MULTI-ROTOR APPARATUS AND METHOD FOR MOTION SCULPTING

• US 20150367223A1
• Filed: 09/01/2015
• Published: 12/24/2015
• Est. Priority Date: 10/09/2003
• Status: Active Grant

• Current Assignee: William B. Priester
• Original Assignee: William B. Priester
• Inventors: Priester, William B., May, Richard E., Dawson, C. Bryan, Ward, David A., Pingen, Georg
• Granted Patent: US 9,981,173 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A63B 2071/0602 Non-electronic means therefor
• CPC Class Codes: A63B 2071/0627 when used improperly, e.g. by giving a warning
• CPC Class Codes: A63B 2071/0655 Tactile feedback
• CPC Class Codes: A63B 21/06 User-manipulated weights
• CPC Class Codes: A63B 2220/20 Distances or displacements
• CPC Class Codes: A63B 2220/30 Speed
• CPC Class Codes: A63B 2220/34 Angular speed
• CPC Class Codes: A63B 2220/40 Acceleration
• CPC Class Codes: A63B 2220/806 Video cameras
• CPC Class Codes: A63B 2225/01 Special aerodynamic features, e.g. airfoil shapes, wings or air passages
• CPC Class Codes: A63B 2225/09 Adjustable dimensions
• CPC Class Codes: A63B 2225/50 Wireless data transmission, e.g. by radio transmitters or telemetry
• CPC Class Codes: A63B 2225/74 with powered illuminating means, e.g. lights
• CPC Class Codes: A63B 24/0003 Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
• CPC Class Codes: A63B 69/3614 using electro-magnetic, magnetic or ultrasonic radiation emitted, reflected or interrupted by the golf club
• CPC Class Codes: A63B 69/3623 for driving A63B69/3608, A63B69/3658, A63B69/3661, A63B69/3667 and A63B69/3691 take precedence
• CPC Class Codes: A63B 69/3632 Clubs or attachments on clubs, e.g. for measuring, aligning A63B69/3614 takes precedence; clubs for swinging exercises in general A63B15/00
• CPC Class Codes: A63B 71/06 Indicating or scoring devices for games or players , or for other sports activities
• CPC Class Codes: A63B 71/0622 Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
• CPC Class Codes: A63F 13/285 Generating tactile feedback signals via the game input device, e.g. force feedback
• CPC Class Codes: G09B 19/0038 : Sports

Abstract

A reversibly attachable muscle trainer includes a multi-arm structure with motion sensors and force generators for exercising opposing muscles of a person moving an implement so as to maintain an ideal movement. When attached to the implement, the muscle trainer trains the opposing muscles to consistently move the implement in an ideal way. While the person moves the implement with the muscle trainer attached, a processor receives signals from the motion sensors and determines differences between the actual implement motion and an ideal implement motion. The difference indicates a dominating force direction in which the dominating muscles urge the implement. The processor activates the force generators to apply external forces to the implement to urge the implement in various types of training force directions.

Claims

1. A method for determining an angular relationship between an implement shaft plane and an implement face plane of an implement moved by a person during performance of a useful or recreational function, the implement including an implement shaft and an implement surface attached to the implement shaft configured to impact an object during the performance of the useful or recreational function, the method comprising:

(a) sensing motion of the implement at a first position on or adjacent the implement shaft;

(b) determining a first shaft velocity vector corresponding to the motion of the implement shaft at the first position;

(c) sensing motion of the implement at a second position on or adjacent the implement shaft that is spaced apart from the first position;

(d) determining a second shaft velocity vector corresponding to the motion of the implement shaft at the second position;

(e) determining an average shaft velocity vector based at least in part on the first shaft velocity vector and the second shaft velocity vector;

(f) determining a shaft vector aligned with the first position and the second position on or adjacent the implement shaft;

(g) determining a first normal vector based on a cross product of the shaft vector and the average shaft velocity vector according to

{right arrow over (N)}_CS={right arrow over (r)}_CS×

{right arrow over (ν

)}_avg,CS

where {right arrow over (N )}_CS is the first normal vector, {right arrow over (r)}_CS is the shaft vector and {right arrow over (ν

)}_avg,CS is the average shaft velocity vector;

(h) determining an implement face vector aligned with the implement face plane of the implement;

(i) determining a second normal vector based on a cross product of the shaft vector and the implement face vector according to

{right arrow over (N)}_CF={right arrow over (r)}_CS×

{right arrow over (r)}_CF

where {right arrow over (N)}_CF is the second normal vector, {right arrow over (r)}_CS is the shaft vector and {right arrow over (r)}_CF is the implement face vector;

(j) determining an angle θ

between the first normal vector and the second normal vector according to

2. The method of claim 1 further comprising displaying a representation of relationship of the implement shaft plane and the implement face plane, wherein the relationship is based at least in part on the angle θ

.

