GB2474852A

GB2474852A - A motion capture suit

Info

Publication number: GB2474852A
Application number: GB0918848A
Authority: GB
Inventors: Ali Kord
Original assignee: Individual
Current assignee: Individual
Priority date: 2009-10-27
Filing date: 2009-10-27
Publication date: 2011-05-04
Also published as: GB0918848D0

Abstract

A motion capture suit 1 includes a humanoid frame 3 to be worn by an individual. The frame 3 has at least one pivotally mounted member (e.g. a right arm 5 and a left arm 7 for movement with the right and left arms respectively of the user). There is at least one inertial sensor coupled to the member. In the description right and left arms 5, 7 of the motion capture suit 1 are connected to a shoulder mounting assembly 9 for supporting the motion capture suit 1. A first joystick 10 is provided on a distal end of the right arm 5 of the humanoid frame 3 to provide additional control inputs. A second joystick 11 is provided on the left arm 7 of the humanoid frame 3. The motion capture suit 1 is provided with a series of inertial motion sensors to measure the movements of the individual wearing the suit 1. Resilient elbow, wrist and shoulder covers 75, 77, 79, 81 serve to bias the right and left arms 5, 7 of the motion capture suit 1 into predetermined positions that make the motion capture suit 1 easier to put on.

Description

MOTION CAPTURE APPARATUS

BACKGROUD OF THE INVENTION

The present invention relates to motion capture apparatus utilising at least one inertial motion sensor. More particularly, the present invention relates to a consumer motion capture device for use in the home, for example to provide control inputs for an interactive entertainment device.

DESCRIPTION OF THE PRIOR ART

It is known to use inertial motion sensors to capture movement data, for example relating to the movements of an individual. The inertial motion sensors are typically attached to appropriate locations on the individual. The inertial motion sensors are usually positioned over the individual's clothing and secured using a strap having an adjustable fastener. However, positioning the inertial motion sensors is a time-consuming procedure and a calibration step is required to enable the collection of useable motion capture data. Moreover, it may not be possible for the individual to fit all of the inertial motion sensors on their own person and assistance from someone else may be required. Thus, these systems are not well suited to consumer applications.

An alternative approach is to provide a motion capture suit comprising a series of inertial motion sensors fixedly mounted on a garment, such as a shirt, to be worn by an individual. The garment is usually a close fitting item to help retain the motion sensors in position relative to the individual. However, the motion sensors invariably position themselves slightly differently each time an individual puts the garment on and they may move relative to each other while the suit is used. Accordingly, calibration of the motion capture suit is required before the suit can be used and re-calibration may be required during the course of a motion capture session. Whilst these calibration steps may be acceptable for commercial applications, it would likely prove a considerable inconvenience for home entertainment applications and may deter an individual from using the motion capture suit in this context.

It will be appreciated therefore that there remain several problems and limitations associated with known motion capture systems. The present invention attempts to overcome or ameliorate at least some of these problems and limitations.

SUMMARY OF THE INVENTION

Viewed from a first aspect, the present invention relates to a motion capture suit for capturing the movements of an individual, the suit comprising: a humanoid frame to be worn by an individual; the humanoid frame comprising at least one pivotally mounted frame member movable with a limb of an individual wearing the motion capture suit; wherein at least one inertial motion sensor is coupled to said at least one pivotally mounted frame member. The frame member is movable in conjunction with the individual's limbs. Thus, in use, movements made by the individual are tracked by the corresponding frame member and can be measured by the inertial motion sensor(s). The at least one inertial motion sensor can be mounted on or connected to said at least one pivotally mounted frame member.

The at least one frame member accurately positions said at least one inertial motion sensor relative to the individual and/or one or more other inertial motion sensors. By providing accurate positioning, at least in preferred embodiments data relating to the individual's movements can reliably and repeatedly be captured by the motion capture suit according to the present invention. The at least one frame member is preferably rigid or substantially inflexible to reduce or limit deformation thereof when the motion capture suit is in use.

The motion capture suit according to the present invention is preferably suitable for consumer applications, for example to be used as a control input device for an interactive system, such as a home entertainment system. The motion capture suit can be used to provide control input data for a video game operating on a games console or a personal computer.

