WO2021087187A1

WO2021087187A1 - Arm rotation

Info

Publication number: WO2021087187A1
Application number: PCT/US2020/058088
Authority: WO
Inventors: Faizan HAQUE
Original assignee: Tactual Labs Co.
Priority date: 2019-10-30
Filing date: 2020-10-30
Publication date: 2021-05-06
Also published as: TW202134831A

Abstract

A sensing device is located on a body part. Movement of the body at locations further away from the sensing device than the portion of the body that is being sensed are used to refine measurements that are taken. The movement of the distally located body part is compensated for and used to enhance measurements of the proximally located body part and/or used to model the distal portion of the body in addition to the proximal body part.

Description

ARM ROTATION

[0001] This application claims the benefit of U.S. Provisional Application Serial No. 62/928,077, filed October 30, 2019, the contents of which are incorporated herein by reference. This application includes material which is subject to copyright protection. The copyright owner has no objection to the facsimile reproduction by anyone of the patent disclosure, as it appears in the Patent and Trademark Office files or records, but otherwise reserves all copyright rights whatsoever.

FIELD

[0002] The disclosed systems relate in general to the field of sensing, and in particular to sensing devices that detect the position of body parts.

BRIEF DESCRIPTION OF THE DRAWINGS [0003] The foregoing and other objects, features, and advantages of the disclosure will be apparent from the following more particular description of embodiments as illustrated in the accompanying drawings in which reference characters refer to the same parts throughout the various views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating principles of the disclosed embodiments. [0004] FIG. 1 shows a diagram of a sensing device.

[0005] FIG. 2 shows a diagram of a sensing device for determining position and pose of a body part.

DETAILED DESCRIPTION

[0006] The present application contemplates an improved sensing device implementing fast multi-touch sensing (FMT) chips. FMT chips are suited for use with frequency orthogonal signaling techniques (see, e.g., U.S. Patent Nos. 9,019,224 and 9,529,476, and U.S. Patent No. 9,811 ,214, all of which are hereby incorporated herein by reference). The sensor configurations discussed herein may be used with other signal techniques including scanning or time division techniques, and/or code division techniques. It is pertinent to note that the sensors described and illustrated herein are also suitable for use in connection with signal infusion (also referred to as signal injection) techniques and apparatuses.

[0007] The presently disclosed systems and methods involve principles related to and for designing, manufacturing and using capacitive based sensors, and particularly capacitive based sensors that employ a multiplexing scheme based on orthogonal signaling such as but not limited to frequency-division multiplexing (FDM), code-division multiplexing (CDM), or a hybrid modulation technique that combines both FDM and CDM methods. References to frequency herein could also refer to other orthogonal signal bases. As such, this application incorporates by reference Applicants’ prior U.S. Patent No. 9,019,224, entitled “Low-Latency Touch Sensitive Device” and U.S. Patent No. 9,158,411 entitled “Fast Multi-Touch Post Processing.” These applications contemplate FDM, CDM, or FDM/CDM hybrid touch sensors which may be used in connection with the presently disclosed sensors. In such sensors, interactions are sensed when a signal from a row is coupled (increased) or decoupled (decreased) to a column and the result received on that column. By sequentially exciting the rows and measuring the coupling of the excitation signal at the columns, a heatmap reflecting capacitance changes, and thus proximity, can be created.

[0008] This application also employs principles used in fast multi-touch sensors and other interfaces disclosed in the following: U.S. Patent Nos. 9,933,880; 9,019,224; 9,811 ,214; 9,804,721 ; 9,710,113; and 9,158,411. Familiarity with the disclosure, concepts and nomenclature within these patents is presumed. The entire disclosures of those patents and the applications incorporated therein by reference are incorporated herein by reference. This application also employs principles used in fast multi-touch sensors and other interfaces disclosed in the following: U.S. Patent Applications 15/162,240; 15/690,234; 15/195,675; 15/200,642; 15/821 ,677; 15/904,953; 15/905,465; 15/943,221 ; 62/540,458, 62/575,005, 62/621 ,117, 62/619,656 and PCT publication PCT/US2017/050547, familiarity with the disclosures, concepts and nomenclature therein is presumed. The entire disclosure of those applications and the applications incorporated therein by reference are incorporated herein by reference.

