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公开(公告)号：US20110028865A1
公开(公告)日：2011-02-03
申请号：US12534526
申请日：2009-08-03
IPC分类号： A61B5/11
CPC分类号： G01C21/16 , A61B5/1038 , A61B5/1114 , A61B5/1121 , A61B5/1126 , A61B5/4528 , A61B5/6828 , A61B5/6829 , A61B2562/0219 , A63F2300/105
摘要： A method is disclosed for measuring the motion of an object, composed of multiple segments connected by joints, via the estimation of the 3D orientation of the object segments relative to one another without dependence on a magnetic field as a reference for heading. The method includes first applying a plurality of inertial sensor units to the segments of the object, e.g., a user thigh, shank, foot, etc. Next an approximation of the distance between each inertial sensor unit and at least one adjacent joint is provided and the joint is subjected to an acceleration, e.g., as the user takes a step or two. The relative orientations of the segments are calculated and the orientations are used to form an estimation of the 3D orientation of the object segments relative to one another without using the local magnetic field as a reference for heading.
摘要翻译： 公开了一种用于通过估计对象段相对于彼此的3D取向而不依赖于磁场作为航向的参考来测量由连接的多个段组成的物体的运动的方法。 该方法包括首先将多个惯性传感器单元施加到物体的段，例如用户大腿，柄，脚等。接下来，提供每个惯性传感器单元与至少一个相邻接头之间的距离的近似值，并且 接头受到加速，例如，当用户采取一两步时。 计算段的相对取向，并且使用取向来形成对象段相对于彼此的3D取向的估计，而不使用局部磁场作为标题的参考。
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公开(公告)号：US07725279B2
公开(公告)日：2010-05-25
申请号：US12049019
申请日：2008-03-14
IPC分类号： G01C25/00
CPC分类号： A61B5/1114 , A61B5/1038 , A61B5/112 , A61B5/1121 , A61B5/1122 , A61B5/1126 , A61B5/4528 , A61B5/6804 , A61B5/7207 , A61B2560/0223 , A61B2562/0219 , A61B2562/046 , B25J9/1694 , G05B2219/37388 , G05B2219/42337 , G06F3/011
摘要： The invention relates to motion tracking system (10) for tracking a movement of an object (P) in a three-dimensional space, the said object being composed of object portions having individual dimensions and mutual proportions and being sequentially interconnected by joints the system comprising orientation measurement units (S1, S3, . . . SN) for measuring data related to at least orientation of the object portions, wherein the orientation measurement units are arranged in positional and orientational relationships with respective object portions and having at least orientational parameters; a processor (3, 5) for receiving data from the orientation measurement units, the said processor comprising a module for deriving orientation and/or position information of the object portions using the received data and a calibration unit (7) arranged to calculate calibration values based on received data and pre-determined constraints for determining at least the mutual proportions of the object portions and orientational parameters of the orientation measurement units based on received data, pre-determined constrains and additional input data. The invention further relates to a method for tracking a movement of an object, a medical rehabilitation system and an animation system.
摘要翻译： 本发明涉及用于跟踪物体（P）在三维空间中的运动的运动跟踪系统（10），所述物体由具有各自尺寸和相互比例的物体部分组成，并且通过接头顺序地互连，系统包括 定向测量单元（S1，S3 ... SN），用于测量与目标部分的至少取向有关的数据，其中定向测量单元被布置成与各个物体部分的位置和取向关系并且具有至少取向参数; 一个用于从定向测量单元接收数据的处理器（3,5），所述处理器包括用于使用接收到的数据导出对象部分的取向和/或位置信息的模块;以及校准单元（7），用于计算校准值 基于接收到的数据和预定的约束，用于基于接收到的数据，预定的约束和附加的输入数据来至少确定对象部分的相互比例和取向测量单元的取向参数。 本发明还涉及一种跟踪物体运动，医疗康复系统和动画系统的方法。
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公开(公告)号：US20110046915A1
公开(公告)日：2011-02-24
申请号：US12850370
申请日：2010-08-04
申请人： Jeroen D. Hol , Freerk Dijkstra , Hendrik Johannes Luinge , Daniel Roetenberg , Per Johan Slycke
发明人： Jeroen D. Hol , Freerk Dijkstra , Hendrik Johannes Luinge , Daniel Roetenberg , Per Johan Slycke
IPC分类号： G06F15/00
CPC分类号： G01C21/165 , G01S5/0221 , G01S5/0294 , G01S5/14
摘要： The invention provides robust real-time motion capture, using an inertial motion capture system, aided with a positioning system, of multiple closely interacting actors and to position the actor exactly in space with respect to a pre-defined reference frame. It is a further object of the invention to use such positioning systems to aid the inertial motion capture system that the known advantages of using inertial motion capture technology is not compromised to a great extent. Such positioning systems include pressure sensors, UWB positioning systems and GPS or other GNSS systems. It is a further object of the invention to avoid the use of the earth magnetic field as a reference direction as much as possible, due to the known problems of distortion thereof.