The motion capture suit preferably comprises a plurality of frame members.

Adjacent frame members can be pivotally connected to each other to provide an articulated assembly. The pivot connection preferably allows relative movement of the frame members in one, two or three dimensions. The pivot connection can be provided by one or more pivot pins, a ball and socket joint, or another mechanical connection.

Alternatively, a flexible member may be provided to couple adjacent frame members together and provide the desired pivot connection. The flexible member could be a length of cord or the like but is preferably made of a resilient material, such as rubber or plastic. The pivot connections between adjacent frame members preferably define joints corresponding to the joints of the individual. For example, the humanoid frame can have one or more of the following types of joints: shoulder, elbow, wrist, hip, knee and ankle.

The motion capture suit is preferably provided with biasing means associated with each joint to bias the frame members towards a predetermined orientation relative to each other. This arrangement is desirable since, at least in preferred embodiments, it is easier for an individual to put the suit on when the frame member(s) is/are in a predetermined orientation. Also, the biasing means can help define a centred or neutral position for the frame members. The biasing means can comprise a resilient member, a spring element or the like. Preferably, however, the biasing means is in the form of a resilient casing or housing provided partially or completely around the joint.

The resilient casing is preferably formed of a resilient material such as rubber.

A stop or a restraint can be provided to limit the motion of the frame members relative to each other. The stop can comprise a projection for defining an end of the travel of the frame members. The restraint can comprise a flexible member, such as a strap or a ribbon, which is coupled to adjacent frame members.

One or more of the frame members preferably has a variable length. Preferably, at least those frame members corresponding to the upper arm and/or the forearm of the individual are of variable length. A variable length frame member could comprise an extendible member, for example in the form of a piston or telescopic assembly, to allow the length of the frame member to be varied. The length of the frame member(s) is preferably constantly variable so that the length can change when the motion capture suit is in use. For example, preferably the frame member can extend when the user stretches or extends their arm; and can retract when the user contracts their arm.

Advantageously, providing frame member(s) having variable length also allows the dimensions of the humanoid frame to be tailored and adjusted for individuals of different sizes.

The at least one frame member can have a rectangular, oval or elliptical cross-section. Alternatively, the at least one frame member can have a circular cross section to enable the frame member to be rotated about a longitudinal axis to allow further adjustment or movement. Preferably, however, the at least one frame member has a concave parabolic cross-section. This arrangement is desirable since the at least one frame member can at least partially match the outer profile of the wearer's limb.

A shoulder support is preferably provided for supporting the motion capture suit when it is worn by the individual. The shoulder support could comprise a shoulder sling locatable over the individual's shoulder. Preferably, the shoulder support comprises two mounting members for location on the individual's shoulders. The mounting members are preferably resilient and can, for example, be moulded from a plastics material. In use, the mounting members can extend over the individual's shoulder blades. A strap or elastic member can be provided to retain the mounting members in position.

A preferred arrangement of the motion capture suit comprises at least one articulated arm for tracking the movement of an individual's arm. The articulated arm can comprise a series of frame members pivotally connected in series to define a shoulder joint, an elbow joint and a wrist joint. The motion capture suit can comprise a first set of frame members to form a first arm; and optionally a second set of frame members to form a second arm. The first set of frame members can comprise an upper frame member and a lower frame member corresponding to the upper arm and the forearm respectively of the individual. Likewise, the second set of frame members can comprise an upper frame member and a lower frame member corresponding to the upper arm and the forearm respectively of the individual.

The shoulder support is preferably permanently connected to the first arm and/or the second arm to form a single unit. This arrangement facilitates handling and makes it easier for an individual to put the motion capture suit on. A socket can be formed integrally in the shoulder support for receiving a ball joint provided on an upper frame member to form a shoulder joint. The motion capture suit preferably comprises at least one joystick. A first joystick is preferably coupled to a distal end of said first arm; and/or a second joystick is preferably coupled to a distal end of said second arm. The first and/or second joystick(s) can be pivotally connected to the respective arms and electro-mechanical sensors provided to measure movement. Alternatively, one or more inertial motion sensors can be incorporated into the first and/or second joystick(s).

