System for human trajectory learning in virtual environments

• US 5,554,033 A
• Filed: 07/01/1994
• Issued: 09/10/1996
• Est. Priority Date: 07/01/1994
• Status: Expired due to Fees

• Current Assignee: Massachusetts Institute of Technology
• Original Assignee: Massachusetts Institute of Technology
• Inventors: Shadmehr, Reza, Mussa-Ivaldi, Ferinando A., Bizzi, Emilio
• Primary Examiner(s): CHENG, JOE H
• Application Number:
  US08/270,028
• Time in Patent Office: 802 Days
• Field of Search: 434/248, 434/251, 434/252, 434/307 R, 434/308, 434/317, 434/247, 434/365, 434/252, 463/1, 463/23, 482/902, 395/152, 273/26 R, 273/29 R, 273/DIG. 28, 364/410, 345/112, 345/113, 345/156, 348/61, 348/578
• US Class Current: 434/247
• CPC Class Codes: A63B 2024/0012 Comparing movements or motion sequences with a registered reference
• CPC Class Codes: A63B 2024/0015 Comparing movements or motion sequences with computerised simulations of movements or motion sequences, e.g. for generating an ideal template as reference to be achieved by the user
• CPC Class Codes: A63B 2071/0647 Visualisation of executed movements
• CPC Class Codes: A63B 2102/16 Table tennis
• CPC Class Codes: A63B 2208/12 specially adapted for children
• CPC Class Codes: A63B 2220/89 Field sensors, e.g. radar systems
• CPC Class Codes: A63B 2243/0033 Handball
• CPC Class Codes: A63B 24/0006 Computerised comparison for qualitative assessment of motion sequences or the course of a movement
• CPC Class Codes: A63B 69/00 Training appliances or apparatus for special sports training of parachutists B64D23/00
• CPC Class Codes: A63B 69/0002 for baseball
• CPC Class Codes: A63B 69/0015 for cricket
• CPC Class Codes: A63B 69/002 for football American-football dummies A63B69/34
• CPC Class Codes: A63B 69/0026 for ice-hockey
• 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 71/0622 Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
• CPC Class Codes: G09B 19/0038 Sports
• CPC Class Codes: Y10S 482/902 Employing specific graphic or video display

Abstract

In an apparatus and method for teaching motor skills to a human subject, learning by a student is based upon imitation of a teacher'"'"'s motion. The teacher'"'"'s motion is sensed by a motion sensing device, is digitized by a computer, and is then recorded in non-volatile computer memory. The computer generates an image sequence of the teacher on the computer display for the student to view and imitate. The same motion sensing device used to record the teacher'"'"'s movement records the student'"'"'s movement and the computer creates an image sequence on the display corresponding to the student'"'"'s movement, simultaneously providing an image sequence of the teacher'"'"'s movement. The training of the student is based upon displaying the pre-stored teacher'"'"'s motion on the screen. The student'"'"'s task is to imitate the teacher'"'"'s movement. This process is repeated until the teacher'"'"'s and student'"'"'s trajectories match well in space and time.

Claims

1. A teaching system for human trajectory learning comprising:

a motion sensing device for sensing a student'"'"'s movement;

a display;

memory; and

electronic means responsive to the motion sensing device to generate, during the student'"'"'s movement, a student'"'"'s implement virtual image sequence on the display corresponding to the student'"'"'s movement of an implement set in motion by the student and to simultaneously generate a teacher'"'"'s implement virtual image sequence on the display of a corresponding teacher'"'"'s movement of a corresponding implement set in motion by the teacher from said memory, and to generate a virtual object image on the display to be struck by the teacher'"'"'s implement virtual image sequences, such that the student may cause the student'"'"'s implement virtual image sequence to imitate the teacher'"'"'s implement virtual image sequence for attempting to strike the virtual object image, thereby providing an efficient motion learning sequence for the student.

2. A teaching system as claimed in claim 1, wherein the motion sensing device senses the position and orientation of an implement set in motion by the student.

3. A teaching system as claimed in claim 2, wherein the implement is a racquet.

4. A teaching system as claimed in claim 2, wherein the said virtual object image is a moving projectile struck by the implement.

5. A teaching system as claimed in claim 4, wherein the projectile of the virtual object image has spin, and translational motion.

6. A teaching system as claimed in claim 2, wherein the virtual object image is an object to be impacted by the implement.

7. A teaching system as claimed in claim 2, wherein the student'"'"'s and teacher'"'"'s implement virtual image sequences are three-dimensional endpoint trajectory of the implement set in motion without images of the student and teacher.