[0009] As used herein, and especially within the claims, ordinal terms such as first and second are not intended, in and of themselves, to imply sequence, time or uniqueness, but rather, are used to distinguish one claimed construct from another. In some uses where the context dictates, these terms may imply that the first and second are unique. For example, where an event occurs at a first time, and another event occurs at a second time, there is no intended implication that the first time occurs before the second time, after the second time or simultaneously with the second time. However, where the further limitation that the second time is after the first time is presented in the claim, the context would require reading the first time and the second time to be unique times. Similarly, where the context so dictates or permits, ordinal terms are intended to be broadly construed so that the two identified claim constructs can be of the same characteristic or of different characteristics. Thus, for example, a first and a second frequency, absent further limitation, could be the same frequency, e.g., the first frequency being 10 Mhz and the second frequency being 10 Mhz; or could be different frequencies, e.g., the first frequency being 10 Mhz and the second frequency being 11 Mhz. Context may dictate otherwise, for example, where a first and a second frequency are further limited to being frequency orthogonal to each other, in which case, they could not be the same frequency.

[0010] Certain principles of a fast multi-touch (FMT) sensor have been disclosed in the patent applications discussed above. Orthogonal signals are transmitted into a plurality of transmitting conductors (or antennas) and the information received by receivers attached to a plurality of receiving conductors (or antennas), the signal is then analyzed by a signal processor to identify touch events. The transmitting conductors and receiving conductors may be organized in a variety of configurations, including, e.g., a matrix where the crossing points form nodes, and interactions are detected at those nodes by processing of the received signals. In an embodiment where the orthogonal signals are frequency orthogonal, spacing between the orthogonal frequencies, Dί, is at least the reciprocal of the measurement period T, the measurement period t being equal to the period during which the columns are sampled. Thus, in an embodiment, a column or antenna may be measured for one millisecond (T) using frequency spacing (Dί) of one kilohertz (i.e. , Dί = 1/t).

[0011] In an embodiment, the signal processor of a mixed signal integrated circuit (or a downstream component or software) is adapted to determine at least one value representing each frequency orthogonal signal transmitted to a row. In an embodiment, the signal processor of the mixed signal integrated circuit (or a downstream component or software) performs a Fourier transform to signals that are received. In an embodiment, the mixed signal integrated circuit is adapted to digitize received signals. In an embodiment, the mixed signal integrated circuit (or a downstream component or software) is adapted to digitize received signals and perform a discrete Fourier transform (DFT) on the digitized information. In an embodiment, the mixed signal integrated circuit (or a downstream component or software) is adapted to digitize received signals and perform a Fast Fourier transform (FFT) on the digitized information -- an FFT being one type of discrete Fourier transform. [0012] It will be apparent to a person of skill in the art in view of this disclosure that a DFT, in essence, treats the sequence of digital samples (e.g., windows) taken during a sampling period (e.g., integration period) as though it repeats. As a consequence, signals that are not center frequencies (i.e. , not integer multiples of the reciprocal of the integration period (which reciprocal defines the minimum frequency spacing)), may have relatively nominal, but unintended consequence of contributing small values into other DFT bins. Thus, it will also be apparent to a person of skill in the art in view of this disclosure that the term orthogonal as used herein is not “violated” by such small contributions. In other words, as we use the term frequency orthogonal herein, two signals are considered frequency orthogonal if substantially all of the contribution of one signal to the DFT bins is made to different DFT bins than substantially all of the contribution of the other signal.

[0013] In an embodiment, received signals are sampled at at least 1 MFIz. In an embodiment, received signals are sampled at at least 2 MFIz. In an embodiment, received signals are sampled at 4 Mhz. In an embodiment, received signals are sampled at 4.096 Mhz. In an embodiment, received signals are sampled at more than 4 MFIz.