Preferably, the first joystick is fixedly mounted on said first arm such that it cannot move independently of the first arm. Instead, the first joystick is operatively movable with the first arm of the motion capture suit. The first arm is preferably provided with a first hand support and, in use, the user's hand is located between the first joystick and the first hand support. The first joystick is preferably mounted on the first arm such that relative movement between the first hand support and the first joystick is prevented or limited. A first release mechanism, for example a ratchet mechanism, is preferably provided to allow the first joystick to be released to enable a user to position their hand between the first joystick and the first hand support. The first hand support can comprise a plate or other support member for contacting the back of a user's hand. The first joystick can further comprise one or more buttons and/or a thumb operated control pad.

Preferably, the second joystick is fixedly mounted on said second arm such that it cannot move independently of the second arm. Instead, the second joystick is operatively movable with the second arm of the motion capture suit. The second arm is preferably provided with a second hand support and, in use, the user's hand is located between the second joystick and the second hand support. The second joystick is preferably mounted on the second arm such that relative movement between the second hand support and the second joystick is prevented or limited. A second release mechanism, for example a ratchet mechanism, is preferably provided to allow the second joystick to be released to enable a user to position their hand between the second joystick and the second hand support. The second hand support can comprise a plate or other support member for contacting the back of a user's hand. The second joystick can further comprise one or more buttons and!or a thumb operated control pad.

The first joystick and/or the second joystick can form part of a gaming accessory, for example the handle of an imitation weapon, such as a gun or a sword; a shield; or a piece of sports equipment. The accessory could help immerse the individual in a related video game. For example, a virtual representation of the accessory may be displayed onscreen while the individual plays the video game.

The motion capture suit can include attachment means for coupling one or more frame members to the limb of the individual. The attachment means can comprise a clip, a strap or a resilient member. Preferably, a fastener, such as a stud, buckle or a hook-and-loop fastener, is provided to secure the attachment means in position. Most preferably, the attachment means connects the frame member to the upper arm and/or the forearm of the individual.

A base unit is preferably provided. The base unit can house a battery back for the motion capture suit and/or a processor for processing data generated by said at least one inertial sensor. When an individual is wearing the suit, the base unit is preferably located on the chest of the individual. This arrangement is desirable since it allows the individual to lean back against the backrest of a chair, sofa or couch whilst wearing the motion capture suit. Whilst this is not usually a concern in commercial applications, it is important for use in the home where the individual may be seated or in a recumbent position whilst wearing the motion capture suit.

The base unit can comprise an inertial motion sensor. In use, the inertial motion sensor in the base unit can track movements of the individual's torso. The inertial motion sensor in the base unit can serve as a reference point for the other inertial motion sensor(s).

The motion capture suit can transmit data related to the measurements taken by the at least one inertial motion sensor to an interactive system over a cable or lead.

Preferably, however, the motion capture suit comprises a wireless transmitter for transmitting data derived from said inertial motion sensor(s) to a wireless receiver. The provision of a wireless transmitter is desirable since the suit can be made portable.

The transmitter is preferably provided in the base unit.

The at least one inertial motion sensor is preferably a gyroscopic sensor. The at least one inertial motion sensor can be a single or double axis gyroscopic sensor.

Preferably, however, the at least one inertial motion sensor is a triple-axis gyroscopic sensor or three-axis accelerometer.

Viewed from a further aspect, the present invention relates to a motion capture apparatus for measuring an individual's movements, the apparatus comprising: an articulated frame to be coupled to the individual; the articulated frame comprising at least one pivotally mounted frame member; wherein at least one inertial motion sensor is coupled to said at least one pivotally mounted frame member. The at least one inertial motion sensor can be mounted on said at least one pivotally mounted frame member.

The articulated frame can be adapted to be coupled to a limb of the individual.

Alternatively, the articulated frame could be adapted to be coupled to a hand or a finger of the individual. The articulated frame is movable with the associated part of the individual's body and the at least one inertial motion sensor can measure movements of same.

Two or more sets of said motion capture apparatus could be used simultaneously by the same individual. For example, a first set of the apparatus could capture movements of the individual's shoulder while a second set of the apparatus could capture movements of their hand. The apparatus can be provided with one or more connectors to enable different sets to be connected together.