摘要翻译： 本发明提供了鲁棒的实时运动捕捉，使用由定位系统辅助的多个紧密相互作用的演员的惯性运动捕捉系统，并且使演员相对于预定义的参考帧精确地定位在空间中。 本发明的另一个目的是使用这种定位系统来帮助惯性运动捕捉系统，使用惯性运动捕捉技术的已知优点在很大程度上不受到损害。 这种定位系统包括压力传感器，UWB定位系统和GPS或其他GNSS系统。 由于已知的失真问题，本发明的另一个目的是尽可能地避免使用地磁场作为参考方向。
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公开(公告)号：US20080262772A1
公开(公告)日：2008-10-23
申请号：US12049019
申请日：2008-03-14
IPC分类号： G01C25/00
CPC分类号： A61B5/1114 , A61B5/1038 , A61B5/112 , A61B5/1121 , A61B5/1122 , A61B5/1126 , A61B5/4528 , A61B5/6804 , A61B5/7207 , A61B2560/0223 , A61B2562/0219 , A61B2562/046 , B25J9/1694 , G05B2219/37388 , G05B2219/42337 , G06F3/011
摘要： The invention relates to motion tracking system (10) for tracking a movement of an object (P) in a three-dimensional space, the said object being composed of object portions having individual dimensions and mutual proportions and being sequentially interconnected by joints the system comprising orientation measurement units (S1, S3, . . . SN) for measuring data related to at least orientation of the object portions, wherein the orientation measurement units are arranged in positional and orientational relationships with respective object portions and having at least orientational parameters; a processor (3, 5) for receiving data from the orientation measurement units, the said processor comprising a module for deriving orientation and/or position information of the object portions using the received data and a calibration unit (7) arranged to calculate calibration values based on received data and pre-determined constraints for determining at least the mutual proportions of the object portions and orientational parameters of the orientation measurement units based on received data, pre-determined constrains and additional input data. The invention further relates to a method for tracking a movement of an object, a medical rehabilitation system and an animation system.
摘要翻译： 本发明涉及用于跟踪物体（P）在三维空间中的运动的运动跟踪系统（10），所述物体由具有各自尺寸和相互比例的物体部分组成，并且通过接头顺序地互连，系统包括 定向测量单元（S 1，S 3，...，SN），用于测量至少与物体部分取向相关的数据，其中定向测量单元被布置成与各个物体部分的位置和取向关系，并具有至少取向参数 ; 一个用于从定向测量单元接收数据的处理器（3,5），所述处理器包括用于使用接收到的数据导出对象部分的取向和/或位置信息的模块;以及校准单元（7），用于计算校准值 基于接收到的数据和预定的约束，用于基于接收到的数据，预定的约束和附加的输入数据来至少确定对象部分的相互比例和取向测量单元的取向参数。 本发明还涉及一种跟踪物体运动，医疗康复系统和动画系统的方法。
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公开(公告)号：US20090278791A1
公开(公告)日：2009-11-12
申请号：US12093914
申请日：2006-11-15
IPC分类号： G09G5/00
CPC分类号： A61B5/6807 , A61B5/103 , A61B5/1114 , A61B5/1127 , A61B5/6804 , A61B2560/0223
摘要： A motion tracking system for tracking an object composed of object parts in a three-dimensional space. The system comprises a number of magnetic field transmitters; a number of field receivers for receiving the magnetic fields of the field transmitters; a number of inertial measurement units for recording a linear acceleration; a number of angular velocity transducers for recording angular velocities. The system further comprises a processor for controlling the transmitters and receiving signals coming from the field receivers and the inertial measurement unit; which processor contains a module for deriving orientation and/or position information of the constituent object parts of the object on the basis of the received signals. The processor is configured for intermittently controlling the transmitters transmit at a predetermined frequency, wherein the position and/or orientation information is derived by periodically calibrating the motion information coming from the inertial measurement unit with the motion information coming from the magnetic field receivers.
