Goniometer-based body-tracking device

• US 7,070,571 B2
• Filed: 08/05/2002
• Issued: 07/04/2006
• Est. Priority Date: 04/21/1997
• Status: Expired due to Term

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: McNamara, Conor, Kramer, James F., Korff, Paul L., Bentley, Loren F., Ananny, John M., Boronkay, Allen R.
• Primary Examiner(s): Hindenburg, Max
• Assistant Examiner(s): SZMAL, BRIAN SCOTT
• Application Number:
  US10/213,291
• Publication Number:
  US 20030083596A1
• Time in Patent Office: 1,429 Days
• Field of Search: 600/595, 600/588, 600/591, 600/534, 600/592, 600/587, 704/271, 738/626.8, 737/75, 338/114, 338/99, 338/210, 128/925, 706/20
• US Class Current: 600/595
• CPC Class Codes: A61B 2562/0261 Strain gauges
• CPC Class Codes: A61B 2562/043 in a linear array
• CPC Class Codes: A61B 5/1071 measuring angles, e.g. using goniometers A61B5/1123 takes precedence
• CPC Class Codes: A61B 5/1116 Determining posture transitions
• CPC Class Codes: A61B 5/1122 of movement trajectories
• CPC Class Codes: A61B 5/1124 Determining motor skills
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61B 5/6804 Garments; Clothes
• CPC Class Codes: A61B 5/6806 Gloves
• CPC Class Codes: A61B 5/6807 Footwear
• CPC Class Codes: A61B 5/6831 Straps, bands or harnesses
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00

Abstract

A sensing system is provided for measuring various joints of a human body for applications for performance animation, biomechanical studies and general motion capture. One sensing device of the system is a linkage-based sensing structure comprising rigid links interconnected by revolute joints, where each joint angle is measured by a resistive bend sensor or other convenient goniometer. Such a linkage-based sensing structure is typically used for measuring joints of the body, such as the shoulders, hips, neck, back and forearm, which have more than a single rotary degree of freedom of movement. In one embodiment of the linkage-based sensing structure, a single long resistive bend sensor measures the angle of more than one revolute joint. A second sensing device of the sensing system comprises a flat, flexible resistive bend sensor guided by a channel on an elastic garment.

Claims

1. An apparatus, comprising:

a kinematic structure including a plurality of links, each link from the plurality of links being coupled to a remaining link from the plurality of links by a revolute joint from a plurality of revolute joints, the plurality of links including a first terminal link and a second terminal link;

a bend sensor configured to extend over the plurality of revolute joints, the bend sensor configured to send a position signal associated with a relative position of the first terminal link and the second terminal link; and

a mount coupled to the kinematic structure so that the kinematic structure is configured to move in relation to a body part.

2. The apparatus of claim 1, wherein the position signal is produced using forward kinematics.

3. The apparatus of claim 1, wherein the mount includes a garment having at least one pocket.

4. The apparatus of claim 1, wherein the mount includes a garment having at least one pocket configured to receive a mounting plate.

5. The apparatus of claim 1, wherein the mount includes a mounting plate configured to be attached to the body part.

6. The apparatus of claim 1, further comprising an actuator configured to output force feedback based on the position signal.

7. An apparatus, comprising:

a garment having a first portion and a second portion, the first portion of the garment configured to at least partially cover a joint of a body, the second portion of the garment configured to at least partially cover a joint of the body different from the joint associated with the first portion of the garment;

a kinematic structure coupled to the garment, the kinematic structure configured to extend across the second portion of the garment, the kinematic structure including a plurality of links, each link from the plurality of links being coupled to a remaining link from the plurality of links by a revolute joint from a plurality of revolute joints, the kinematic structure including a first terminal link and a second terminal link, the plurality of links being moveable in at least one of a first degree of freedom and a second degree of freedom different from the first degree of freedom; and

a sensor coupled to the plurality of revolute joints, the sensor configured to output a signal associated with one of a relative movement and a relative position of the first terminal link and the second terminal link.

8. The apparatus of claim 7, further comprising an actuator configured to output force feedback based on the signal.

9. The apparatus of claim 7, wherein the sensor is a resistive bend sensor.

10. The apparatus of claim 7, wherein the kinematic structure is configured to extend across at least one of an elbow, a knee, a shoulder, a hip, an ankle, a wrist, and a portion of a spine.

11. The apparatus of claim 7, wherein the bend sensor is configured to measure an angle of a femur of a body relative to a torso of the body.

12. The apparatus of claim 7, wherein the bend sensor is configured to measure an angle of a humerus of a body relative to a torso of the body.

13. The apparatus of claim 7, wherein the position signal is associated with an angle between the first terminal link and the second terminal link.

14. An apparatus, comprising:

a kinematic structure including a plurality of links, each link from the plurality of links being coupled to a remaining link from the plurality of links by a revolute joint, the plurality of links including a first terminal link and a second terminal link;

a sensor assembly including a plurality of bend sensors, each bend sensor from the plurality of bend sensors configured to overlap at least partially with a remaining bend sensor from the plurality of bend sensors, the sensor assembly configured to extend over each revolute joint and to send a signal associated with one of a relative movement between the first terminal link and the second terminal link and a relative position of the first terminal link and the second terminal link; and

a mount coupled to the kinematic structure so that the kinematic structure is configured to move in relation to a body part.

15. The apparatus of claim 14, wherein the mount includes a mounting plate configured to be attached to the body part.

16. The apparatus of claim 14, further comprising an actuator configured to output force feedback based on the signal.

17. The apparatus of claim 14, wherein the signal is associated with an angle between the first terminal link and the second terminal link.