Newtonian physical activity monitor

• US 7,634,379 B2
• Filed: 03/21/2008
• Issued: 12/15/2009
• Est. Priority Date: 05/18/2007
• Status: Active Grant

• Current Assignee: Nokia Technologies Oy (Nokia Corporation)
• Original Assignee: Ultimate Balance Inc.
• Inventors: Noble, Christopher R.
• Primary Examiner(s): Bui; Bryan
• Application Number:
  US12/077,955
• Publication Number:
  US 20080288200A1
• Time in Patent Office: 634 Days
• Field of Search: 702/96, 702/141, 702150-153, 702/176, 324/162, 600/595, 482/74
• US Class Current: 702/141
• CPC Class Codes: A61B 2562/0219 Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
• CPC Class Codes: A61B 5/1116 Determining posture transitions
• CPC Class Codes: A61B 5/1118 Determining activity level
• CPC Class Codes: A61B 5/1123 Discriminating type of movement, e.g. walking or running A61B5/1116, A61B5/112 take precedence
• CPC Class Codes: A61B 5/222 combined with detection or measurement of physiological parameters, e.g. heart rate
• CPC Class Codes: A61B 5/4023 Evaluating sense of balance
• CPC Class Codes: A61B 5/6823 Trunk, e.g., chest, back, abdomen, hip
• CPC Class Codes: A63B 2024/0068 Comparison to target or threshold, previous performance or not real time comparison to other individuals
• CPC Class Codes: A63B 2071/0627 when used improperly, e.g. by giving a warning
• CPC Class Codes: A63B 2220/40 Acceleration
• CPC Class Codes: A63B 2220/803 Motion sensors
• CPC Class Codes: A63B 2220/836 Sensors arranged on the body of the user
• CPC Class Codes: A63B 2225/50 Wireless data transmission, e.g. by radio transmitters or telemetry
• CPC Class Codes: A63B 2230/62 posture
• CPC Class Codes: A63B 2230/75 calorie expenditure
• CPC Class Codes: A63B 24/0062 Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
• CPC Class Codes: G01P 15/00 Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
• CPC Class Codes: G01P 15/18 in two or more dimensions

Abstract

An improved apparatus and methods of posture and physical activity monitoring. The apparatus is physically mountable to or associated with an object or person, includes a multi-axis accelerometer, and derives measurements of posture and of acceleration. Methods are disclosed which provide improved estimations of posture, acceleration, energy expenditure, movement characteristics and physical activity, detect the influence of externally-caused motion, and permit automatic calibration of the apparatus in the field.

Claims

1. An apparatus for monitoring posture and acceleration of a user, said apparatus being mountable to said user, comprising:

a multi-axis sensor operative to sense gravity and acceleration along a plurality of axes by measuring a projection of an apparent gravity vector on each of said plurality of axes, said apparent gravity vector having a first component corresponding to an actual gravity vector and a second component corresponding to an acceleration vector, said actual gravity vector having a magnitude equal to 1 g;

at least one memory operative to store data representative of the measured apparent gravity vector; and

at least one processor operative to process the data stored in said at least one memory, said at least one processor being operative;

to calculate a representation of the measured apparent gravity vector;

to calculate, from said representation of the measured apparent gravity vector and said magnitude of said actual gravity vector, a representation of said actual gravity vector said actual gravity vector having an associated direction;

to subtract said representation of said actual gravity vector from said representation of the measured apparent gravity vector to obtain a representation of said acceleration vector, said acceleration vector having an associated magnitude and an associated direction; and

to generate at least one indication of one or more of the posture of said user based at least upon the direction of said actual gravity vector, and the acceleration of said user based at least upon the magnitude and the direction of said acceleration vector.

2. The apparatus of claim 1 wherein said at least one processor is further operative to calculate one or more of a vertical component of said acceleration vector and at least one horizontal component of said acceleration vector, wherein said calculation of said vertical component of said acceleration vector includes projecting said acceleration vector onto the actual gravity vector to obtain said vertical component, and wherein said calculation of said horizontal component of said acceleration vector includes projecting said acceleration vector onto a horizontal plane, said horizontal plane being normal to the actual gravity vector.

