MOTION TRACKING SYSTEM

• US 20090278791A1
• Filed: 11/15/2006
• Published: 11/12/2009
• Est. Priority Date: 11/16/2005
• Status: Abandoned Application

• Current Assignee: Movella Technologies BV
• Original Assignee: Xsens Technologies BV (Movella Holdings, Inc.), Universiteit Twente
• Inventors: Slycke, Per Johan, Roetenberg, Daniel, Veltink, Petrus Hermanus
• Application Number:
  US12/093,914
• Publication Number:
  US 20090278791A1
• Time in Patent Office: Days
• US Class Current: 345/156
• CPC Class Codes: A61B 2560/0223 of calibration, e.g. protocols for calibrating sensors
• CPC Class Codes: A61B 5/103 Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes A61B5/08 takes precedence; measuring aids for tailors A41H1/00; measuring instruments specially adapted for dentistry A61C19/04
• CPC Class Codes: A61B 5/1114 Tracking parts of the body
• CPC Class Codes: A61B 5/1127 using markers
• CPC Class Codes: A61B 5/6804 Garments; Clothes
• CPC Class Codes: A61B 5/6807 Footwear

Abstract

A motion tracking system for tracking an object composed of object parts in a three-dimensional space. The system comprises a number of magnetic field transmitters; a number of field receivers for receiving the magnetic fields of the field transmitters; a number of inertial measurement units for recording a linear acceleration; a number of angular velocity transducers for recording angular velocities. The system further comprises a processor for controlling the transmitters and receiving signals coming from the field receivers and the inertial measurement unit; which processor contains a module for deriving orientation and/or position information of the constituent object parts of the object on the basis of the received signals. The processor is configured for intermittently controlling the transmitters transmit at a predetermined frequency, wherein the position and/or orientation information is derived by periodically calibrating the motion information coming from the inertial measurement unit with the motion information coming from the magnetic field receivers.

Claims

1. A motion tracking system for tracking an object composed of object parts in a three-dimensional space, comprising:

one or more transmitter modules provided in fixed positional relationship with respect to at least one object part, for transmitting magnetic fields, with mutually different main directions;

a magnetic measuring module for receiving the magnetic fields, wherein the magnetic measuring module has a fixed positional relationship with an object part of the composite object;

an inertial measurement unit for recording a linear acceleration and an angular velocity or angular acceleration, wherein the inertial measurement unit has a fixed positional relationship with an object part of the composite object;

a processor for controlling the one or more transmitter modules and receiving signals coming from the magnetic measuring module and the inertial measurement unit;

which processor contains a module for deriving orientation and/or position information of the constituent object parts of the object on the basis of the received signals, characterized in that

the processor is configured to make the one or more transmitter modules transmit an intermittent magnetic field, wherein the position and/or orientation information in a period between the intermittent transmitting is derived by means of the motion information coming from the inertial measurement unit, which is periodically calibrated with the motion information coming from the magnetic measuring module.

2. A motion tracking system according to claim 1, wherein the period between the intermittent transmitting is longer than a predetermined period related to a motion resolution realized by the system.

3. A motion tracking system according to claim 1, wherein the period between the intermittent transmitting is longer than 0.08 seconds.

4. A motion tracking system according to claim 1, characterized in that the processor contains a module for combining position and/or orientation information of an object part on the basis of the received signals with respect to at least one fixed axis in the space which is derived from the gravitational field and/or the earth magnetic field.

5. A motion tracking system according to claim 1, characterized in that a number of sensors are provided for fixing to the object for measuring a reaction force and/or torque.

6. A motion tracking system according to claim 4, wherein the module for combining position and/or orientation information comprises a Kalman filter.

7. A motion tracking system according to claim 4, wherein the module for combining position and/or orientation information is arranged for deriving a measuring error of the position and/or orientation information.

8. A motion tracking system according to claim 7, wherein, on the basis of the derived measuring error, a new cycle of orientation and/or position measurement by means of magnetic fields is activated.

9. A motion tracking system according to claim 1, wherein the magnetic measuring module is provided in a fixed positional relationship with respect to the one or more transmitter modules for calibration purposes.

10. A motion tracking system according to claim 1, wherein more than four transmitter modules are provided on the object in a distributed manner.

11. A motion tracking system according to claim 1, wherein the object is a human body wherein the one or more transmitter modules are integrated in clothing.

12. A motion tracking system according to claim 11, wherein the one or more transmitter modules comprise at least one current coil for generating a magnetic field, which current coil is intended for enclosing a body part.

13. A motion tracking system according to claim 4, wherein the module for combining orientation and/or position information of the constituent object parts comprises a model of the freedom of movement of the object parts relative to one another and estimates the measuring signals with respect to that model.

14. A motion tracking system according to claim 1, wherein a time order is monitored between a plurality of transmitter modules by means of time slots.

15. A motion tracking system according to claim 1, wherein the one or more transmitter modules each generate an oriented magnetic field by means of a current coil.

16. A motion tracking system according to claim 1, wherein the magnetic measuring module and the inertial measurement unit are included in one or more sensor clusters for fixing on the object.