The at least one frame member is preferably rigid to reduce deformation, such as bending or twisting. Preferably, the at least one frame member has a constantly variable length. The length of said at least one frame member is preferably freely adjustable while the motion capture suit is in use.

BRIEF DESCRIPTION OF THE DRAWINGS

A preferred embodiment of the present invention will now be described, by way of example only, with reference to the accompanying drawings, in which: Figure 1 shows a perspective view of a motion capture suit in accordance with the present invention; and Figure 2 shows schematically the motion capture suit according to the present invention being worn by an individual.

DEATILED DESCRIPTION OF A PREFERRED EMBODIMENT

A motion capture suit 1 in accordance with a preferred embodiment of the present invention is shown in Figure 1. The motion capture suit 1 is suitable for home use, for example to provide control inputs for an interactive entertainment device such as a video games console. In use, the motion capture suit 1 measures the upper body movements of an individual and the resulting data can be used to provide input controls. The measurement data can, for example, be used to control a virtual character, object or icon.

The motion capture suit 1 comprises a humanoid frame 3 to be worn by an individual, as shown schematically in Figure 2. The frame 3 has a right arm 5 and a left arm 7 for movement with the right and left arms respectively of the user. The right and left arms 5, 7 of the motion capture suit 1 are connected to a shoulder mounting assembly 9 for supporting the motion capture suit 1. A first joystick 10 is provided on a distal end of the right arm 5 of the humanoid frame 3 to provide additional control inputs. As shown in Figure 2, a second joystick 11 is provided on the left arm 7 of the humanoid frame 3. The mounting arrangements for the first and second joysticks 10, 11 are described in more detaI below.

The right arm 5 of the humanoid suit 3 comprises a right upper arm assembly 13, a right lower arm assembly 15 and a right hand assembly 17. The right upper and lower arm assemblies 13, 15 are connected to each other about a first pivot pin (not shown) which forms a right elbow joint 19. The right lower arm assembly 15 and the right hand assembly 17 are connected to each other about a second pivot pin (not shown) which forms a right wrist joint 21. The right elbow joint 19 and the right wrist joint 21 each allow movement about a respective single axis.

The right upper arm assembly 13 comprises a first variable length frame member 23 slidably mounted in a first sleeve 25; and the right lower arm assembly 15 comprises a second variable length frame member 27 mounted in a second sleeve 29.

The variable length frame members 23, 27 are in the form of extendible pistons. The second extendible frame member 27 is rotatable about its longitudinal axis to provide a further degree of freedom for the right hand assembly 17.

A pair of securing clips 31 is provided on the right upper arm assembly 13. The clips 31 are provided with mechanical fasteners (not shown) to allow them to be securely attached to the upper arm of the individual wearing the motion capture suit 1.

A pair of flexible straps could be provided in place of the clips 31. A clip or strap could also be provided on the right lower arm assembly 15 but this is not essential since, in use, the individual wearing the motion capture suit 1 will typically hold the joystick 10 and this will provide adequate support for the lower arm assembly 15.

The first joystick 10 is fixedly mounted such that, in use, it remains in a fixed orientation relative to the right hand assembly 17. Thus, the first joystick 10 is operatively movable only in conjunction with the right hand assembly 17. The right hand assembly 17 has a right hand support plate 30 which, in use, rests against the back of the user's right hand. In use, the user's hand is located between the first joystick 10 and the first hand support plate 30. A ratchet mechanism is provided to allow the first joystick 10 to be released to enable a user to insert their hand. The ratchet mechanism is operated by pres&ng a button 32 provided at the base of the first joystick 10. Pressing the button 32 disengages the ratchet and allows the first joystick to be pivoted relative to the right hand assembly 17. When the first joystick 10 is returned to its operative position, the ratchet re-engages and locks the position of the first joystick 10 relative to the right hand assembly 17.

The left arm 7 comprises a left upper arm assembly 33, a left lower arm assembly 35 and a left hand assembly 37. The left upper and lower arm assemblies 33, 35 are connected to each other about a first pivot pin (not shown) which forms a left elbow joint 39. The left lower arm assembly 35 and the left hand assembly 37 are connected to each other about a second pivot pin (not shown) which forms a left wrist joint 41. The left elbow joint 39 and the left wrist joint 41 each allow movement about a respective single axis.