8. A teaching system as claimed in claim 1, wherein the teacher'"'"'s movement is a prestored acceptable movement of the student.

9. A teaching system as claimed in claim 1, wherein the electronic means generates the teacher'"'"'s implement virtual image sequence of the teacher'"'"'s movement to be displayed at a reduced speed.

10. A teaching system as claimed in claim 9, wherein the electronic means increases the speed of the teacher'"'"'s implement virtual image sequence of the teacher'"'"'s movement as the student becomes proficient in following the teacher'"'"'s movement.

11. A teaching system as claimed in claim 1, wherein the teacher'"'"'s movement is selected from a library of stored teacher'"'"'s movement in the memory according to the student'"'"'s need.

12. A teaching system as claimed in claim 1, wherein the motion sensing device comprises fixed and moving units so as to establish an oriented electromagnetic field between said fixed and moving units of the motion sensing device.

13. A teaching system as claimed in claim 1, wherein the motion sensing device senses the position and orientation of the implement set in motion by the student and wherein the student'"'"'s implement virtual image sequence is derived from the sensed position and orientation of the implement.

14. A teaching system as claimed in claim 1, wherein the student'"'"'s and teacher'"'"'s implement virtual image sequences are displayed in three-dimensional form to provide a perception of depth.

15. A method for teaching human trajectory learning motion, comprising:

sensing a student'"'"'s movement with a motion sensing device;

generating by the electronic means, during the student'"'"'s movement of an implement set in motion by the student, a student'"'"'s implement virtual image sequence in response to the student'"'"'s movement and a teacher'"'"'s implement virtual image sequence of a teacher'"'"'s movement of a corresponding implement set in motion by the teacher from a memory; and

displaying said teacher'"'"'s implement virtual image sequence of a teacher'"'"'s movement simultaneously with the student'"'"'s implement virtual image sequence on a display, and virtual object image, generated by the electronic means, on said display to be struck by the teacher'"'"'s implement virtual image sequences, such that the student may cause the student'"'"'s implement virtual image sequence to imitate the teacher'"'"'s implement virtual image sequence for attempting to strike said virtual object image, thereby providing an efficient motion learning sequence for the student.

16. The method of claim 15, wherein the step of sensing a student'"'"'s movement comprises sensing the position and orientation of the implement set in motion by the student'"'"'s movement.

17. The method of claim 16, wherein the implement is a racquet.

18. The method of claim 16, wherein said virtual object image is a moving projectile, and said method further comprises the steps of striking said projectile with the implement set in motion by the student and displaying the resulting trajectory of the projectile.

19. The method of claim 18, wherein the step of displaying the trajectory of the projectile takes into account the projectile'"'"'s spin.

20. The method of claim 16, wherein the virtual object image is an object to be impacted by the implement.

21. The method of claim 16, wherein the step of displaying the student'"'"'s and teacher'"'"'s implement virtual image sequences displays three-dimensional endpoint trajectory of the implement set in motion without images of the student and teacher.

22. The method of claim 15, wherein the step of generating a teacher'"'"'s implement virtual image sequence of the teacher'"'"'s movement includes prestoring an acceptable movement of the student as the teacher'"'"'s movement in the memory.

23. The method of claim 15, wherein the step of displaying said teacher'"'"'s implement virtual image sequence of the teacher'"'"'s movement includes displaying the teacher'"'"'s movement at a reduced speed.

24. The method of claim 23, further comprises the steps of increasing the speed of the teacher'"'"'s implement virtual image sequence of the teacher'"'"'s movement as the student becomes proficient at following the teacher'"'"'s movement.

25. The method of claim 15, wherein the step of generating a teacher'"'"'s implement virtual image sequence of a teacher'"'"'s movement includes the step of selecting a teacher'"'"'s movement from a library of stored teacher'"'"'s movement in the memory according to the student'"'"'s need.

26. The method of claim 15, wherein the motion sensing device comprises fixed and moving units, and wherein the step of sensing a student'"'"'s movement with a motion sensing device comprises the step of establishing an oriented electromagnetic field between the fixed and moving units of the motion sensing device.

27. The method of claim 15, wherein the step of sensing comprises sensing the position and orientation of the implement set in motion by the student, and said generating step further comprises the step of deriving the student'"'"'s implement virtual image sequence from the sensed position and orientation of the implement.

28. The method of in claim 15, wherein the step of displaying the student'"'"'s and teacher'"'"'s implement virtual image sequences displays the implement virtual image sequences in three-dimensional form to provide a perception of depth.