3. The method of claim 1 wherein step (h) further comprises:

(h1) sensing motion of the implement at a third position that is coplanar with the implement face plane and spaced apart from the shaft toward a back side of the shaft;

(h2) sensing motion of the implement at a fourth position that is coplanar with the implement face plane and spaced apart from the shaft toward a front side of the shaft; and

(h3) determining the implement face vector as aligned with the third position and fourth position.

4. A method for determining an angular relationship between an implement shaft plane and an implement face plane of an implement moved by a person during performance of a useful or recreational function, the implement including an implement shaft and an implement surface attached to the implement shaft configured to impact an object during the performance of the useful or recreational function, the method comprising:

(a) sensing motion of the implement at a first position on or adjacent the implement shaft;

(b) determining a first shaft velocity vector corresponding to the motion of the implement shaft at the first position;

(c) sensing motion of the implement at a second position on or adjacent the implement shaft that is spaced apart from the first position;

(d) determining a second shaft velocity vector corresponding to the motion of the implement shaft at the second position;

(e) determining an average shaft velocity vector based at least in part on the first shaft velocity vector and the second shaft velocity vector;

(f) determining a shaft vector aligned with the first position and the second position on or adjacent the implement shaft;

(g) determining a first normal vector based on a cross product of the shaft vector and the average shaft velocity vector according to

{right arrow over (N)}_CS={right arrow over (r)}_CS×

{right arrow over (ν

)}_avg,CS

where {right arrow over (N)}_CS is the first normal vector, {right arrow over (r)}_CS is the shaft vector and {right arrow over (ν

)}_avg,CS is the average shaft velocity vector;

(h) determining a vector {right arrow over (r)}_A3,A4 that is perpendicular to the implement face plane of the implement;

(i) determining an angle θ

between the first normal vector and the vector {right arrow over (r)}_A3,A4 according to

5. The method of claim 4 wherein step (h) further comprises:

(h1) sensing motion of the implement at a third position spaced apart from the shaft toward a left side of the shaft;

(h2) sensing motion of the implement at a fourth position spaced apart from the shaft toward a right side of the shaft that is opposite the left side; and

(h3) determining the vector {right arrow over (r)}_A3,A4 as aligned with the third position and fourth position and perpendicular to the shaft.

6. A method for determining an angular relationship between a shaft of an implement and a forearm of a person moving the implement during performance of a useful or recreational function, wherein the forearm has an elbow portion and a wrist portion, the method comprising:

(a) sensing motion of the implement at a first position on the shaft;

(b) sensing motion of the implement at a second position on the shaft that is spaced apart from the first position;

(c) determining a shaft vector aligned with the first position and second position;

(d) sensing motion of the forearm at a third position adjacent the wrist portion;

(e) sensing motion of the forearm at a fourth position adjacent the elbow portion;

(f) determining a forearm vector aligned with the third position and the fourth position;

(g) determining a hinge angle φ

between the shaft vector and the forearm vector according to

7. A method for determining a distance between a distal position on a shaft of an implement and a body centerline position of a person moving the implement during performance of a useful or recreational function, the method comprising:

(a) determining coordinates of a first position spaced apart from the shaft toward a left side of the shaft that remains substantially fixed relative to the shaft during movement of the implement;

(b) determining coordinates of a second position spaced apart from the shaft toward a right side of the shaft which is opposite the left side that remains substantially fixed relative to the shaft during movement of the implement;

(c) determining a first vector {right arrow over (r)}_A1,A2 aligned with the first position and second position, the first vector being perpendicular to the shaft;

(d) determining coordinates of a third position spaced apart from the shaft toward a back side of the shaft that remains substantially fixed relative to the shaft during movement of the implement;

(e) determining coordinates of a fourth position spaced apart from the shaft toward a front side of the shaft which is opposite the back side that remains substantially fixed relative to the shaft during movement of the implement;

(f) determining a second vector {right arrow over (r)}_A3,A4 aligned with the third position and fourth position, the second vector being perpendicular to the shaft;

(g) determining a normal vector {circumflex over (n)}_A1,A2,A3,A4 based on a cross product of the first vector and the second vector according to;

8. The method of claim 7 wherein:

step (a) is performed using signals generated by a motion sensor disposed at the first position;

step (b) is performed using signals generated by a motion sensor disposed at the second position;

step (d) is performed using signals generated by a motion sensor disposed at the third position;

step (e) is performed using signals generated by a motion sensor disposed at the fourth position;

step (h) is performed using the signals generated by one or more of the motion sensors disposed at the first position, second position, third position and fourth position; and

step (j) is performed using signals generated by a motion sensor disposed at the body centerline position.