The left upper arm assembly 33 comprises a first variable length frame member 43 slidably mounted in a first sleeve 45; and the left lower arm assembly 35 comprises a second variable length frame member 47 mounted in a second sleeve 49. The variable length frame members 43, 47 are in the form of extendible piston rods. The second extendible frame member 47 is rotatable about its longitudinal axis to provide a further degree of freedom for the left hand assembly 37.

A pair of securing clips 51 is provided on the left upper arm assembly 33. The clips 51 are provided with hook-and-loop fasteners (not shown) to allow them to be securely attached to the upper arm of the individual wearing the motion capture suit 1.

A strap could also be provided to complement the clips 51. Moreover, a clip could be provided on the left lower arm assembly 35 but this is optional since, in use, the individual wearing the motion capture suit 1 will typically hold the handgrip 11.

The second joystick 11 is fixedly mounted such that, in use, it remains in a fixed orientation relative to the left hand assembly 37. Rather, the second joystick 11 is operatively movable only in conjunction with the left hand assembly 37. The left hand * assembly 37 has a left hand support plate 42 which, in use, rests against the back of the user's left hand. The second joystick 11 is also mounted on a ratchet mechanism to allow it to be selectively released to enable a user to insert their hand between the left hand support plate 42 and the second joystick 11. The operation of the ratchet mechanism for the second joystick 11 is the same as described herein for the first joystick 10.

The shoulder mounting assembly 9 comprises right and left shoulder supports 53, 55 locatable over the shoulders of the individual wearing the motion capture suit 1.

The shoulder mounting assembly 9 further comprises right and left support arms 57, 59 having nght and left sockets 61, 63 respectively. The sockets 61, 63 pivotally receive ball joints 65, 67 provided on the upper ends of the left and right upper arm assemblies 13, 33 to form left and right shoulder joints 69, 71. The ball and socket joints forming the left and right shoulder joints 49, 51 allow free rotation of the arms 5, 7 in three dimensions.

The shoulder mounting assembly 9 also comprises a base station 73 housing a processing unit and a wireless transmitter for transmitting data to a receiver associated with the interactive entertainment system. The base station 73 locates on the chest of the individual wearing the motion capture suit 1. This arrangement is advantageous since it allows the individual to wear the motion capture suit 1 whilst in a recumbent position. Also, interference between the base station 73 and the receiver can be reduced in normal use since the individual wearing the motion capture suit 1 typically faces the entertainment system.

The motion capture suit I is provided with a series of inertial motion sensors to measure the movements of the individual wearing the suit 1. The sensors in the present embodiment are three-axis gyroscopic sensors, but it will be appreciated that alternative types of inertial motion sensors can be employed. For example, a microelectromechanical system (MEMS) accelerometer could be employed. Moreover, it will be appreciated that more than one type of inertial motion sensors can be used within the motion capture suit 1. The positioning of the sensors in the humanoid frame 3 will now be described.

A first chain of three sensors is provided in the right arm 5; and a second chain of three sensors is provided in the left arm 7. Considering first the right arm 5, an upper arm sensor is provided in the ball joint 65 of the right upper arm assembly 13; a right elbow sensor is provided in the lower right arm assembly 15 proximal the right elbow joint 19; and a right hand sensor is provided in the right hand assembly 17 proximal the right wrist joint 21. Considering the left arm 7, an upper arm sensor is provided in the ball joint 67 of the left upper arm assembly 33; a left elbow sensor is provided in the left lower arm assembly 35 proximal the left elbow joint 39; and a left hand sensor is provided in the left hand assembly 37 proximal the left wrist joint 41. A base sensor is provided in the base station 73 for tracking movements of the individual's torso.

The sensors in each of the arms are chained or linked together so that the measured data from each of the sensors can be combined to determine the position and orientation of the upper arm assemblies 13, 33; the lower arm assemblies 15, 35; and the hand assemblies 17, 37, The base sensor located in the base station 73 provides a reference point from which the relative position and orientation of the arms 5, 7 can be determined. In the present embodiment, the sensors are linked to each other via cables (not shown) which may be provided internally or externally of the humanoid frame 3. Alternatively, suitable contacts could be embedded in the members making up the right and left arms 5, 7 to enable the required data to be relayed to the base station 73. A wireless connection could also be established between the various sensors and the base station 73 or a remote receiver separate from the motion capture suit 1.