29. A teaching system for human trajectory learning comprising:

a motion sensing device for sensing movement of the position and orientation of an implement set in motion by a student;

a display; and

electronic means responsive to the motion sensing device to generate, during the student'"'"'s movement, a student'"'"'s implement virtual image sequence on the display corresponding to the student'"'"'s movement and to simultaneously generate a teacher'"'"'s implement virtual image sequence on the display corresponding to a teacher'"'"'s movement of a corresponding implement set in motion by the teacher, and to generate a virtual object image on the display to be struck by the teacher'"'"'s implement virtual image sequences, such that the student may cause the student'"'"'s implement virtual image sequence to imitate the teacher'"'"'s implement virtual image sequence for attempting to strike the virtual object image, thereby providing an efficient motion learning sequence for the student.

30. A teaching system for acquiring motion skill comprising:

a motion sensing device for sensing the position and orientation of a means set in motion by a student;

a display;

memory; and

electronic means responsive to the motion sensing device to generate, during the student'"'"'s movement, a student'"'"'s movement graphical image sequence on the display derived from the sensed position and orientation of the means set in motion by the student, and to simultaneously generate a teacher'"'"'s movement graphical image sequence data on the display of a corresponding means set in motion by a teacher from the memory, and to generate an object image on the display to be struck by the teacher'"'"'s virtual image sequences, such that the student may cause the student'"'"'s movement graphical image sequence to imitate the teacher'"'"'s movement graphical image sequence for attempting to strike the object image, thereby providing an efficient motion learning sequence for the student.

31. A method for teaching motion skill, comprising:

sensing, with a motion sensing device, the position and orientation of a means set in motion by a student;

generating by the electronic means, during the student'"'"'s movement, a student'"'"'s movement graphical image sequence of the means set in motion by the student, the student'"'"'s movement graphical image sequences being derived from the sensed position and orientation of the means set in motion by the student and a teacher'"'"'s movement graphical image sequence data of a corresponding means set in motion by a teacher from a memory; and

displaying said teacher'"'"'s movement graphical image sequence simultaneously with the student'"'"'s movement graphical image sequence on a display means, and an object image, generated by the electronic means, on said display means to be struck by the teacher'"'"'s movement graphical image sequences, such that the student may cause the student'"'"'s movement graphical image sequence to imitate the teacher'"'"'s movement graphical image sequence for attempting to strike the object image, thereby developing the coordinates of the temporal and spatial aspects of motion.

32. A teaching system for human trajectory learning comprising:

a motion sensing device for sensing the position and orientation of an implement set in motion by a student;

a display;

memory; and

electronic means responsive to the motion sensing device to generate, during the student'"'"'s movement, a student'"'"'s virtual image sequence on the display derived from the sensed position and orientation of the implement set in motion by the student, and to simultaneously generate a teacher'"'"'s virtual image sequence data on the display of a corresponding implement set in motion by a teacher from the memory, and to generate a virtual object image on the display to be struck by the teacher'"'"'s virtual image sequences, such that the student may cause the student'"'"'s virtual image sequence to imitate the teacher'"'"'s virtual image sequence for attempting to strike the virtual object image;

the student'"'"'s and teacher'"'"'s virtual image sequences being three-dimensional endpoint trajectory of the implement in motion without images of the student and teacher, the student'"'"'s and teacher'"'"'s virtual image sequences being prompted by said virtual object image so that the student attempting to strike the virtual object, thereby developing the coordinates of the temporal and spatial aspects of motion.

33. A method for teaching motion human trajectory learning, comprising:

sensing, with a motion sensing device, the position and orientation of an implement set in motion by a student;

generating by the electronic means, during the student'"'"'s movement, a student'"'"'s virtual image sequence of a three-dimensional endpoint trajectory of the implement set in motion by the student, the student'"'"'s virtual image sequences being derived from the sensed position and orientation of the implement, and a teacher'"'"'s virtual image sequence data of a three-dimensional endpoint trajectory of a corresponding implement set in motion by a teacher from a memory; and

displaying on a display, the teacher'"'"'s virtual image sequence without images of the student and teacher simultaneously with the student'"'"'s virtual image sequence and a virtual object image, generated by the electronic means, to be struck by the teacher'"'"'s virtual image sequences, such that the student may cause the student'"'"'s virtual image sequence to imitate the teacher'"'"'s virtual image sequence, and the student and teacher'"'"'s virtual image sequences being prompted by said virtual object image so that the student attempting to strike the virtual object, thereby developing the coordinates of the temporal and spatial aspects of motion.