[0014] To achieve kFIz sampling, for example, 4096 samples may be taken at 4.096 MFIz. In such an embodiment, the integration period is 1 millisecond, which per the constraint that the frequency spacing should be greater than or equal to the reciprocal of the integration period provides a minimum frequency spacing of 1 KFIz. (It will be apparent to one of skill in the art in view of this disclosure that taking 4096 samples at 4 MFIz would yield an integration period slightly longer than a millisecond, and not achieve

1 kFIz sampling, and a minimum frequency spacing of 976.5625 Flz.) In an embodiment, the frequency spacing is equal to the reciprocal of the integration period. In such an embodiment, the maximum frequency of a frequency orthogonal signal range should be less than 2 MFIz. In such an embodiment, the practical maximum frequency of a frequency orthogonal signal range is preferably less than about 40% of the sampling rate, or about 1 .6 MFIz. In an embodiment, a DFT (which could be an FFT) is used to transform the digitized received signals into bins of information, each reflecting the frequency of a frequency orthogonal signal transmitted which may have been transmitted by the transmit antenna 130. In an embodiment 2048 bins correspond to frequencies from 1 KFIz to about

2 MFIz. It will be apparent to a person of skill in the art in view of this disclosure that these examples are simply that, exemplary. Depending on the needs of a system, and subject to the constraints described above, the sample rate may be increased or decreased, the integration period may be adjusted, the frequency range may be adjusted, etc.

[0015] In an embodiment, a DFT (which can be an FFT) output comprises a bin for each frequency orthogonal signal that is transmitted. In an embodiment, each DFT (which can be an FFT) bin comprises an in-phase (I) and quadrature (Q) component. In an embodiment, the sum of the squares of the I and Q components is used as measurements corresponding to signal strength for that bin. In an embodiment, the square root of the sum of the squares of the I and Q components is used as measure corresponding to signal strength for that bin. It will be apparent to a person of skill in the art in view of this disclosure that a measure corresponding to the signal strength for a bin could be used as a measure related to activity, touch events, etc. In other words, the measure corresponding to signal strength in a given bin would change as a result of some activity proximate to the sensors, such as a touch event.

[0016] The sensing apparatuses discussed herein use transmitting and receiving antennas (also referred to herein as conductors, row conductors, column conductors, transmitting conductors, receiving conductors). Flowever, it should be understood that whether the transmitting antennas or receiving antennas are functioning as a transmitter of signals, a receiver of signals, or both depends on context and the embodiment. In an embodiment, the transmitters and receivers for all or any combination of the patterns are operatively connected to a single integrated circuit capable of transmitting and receiving the required signals. In an embodiment, the transmitters and receivers are each operatively connected to a different integrated circuit capable of transmitting and receiving the required signals, respectively. In an embodiment, the transmitters and receivers for all or any combination of the patterns may be operatively connected to a group of integrated circuits, each capable of transmitting and receiving the required signals, and together sharing information necessary to such multiple IC configuration. In an embodiment, where the capacity of the integrated circuit (i.e. , the number of transmit and receive channels) and the requirements of the patterns (i.e., the number of transmit and receive channels) permit, all of the transmitters and receivers for all of the multiple patterns used by a controller are operated by a common integrated circuit, or by a group of integrated circuits that have communications therebetween. In an embodiment, where the number of transmit or receive channels requires the use of multiple integrated circuits, the information from each circuit is combined in a separate system. In an embodiment, the separate system comprises a GPU and software for signal processing.

[0017] In an embodiment, the mixed signal integrated circuit is adapted to generate one or more signals and send the signals to the transmitting antennas via the transmitter. In an embodiment, the mixed signal integrated circuit is adapted to generate a plurality of frequency orthogonal signals and send the plurality of frequency orthogonal signals to the transmitting antennas. In an embodiment, the mixed signal integrated circuit is adapted to generate a plurality of frequency orthogonal signals and one or more of the plurality of frequency orthogonal signals to each of a plurality of transmitting antennas. In an embodiment, the frequency orthogonal signals are in the range from DC up to about 2.5 GHz. In an embodiment, the frequency orthogonal signals are in the range from DC up to about 1 .6 MHz. In an embodiment, the frequency orthogonal signals are in the range from 50 KHz to 200 KHz. The frequency spacing between the frequency orthogonal signals should be greater than or equal to the reciprocal of the integration period (i.e. , the sampling period).

