plurality of athletes, each of the inertial measurement units measuring three degrees of freedom of angular velocity and three degrees of freedom of acceleration and outputting acceleration data and angular rate gyro data, a first of the at least two inertial measurement units being temporally synchronized with a second of the at least two inertial measurement units such that the acceleration data and angular rate gyro data from the first inertial measurement unit and the second inertial measurement unit are temporally synchronized;

affixing the first inertial measurement unit to the head of each of the plurality of athletes for movement therewith;

affixing the second inertial measurement unit to the torso of each of the plurality of athletes within a cervical spine region for movement therewith;

calculating the real time orientation of the head, the real time orientation of the cervical spine, and the real time orientation of the head relative to the cervical spine of each of the plurality of athletes in response to the acceleration data and the angular rate gyro data from the first and second inertial measurement units during the physical motion on the field of play and outputting resultant real time data for each of the plurality of athletes; and

receiving the resultant real time data for each of the plurality of athletes by a host device and outputting a response to a user on the host device indicative of at least one of the real time orientation of the head, the real time orientation of the cervical spine, and the real time orientation of the head relative to the cervical spine of each of the plurality of athletes on the field of play, using the response on the host device for athlete development, coaching, or training.