3. The apparatus of claim 1 wherein said apparent gravity vector has an associated direction, and wherein said apparatus further includes at least one first filter operative to filter the direction of said apparent gravity vector to generate at least one first filter output representing the direction of said actual gravity vector.

4. The apparatus of claim 3 wherein said apparent gravity vector has an associated magnitude, and wherein said apparatus further includes at least one second filter operative to filter the magnitude of said apparent gravity vector to generate at least one second filter output representing the magnitude of said actual gravity vector.

5. The apparatus of claim 4 wherein one or more of said at least one first filter and said at least one second filter are implemented within said at least one processor.

6. The apparatus of claim 4 wherein one or more of said at least one first filter and said at least one second filter have at least one adjustable coefficient, and wherein said at least one processor is further operative to adjust said at least one adjustable coefficient of one or more of said at least one first filter and said at least one second filter based upon at least one target value of at least one characteristic of at least one component of one or more of said actual gravity vector and said acceleration vector.

7. A method of monitoring posture and acceleration of a user, comprising the steps of:

sensing, by a multi-axis sensor mounted to said user, gravity and acceleration along a plurality of axes,

wherein said sensing of said gravity and said acceleration includes measuring a projection of an apparent gravity vector on each of said plurality of axes, said apparent gravity vector having a first component corresponding to an actual gravity vector, and a second component corresponding to an acceleration vector, said actual gravity vector having a magnitude equal to 1 g;

calculating, by at least one processor, a representation of the measured apparent gravity vector;

calculating, by said at least one processor from said representation of the measured apparent gravity vector and said magnitude of said actual gravity vector, a representation of said actual gravity vector, said actual gravity vector having an associated direction;

subtracting, by said at least one processor, said representation of said actual gravity vector from said representation of the measured apparent gravity vector to obtain a representation of said acceleration vector, said acceleration vector having an associated magnitude and an associated direction; and

generating at least one indication of one or more of the posture of said user based at least upon the direction of said actual gravity vector, and the acceleration of said user based at least upon the magnitude and the direction of said acceleration vector.

8. The method of claim 7 further including calculating at least one indication of one or more of a vertical component of said acceleration vector and at least one horizontal component of said acceleration vector, wherein said calculation of said vertical component of said acceleration vector includes projecting said acceleration vector onto the actual gravity vector to obtain said vertical component, and wherein said calculation of said horizontal component of said acceleration vector includes projecting said acceleration vector onto a horizontal plane, said horizontal plane being normal to the actual gravity vector.

9. The method of claim 7 wherein said apparent gravity vector has an associated direction, and wherein said method further includes filtering, by at least one first filter, the direction of said apparent gravity vector to generate at least one first filter output representing the direction of said actual gravity vector.

10. The method of claim 9 wherein said apparent gravity vector has an associated magnitude, and wherein said method further includes filtering, by at least one second filter, the magnitude of said apparent gravity vector to generate at least one second filter output representing the magnitude of said actual gravity vector.

11. The method of claim 10 wherein one or more of said at least one first filter and said at least one second filter have at least one adjustable coefficient, and wherein said method further includes adjusting said at least one adjustable coefficient of one or more of said at least one first filter and said at least one second filter based upon at least one target value of at least one characteristic of at least one component of one or more of said actual gravity vector and said acceleration vector.

12. A method of monitoring energy expended by a user, comprising the steps of:

measuring, by a multi-axis sensor, an acceleration vector representing an acceleration of said user, said acceleration vector having an associated magnitude and a vertical component;

calculating, by at least one processor, from the measured acceleration vector and a vector representing actual gravity, said vertical component of said acceleration vector, the actual gravity vector having an associated direction, said vertical component of said acceleration vector having an associated magnitude and an associated direction, the direction of said vertical component of said acceleration vector corresponding to the direction of the actual gravity vector;

in a first calculating step, calculating, by said at least one processor, a first amount of energy expended by said user based upon the magnitude of said acceleration vector, said first amount of energy corresponding to a change in kinetic energy of said user;

in a second calculating step, calculating, by said at least one processor, a second amount of energy expended by said user based upon the magnitude of said vertical component of said acceleration vector, said second amount of energy corresponding to a change in potential energy of said user; and

generating an indication of an amount of total energy expended by said user based upon the calculated first and second amounts of energy.