First and second elbow covers 75, 77 are provided around the right and left elbow joints 19, 39 respectively. The elbow covers 75, 77 are formed from a resilient material, such as rubber, and bias the right and left lower arm assemblies 15, 35 towards predetermined orientations relative to the right and left upper arm assemblies 13, 33 respectively.

First and second wrist covers 79, 81 are provided around the right and left wrist joints 21, 41 respectively. The wrist covers 79, 81 are formed from a resilient material, such as rubber, and bias the right and left hand assemblies 17, 47 towards predetermined orientations relative to the right and left lower arm assemblies 15, 35 respectively.

First and second shoulder covers (not shown) can optionally also be provided around the right and left shoulder joints 69, 71. Again, the shoulder covers are formed from a resilient material in order to bias the right and left upper arm assemblies 13, 33 towards predetermined orientations relative to the right and left shoulder support arms 57, 59.

It will be appreciated that the resilient elbow, wrist and shoulder covers 75, 77, 79, 81 can serve to bias the right and left arms 5, 7 of the motion capture suit 1 into -12-predetermined positions. This is advantageous since it makes the motion capture suit 1 easier to put on. The elbow covers 75, 77 and the wrist covers 79, 81 can also protect the various joints from damage.

The operation of the motion capture suit 1 according to the present invention will now be described with reference to Figures 1 and 2. The individual positions the shoulder supports 53, 55 over their shoulders with the base station 73 located on their chest. The individual then attaches the left and right upper arms 13, 33 of the humanoid frame 3 to their arms using the straps 31 51. The length of the left and right arms 5, 7 are constantly variable to accommodate a wider range of movements when the motion capture suit I is in use. The variable length of the arms 5, 7 also helps to ensure that the motion capture suit I can comfortably be worn by the individual.

The user releases the first and second joysticks 10, 11 by pressing the ratchet release buttons 32 to enable the joysticks 10, 11 to be moved relative to the right and left hand assemblies 17, 37. The user places their right hand against the right hand support plate 30 and returns the first joystick 10 to its operative position where it is locked in position by the associated ratchet mechanism. The user places their left hand against the left hand support plate 42 and returns the second joystick 11 to its operative position where it is locked in position by the associated ratchet mechanism. The user's hands are held in position against the right and left hand support plates 30, 42 by the first and second joysticks 10, 11.

When the individual is ready to use the motion capture suit 1, they can grip the first and second joysticks 10, 11 in their right and left hands. The individual's movements result in corresponding movements in the humanoid frame 3 and these are measured by the inertial motion sensors provided in the arms 5, 7 and the base station 73. Although the first and second joysticks 10, 11 secure the user's hands in position, it will be appreciated that the user remains free to extend their fingers, for example to type on a keyboard.

The data derived from the inertial motion sensors is transmitted to the processor in the base station 73. The measured data can be transmitted in real time by the wireless transmitter to the receiver associated with the interactive entertainment system. The measured data, or data derived from the measured data can be transmitted in a standardised format, such as Bluetooth, or a suitable proprietary format. Processing of the measured data can be performed by the processor in the -13-base station 73 or remotely, as required. The movement data can be used for a range of applications, including: control and/or manipulation of a virtual character or object; character animation; and cursor control.

The lengths of the left and right arms 5, 7 are constantly variable, thereby enabling axial movement of the inertial motion sensors relative to each other.

However, transverse movement of the inertial motion sensors is constrained. Thus, unlike prior art systems in which the inertial motion sensors are positioned on an individual separately (albeit connected to each other by leads or wires), the movement of the inertial motion sensors relative to each other is constrained by the humanoid frame 3. The provision of a humanoid frame 3 can also help an individual to put on and remove the motion capture suit 1.

Moreover, the need to calibrate the motion capture suit can be reduced when

compared to prior art systems.