摘要翻译： 一种用于跟踪由三维空间中的对象部分组成的对象的运动跟踪系统。 该系统包括多个磁场发射机; 用于接收现场发射机的磁场的多个场接收机; 用于记录线性加速度的许多惯性测量单元; 用于记录角速度的多个角速度传感器。 该系统还包括用于控制发射机和接收来自现场接收机和惯性测量单元的信号的处理器; 该处理器包含用于基于接收到的信号导出对象的构成对象部分的取向和/或位置信息的模块。 处理器被配置为间歇地控制发射机以预定频率发射，其中通过利用来自磁场接收器的运动信息周期性地校准来自惯性测量单元的运动信息来导出位置和/或取向信息。
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公开(公告)号：US08165844B2
公开(公告)日：2012-04-24
申请号：US11748963
申请日：2007-05-15
申请人： Henk J Luinge , Daniel Roetenberg , Per J Slycke
发明人： Henk J Luinge , Daniel Roetenberg , Per J Slycke
IPC分类号： A61B5/103
CPC分类号： A61B5/1114 , A61B5/1038 , A61B5/112 , A61B5/1121 , A61B5/1122 , A61B5/1126 , A61B5/4528 , A61B5/6804 , A61B5/7207 , A61B2560/0223 , A61B2562/0219 , A61B2562/046 , B25J9/1694 , G05B2219/37388 , G05B2219/42337 , G06F3/011
摘要： A system is provided for capturing motion of a moving object via a plurality of motion sensor modules placed on various body segments. The sensor modules capture both 3D position and 3D orientation data relating to their respective body segments, thereby gathering motion data having six degrees of freedom with respect to a coordinate system not fixed to the body. Each body sensor collects 3D inertial sensor data and, optionally, magnetic field data. In embodiments, either DSP circuitry within the sensor modules or an external computing device, processes the sensor data to arrive at orientation and position estimates by using an estimation algorithm, such as a Kalman filter or a particle filter. The processing includes biomechanical model constraints that allow flexibility in the joints and provide characteristics for various joint types. To improve estimation accuracy, the system may be integrated with various types of aiding sensors.
摘要翻译： 提供了一种用于通过放置在各种身体段上的多个运动传感器模块捕获运动物体的运动的系统。 传感器模块捕获与它们各自的主体段相关的3D位置和3D取向数据，从而收集相对于不固定到身体的坐标系具有六个自由度的运动数据。 每个身体传感器收集3D惯性传感器数据和可选的磁场数据。 在实施例中，传感器模块内的DSP电路或外部计算设备通过使用诸如卡尔曼滤波器或粒子滤波器之类的估计算法来处理传感器数据以得到取向和位置估计。 该处理包括生物力学模型约束，其允许关节中的灵活性并且为各种关节类型提供特征。 为了提高估计精度，该系统可以与各种类型的辅助传感器集成。
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公开(公告)号：US20080285805A1
公开(公告)日：2008-11-20
申请号：US11748963
申请日：2007-05-15
申请人： Henk J. Luinge , Daniel Roetenberg , Per J. Slycke
发明人： Henk J. Luinge , Daniel Roetenberg , Per J. Slycke
IPC分类号： A61B5/103
CPC分类号： A61B5/1114 , A61B5/1038 , A61B5/112 , A61B5/1121 , A61B5/1122 , A61B5/1126 , A61B5/4528 , A61B5/6804 , A61B5/7207 , A61B2560/0223 , A61B2562/0219 , A61B2562/046 , B25J9/1694 , G05B2219/37388 , G05B2219/42337 , G06F3/011
摘要： A system is provided for capturing motion of a moving object via a plurality of motion sensor modules placed on various body segments. The sensor modules capture both 3D position and 3D orientation data relating to their respective body segments, thereby gathering motion data having six degrees of freedom with respect to a coordinate system not fixed to the body. Each body sensor collects 3D inertial sensor data and, optionally, magnetic field data. In embodiments, either DSP circuitry within the sensor modules or an external computing device, processes the sensor data to arrive at orientation and position estimates by using an estimation algorithm, such as a Kalman filter or a particle filter. The processing includes biomechanical model constraints that allow flexibility in the joints and provide characteristics for various joint types. To improve estimation accuracy, the system may be integrated with various types of aiding sensors.
摘要翻译： 提供了一种用于通过放置在各种身体段上的多个运动传感器模块捕获运动物体的运动的系统。 传感器模块捕获与它们各自的主体段相关的3D位置和3D取向数据，从而收集相对于不固定到身体的坐标系具有六个自由度的运动数据。 每个身体传感器收集3D惯性传感器数据和可选的磁场数据。 在实施例中，传感器模块内的DSP电路或外部计算设备通过使用诸如卡尔曼滤波器或粒子滤波器之类的估计算法来处理传感器数据以得到定位和位置估计。 该处理包括生物力学模型约束，其允许关节中的灵活性并且为各种关节类型提供特征。 为了提高估计精度，该系统可以与各种类型的辅助传感器集成。
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