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Multi-rotor apparatus and method for motion sculpting

  • US 9,981,173 B2
  • Filed: 09/01/2015
  • Issued: 05/29/2018
  • Est. Priority Date: 10/09/2003
  • Status: Active Grant
First Claim
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1. An apparatus for determining an angular relationship between portions of an implement as the implement is swung by a person during performance of a task that involves at least a portion of the implement striking an object, the apparatus comprising:

  • an implement including;

    an implement shaft disposed in an implement shaft plane; and

    an implement surface attached to the implement shaft and disposed in an implement face plane, the implement surface configured to impact the object during the performance of the task;

    a plurality of swing characteristic sensors attached to the implement in various locations, the plurality of swing characteristic sensors comprising;

    a first swing characteristic sensor disposed at a first position on the implement shaft, the first swing characteristic sensor for sensing motion of the implement at the first position and generating first swing characteristic data based thereon; and

    a second swing characteristic sensor disposed at a second position on the implement shaft that is spaced apart from the first position, the second swing characteristic sensor for sensing motion of the implement at the second position and generating second swing characteristic data based thereon; and

    a processor for executing operational instructions to process the first and second swing characteristic data to;

    determine a first shaft velocity vector corresponding to the motion of the implement shaft at the first position;

    determine a second shaft velocity vector corresponding to the motion of the implement shaft at the second position;

    determine an average shaft velocity vector based at least in part on the first shaft velocity vector and the second shaft velocity vector;

    determine a shaft vector aligned with the first position and the second position on the implement shaft;

    determine 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;

    determine an implement face vector aligned with the implement face plane;

    determine 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; and

    determine an angle θ

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

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