It will be appreciated that various changes and modifications can be made to the preferred embodiment described herein without departing from the spirit and scope of the present invention. The preferred embodiment of the present invention consists of left and right arms for tracking the movements of both arms of an individual. The apparatus could be modified also to include one or more articulated frames for capturing data relating to the movements of an individual's leg(s). Indeed, in certain applications it may be appropriate to omit the arms of the motion capture suit and instead measure movements of the individual's leg(s).

The motion capture suit could also be modified to track the movements of one or more fingers. This could be implemented in addition to or instead of tracking the movements of the individual's arms. In this arrangement, the motion capture suit could take the form of a glove having an articulated frame.

Alternatively, the motion capture suit could be modified to consist of a single articulated frame for tracking the movements of a single limb, for example an arm or a leg. A modular design would allow several such motion capture devices to be coupled together to suit particular applications.

One or more force feedback devices could be provided in the motion capture suit I to provide a user with physical feedback. A feedback device could be provided in one or more of the following: the humanoid suit 3; the first joystick 10; the second joystick 11; the right upperarm assembly 13; the right lowerarm assembly 15; the right hand -14-assembly 17; the left upper arm assembly 33; the left lower arm assembly 35; the left hand assembly 37; the right shoulder joint 65; and the left shoulder joint 67. The feedback device could comprise a vibrating device. The vibrating device could be driven by a rotary or linear actuator, such as an electric motor.

Furthermore, the upper arm inertial sensor has been descnbed as being provided within the ball joints 65, 67, but it will be appreciated that the sensor could instead be provided in the upper arm assemblies 13, 33, for example in the sleeves 25, 45. -15-

Claims

CLAIMS: 1. A motion capture suit for capturing the movements of an individual, the suit compnsing: a humanoid frame to be worn by an individual; the humanoid frame comprising at least one pivotally mounted frame member movable with a limb of an individual wearing the motion capture suit; wherein at least one inertial motion sensor is coupled to said at least one pivotally mounted frame member.
2. A motion capture suit as claimed in claim 1, wherein the suit comprises a plurality of said frame members and adjacent frame members are pivotally connected to each other.
3. A motion capture suit as claimed in claim 2 further comprising biasing means associated with each joint to bias the frame members towards a predetermined orientation relative to each other.
4. A motion capture suit as claimed in claim 3, wherein said biasing means comprises a resilient casing for each joint.
5. A motion capture suit as claimed in any one of claims 1, 2 or 3, wherein one or more of said frame members has a variable length.
6. A motion capture suit as claimed in claim 5, wherein the length of said one or more frame members is constantly variable.
7. A motion capture suit as claimed in any one of the preceding claims further comprising a shoulder support for supporting the suit when it is worn by said individual.
8. A motion capture suit as claimed in any one of the preceding claims, wherein the suit comprises a first set of frame members to form a first arm; and/or a second set of frame members to form a second arm.

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9. A motion capture suit as claimed in claims 7 and 8, wherein the shoulder support is connected to said first arm and/or said second arm to form a single unit.
10. A motion capture suit as claimed in claim 8 or claim 9 further comprising a first joystick coupled to a distal end of said first arm; and/or a second joystick coupled to a distal end of said second arm.
11. A motion capture suit as claimed in claim 10, wherein, in use, the first joystick is fixedly mounted on said first arm; and/or the second joystick is fixedly mounted on said second arm.
12. A motion capture suit as claimed in claim 11, wherein a first release mechanism is provided for unlocking said first joystick; and/or a second release mechanism is provided for unlocking said second joystick.
13. A motion capture suit as claimed in any one of the preceding claims further comprising attachment means for coupling a frame member to the limb of said individual.
14. A motion capture suit as claimed in any one of the preceding claims, further comprising a base unit locatable on the chest of the individual wearing the suit.
15. A motion capture suit as claimed in claim 14, wherein the base unit comprises an inertial motion sensor.
16. A motion capture suit as claimed in any one of the preceding claims further comprising a wireless transmitter for transmitting data derived from said at least one inertial motion sensor.
17. Motion capture apparatus for measuring an individual's movements, the apparatus comprising: an articulated frame for coupling to the individual; -17-the articulated frame comprising at least one pivotally mounted frame member; wherein at teast one inertial motion sensor is coupled to said at least one pivotally mounted frame member.
18. A motion capture suit substantially as herein described with reference to the accompanying Figures.