13. The method of claim 12 further including determining at least one characteristic of motion of said user based at least in part upon one or more of said change in kinetic energy of said user and said change in potential energy of said user over a specified time interval.

14. The method of claim 12:

wherein said vertical component has an associated direction;

wherein said acceleration vector has at least one horizontal component;

wherein said method further includes calculating, by said at least one processor, said at least one horizontal component of said acceleration vector, the horizontal component having an associated magnitude and an associated direction; and

wherein said first calculating step includes;

calculating said first amount of energy expended by said user based upon the magnitude of one or more of said vertical component and said at least one horizontal component of said acceleration vector, said first amount of energy corresponding to at least one change in kinetic energy of said user in the direction of one or more of said vertical component and said at least one horizontal component.

15. The method of claim 14 further including determining at least one characteristic of motion of said user based at least in part upon one or more of said change in kinetic energy of said user in the direction of one or more of said vertical component and said at least one horizontal component, and said change in potential energy of said user over a specified time interval.

16. The method of claim 12 wherein said calculating of said vertical component of said acceleration vector includes projecting said acceleration vector onto the actual gravity vector to obtain said vertical component.

17. A method of calibrating an accelerometer, said accelerometer including a multi-axis sensor, said method comprising the steps of:

measuring, by said multi-axis sensor during a specified time interval, an apparent gravity vector to obtain a plurality of samples of said apparent gravity vector during said specified time interval, said apparent gravity vector having an associated magnitude and an associated direction,

wherein at least one axis of said multi-axis sensor has at least one associated offset and at least one associated gain, one or more of the at least one offset and the at least one gain of the at least one axis of said multi-axis sensor being proportional to at least one adjustable parameter;

calculating, by at least one processor, the magnitude and the direction of said apparent gravity vector;

determining, from said plurality of samples of said apparent gravity vector, whether the magnitude and the direction of said apparent gravity vector are substantially unchanging during said specified time interval; and

in the event the magnitude and the direction of said apparent gravity vector are substantially unchanging during said specified time interval, adjusting said at least one adjustable parameter to adjust one or more of the at least one offset and the at least one gain of the at least one axis of said multi-axis sensor, thereby setting one or more of the magnitude of said apparent gravity vector to a first specified value and the direction of said apparent gravity vector to a second specified value.

18. The method of claim 17 wherein said adjusting of said at least one adjustable parameter includes adjusting said at least one adjustable parameter to adjust one or more of the at least one offset and the at least one gain of the at least one axis of said multi-axis sensor, thereby setting the magnitude of the measured apparent gravity vector to 1 g.

19. The method of claim 17 further including, prior to said measuring of said apparent gravity vector, placing said multi-axis sensor in a predetermined reference position.

20. The method of claim 17 further including manipulating said multi-axis sensor through at least one sequence of one or more of at least one specified displacement and at least one specified rotation of said multi-axis sensor, said measuring of said apparent gravity vector being performed responsive to said at least one sequence of one or more of said at least one specified displacement and said at least one specified rotation of said multi-axis sensor.

21. A method of monitoring an externally applied acceleration of a user, comprising the steps of:

measuring, by a multi-axis sensor, an acceleration vector representing an acceleration of said user, said acceleration vector having a vertical component and at least one horizontal component, each of said vertical component and said at least one horizontal component of said acceleration vector having an associated magnitude and an associated direction;

calculating, by at least one processor from the measured acceleration vector and a vector representing actual gravity, said vertical component of said acceleration vector, the actual gravity vector having an associated direction, the direction of said vertical component of said acceleration vector corresponding to the direction of the actual gravity vector;

calculating, by said at least one processor, the horizontal component of the measured acceleration vector;

monitoring, during a specified time interval, one or more of the magnitude of said vertical component and the magnitude of the horizontal component of said acceleration vector; and

in the event one or more of the magnitude of said vertical component and the magnitude of the horizontal component of said acceleration vector remain in excess of at least one specified threshold value during said specified time interval, generating at least one signal to indicate a presence of said externally applied acceleration.

22. The method of claim 21 further including receiving at least one user input to confirm one or more of said presence of said externally applied acceleration and an absence of said externally applied acceleration.

23. The method of claim 21 wherein said calculating of said vertical component of said acceleration vector includes projecting said acceleration vector onto the actual gravity vector to obtain said vertical component.