9. A method of providing neuromotor feedback to a person grasping an automated reality implement that is part of an automated reality system during performance of a useful or recreational automated reality function, the method comprising:

(a) attaching a feedback apparatus to the automated reality implement such that the weight of the feedback apparatus is supported entirely by the automated reality implement;

(b) the feedback apparatus sensing positions of the automated reality implement;

(c) the feedback apparatus receiving one or more signaling inputs provided by the person or the automated reality system; and

(d) the feedback apparatus applying one or more external forces to the automated reality implement.

10. The method of claim 9 wherein steps (b), (c), and (d) are performed substantially simultaneously.

11. A method of providing neuromotor feedback to a person grasping a video game implement that is part of a video game system during performance of a video game, the method comprising:

(a) attaching a feedback apparatus to the video game implement such that the weight of the feedback apparatus is supported entirely by the video game implement;

(b) the feedback apparatus sensing positions of the video game implement;

(c) the feedback apparatus receiving one or more signaling inputs provided by the person or the video game system; and

(d) the feedback apparatus applying one or more external forces to the video game implement.

12. The method of claim 11 wherein steps (b), (c), and (d) are performed substantially simultaneously.

13. A method of exercising muscles typically used by a person when attempting to perform an ideal movement of an implement during performance of a useful or recreational function, the method comprising:

(a) attaching a muscle trainer to the implement such that the weight of the muscle trainer is supported entirely by the implement;

(b) the muscle trainer determining the ideal movement of the implement for the person;

(c) the person performing a movement of the implement by application of forces exerted by the muscles of the person;

(d) the muscle trainer determining a difference between the movement of step (c) and the ideal movement determined in step (b) at a plurality of points during the movement of step (c);

(e) the muscle trainer applying one or more external forces to the implement;

(f) the person performing a movement of the implement by application of forces exerted by the muscles of the person while the one or more external forces are applied.

14. The method of claim 13 wherein the movement of step (c) and the movement of step (f) are the same movement.

15. The method of claim 13 wherein steps (d) and (f) are performed substantially simultaneously.

16. The method of claim 13 wherein the external forces applied in step (e) urge the implement in random directions.

17. A method of limiting domination of at least a dominating muscle of two opposing muscles typically used by a person when attempting to perform an ideal movement of an implement during performance of a useful or recreational function, where the dominating muscle applies a dominating force to the implement in a dominating force direction, and a non-dominating muscle of the two opposing muscles applies a non-dominating force to the implement in a non-dominating force direction, where the non-dominating force direction is substantially opposite the dominating force direction, and the dominating force exceeds the non-dominating force, wherein if the two opposing muscles were of appropriate strength, the two opposing muscles would desirably apply opposing forces to the implement at appropriate levels to perform the ideal movement, the method thereby training the opposing muscles to consistently perform the ideal movement, the method comprising:

(a) attaching a muscle trainer to the implement such that the weight of the muscle trainer is supported entirely by the implement;

(b) the muscle trainer determining the ideal movement of the implement for the person;

(c) the person performing a movement of the implement by application of forces exerted by the two opposing muscles of the person;

(d) the muscle trainer determining a difference between the movement of step (c) and the ideal movement determined in step (b) at a plurality of points during the movement of step (c), where the difference at each point indicates the dominating force direction at that point;

(e) the muscle trainer applying one or more external forces to the implement to urge the implement in a direction; and

(f) the person performing a movement of the implement by application of forces exerted by the two opposing muscles of the person while the one or more external forces are applied.

18. The method of claim 17 wherein the one or more external forces applied to the implement step (e) urge the implement in the dominating force direction.

19. The method of claim 17 wherein the one or more external forces applied to the implement step (e) urge the implement in the non-dominating force direction.

20. The method of claim 17 wherein the movement of step (c) and the movement of step (f) are the same movement.

21. The method of claim 17 wherein the one or more external forces applied in step (e) have a magnitude that is proportional to the difference determined in step (d).

22. The method of claim 17 wherein steps (d) and (f) are performed substantially simultaneously.