24. The method of claim 21 wherein said calculating of said horizontal component of said acceleration vector includes projecting said acceleration vector onto a horizontal plane, said horizontal plane being normal to the actual gravity vector.

25. A method of calibrating an accelerometer, said accelerometer including a multi-axis sensor, said method comprising the steps of:

measuring, by said multi-axis sensor, an apparent acceleration vector with reference to a plurality of axes to provide a plurality of analog sensor signals, each of said plurality of analog sensor signals representing a projection of said apparent acceleration vector onto a respective one of said plurality of axes, each of said plurality of analog sensor signals having an associated offset proportional to an adjustable parameter;

converting, by at least one analog-to-digital converter, each of the respective analog sensor signals to a corresponding digital sensor signal, the analog-to-digital converter having an associated conversion range; and

for at least one of the respective analog sensor signals, adjusting said associated adjustable parameter to adjust the offset of the respective analog sensor signal so that the corresponding digital sensor signal lies within the conversion range of the respective analog-to-digital converter,

wherein the corresponding digital sensor signal has a dynamic range based at least in part upon the adjusted offset of the respective analog sensor signal.

26. The method of claim 25 wherein said apparent acceleration vector has an associated magnitude, wherein the corresponding digital sensor signal has a digital value within a specified range of digital values, and wherein said adjusting of said at least one adjustable parameter includes adjusting said at least one adjustable parameter so that, in the event the magnitude of said apparent acceleration vector is equal to 1 g, the adjusted offset of the respective analog sensor signal causes said digital value to correspond to a predetermined digital value within said specified range of digital values.

27. A method of monitoring energy expended by a user in a plurality of horizontal directions during a specified time period and during performance of a specified activity, comprising the steps of:

measuring, by a sensor mounted to said user, an apparent acceleration vector;

calculating, by at least one processor, a gravity vector from the measured apparent acceleration vector;

subtracting, by said at least one processor, the calculated gravity vector from said apparent acceleration vector to obtain an actual acceleration vector, said actual acceleration vector representing an acceleration of said user;

defining a horizontal plane perpendicular to said gravity vector;

determining a reference direction relative to said sensor, said reference direction lying in said horizontal plane;

defining said plurality of horizontal directions relative to said reference direction of said sensor, said plurality of horizontal directions lying in said horizontal plane;

projecting, during said specified time period, said actual acceleration vector onto said horizontal plane in said plurality of horizontal directions; and

calculating, by said at least one processor, a plurality of amounts of energy expended by said user in said plurality of horizontal directions based upon the projection of said actual acceleration vector onto said horizontal plane in said plurality of horizontal directions, each of said plurality of amounts of energy corresponding to a sum of changes in kinetic energy of said user in a respective one of said plurality of horizontal directions.

28. The method of claim 27 wherein said sensor has an associated axis defining a reference orientation of said sensor, and wherein said determining of said reference direction of said sensor includes determining a direction of a horizontal projection of said axis of said sensor on said horizontal plane.

29. The method of claim 28 further including choosing said reference orientation of said sensor among a plurality of possible reference orientations of said sensor such that the chosen reference orientation is substantially horizontal when said sensor is mounted on said user.

30. The method of claim 28 further including:

mounting said sensor to said user in such a manner that a value of an alignment offset between said reference orientation of said sensor and at least one axis of said user is known; and

wherein said calculating of said plurality of amounts of energy expended by said user includes calculating, using the known value of said alignment offset, said plurality of amounts of energy expended by said user in a plurality of horizontal directions defined relative to said at least one axis of said user.

31. The method of claim 27:

wherein said plurality of amounts of energy expended by said user in said plurality of horizontal directions defines a pattern of energy expenditure for said specified activity,

wherein said method further includes determining, based upon the defined pattern of energy expenditure for said specified activity, an approximate direction of a horizontal projection of at least one axis of said user on said horizontal plane; and

wherein said calculating of said plurality of amounts of energy expended by said user includes calculating said plurality of amounts of energy expended by said user in a plurality of horizontal directions defined relative to said at least one axis of said user.

32. The method of claim 31 further including determining an alignment offset between said approximate direction of said horizontal projection of said at least one axis of said user and said reference direction of said sensor.