[0018] Turning to FIG. 1 , a simplified diagram of an embodiment is shown that sets forth an example of a sensing device 100, which is incorporated into wearable 150. In FIG. 1 , the wearable 150 is placed on a wrist. In an embodiment, a mixed signal integrated circuit with signal processing capabilities comprises a transmitter 110, and a receiver 120. In an embodiment, an analog front end comprising a transmitter (or multiple transmitters) and a receiver (or multiple receivers) is used to send and receive signals instead of the mixed signal integrated circuit. In such an embodiment, the analog front end provides a digital interface to signal generating and signal processing circuits and/or software. In an embodiment, the mixed signal integrated circuit is adapted to generate one or more signals and send the signals to the transmitting antenna 130 via the transmitter 110. In an embodiment, the mixed signal integrated circuit 100 is adapted to generate a plurality of frequency-orthogonal signals and send the plurality of frequency- orthogonal signals to the transmitting antennas 130.

[0019] The transmitter 110 is conductively coupled to transmitting antennas 130, and the receiver 120 is operably connected to receiving antennas 140. The transmitting antenna 130 is supported on the wearable 150 that is worn on a body part. It will be apparent to a person of skill in the art in view of this disclosure that the transmitter and receivers are arbitrarily assigned, and the transmitter 110 and transmitting antenna 130 can be used on the receive side, while the receiver 120, and the receiving antenna 140 can be used as the transmit side. It will also be apparent to a person of skill in the art in view of this disclosure that signal processor, transmitter and receiver may be implemented on separate circuits. It will be apparent to a person of skill in the art in view of this disclosure that the transmitter and receivers may support more than one antenna. In an embodiment, a plurality of transmitting antennas 130 and/or a plurality of receiving antennas 140 are employed.

[0020] Further discussion regarding the implementation of the transmitting antennas (or conductors) and receiving antennas (or conductors) in association with wearables can be found in U.S. Patent Application No. 15/926,478, U.S. Patent Application No. 15/904,953, U.S. Patent Application No. 16/383,090 and U.S. Patent Application No. 16/383,996, the contents of all of the aforementioned applications incorporated herein by reference.

[0021] FIG. 2 is a diagram showing an embodiment of a sensing device 200 located proximate to a wrist area 203. Sensing device 200 is operably attached to a body at a location where information regarding position or pose of a body part is able to be determined. In FIG. 2, sensing device 200 is connected to the wrist area 203 via the use of a band 201. In the arrangement depicted in FIG. 2 the position, pose and muscle activity of the hand is able to be detected. However, it should be understood, and, as discussed below, sensing devices may be operably connected to other parts of the body and/or operably connected to the body using other mechanisms other than bands. The sensing device 200 comprises receiving antennas 204 (antennas are also referred to as conductors or electrodes) that are operably connected to a processor (not shown). The receiving antennas 204 are located within a housing 205. The housing 205 is operably attached to the band 201 .

[0022] When the sensing device 200 is worn, the receiving antennas 204 are adapted to be located above the surface of the skin of the wrist area 203. In the embodiment, shown in FIG. 2, each of the receiving antennas 204 are located at substantially the same distance from the surface of the wrist area 203 in a direction normal to the surface of the wrist area 203. The receiving antennas 204 may be separated from the surface of the wrist area 203 by material formed from the housing 205. In an embodiment, the band 201 separates the receiving antennas 204 from the surface of the wrist area 203. In an embodiment, a layer of material other than the band separates the receiving antennas from the surface of the skin. In an embodiment, a housing separates the receiving antenna or receiving antennas from the surface of the skin. In an embodiment, multiple layers of material separate the receiving antenna or receiving antennas from the surface of the skin. In an embodiment, a receiving antenna or receiving antennas are placed proximate to the surface of the skin without any intervening layers. In an embodiment, a receiving antenna or receiving antennas are placed on the surface of the skin.

[0023] When receiving antennas 204 are located distally from the surface of the skin there is less likelihood of factors such as sweat, skin chemistry, texture, biological factors, etc. from interfering with the measurements. In an embodiment, the receiving antennas 204 are adapted to be positioned about 2 mm from the surface of the skin. In an embodiment, the receiving antennas 204 are adapted to be positioned about 1 mm from the surface of the skin. In an embodiment, the receiving antennas 204 are adapted to be positioned about 3 mm from the surface of the skin. In an embodiment, the receiving antennas 204 are adapted to be positioned about 4 mm from the surface of the skin. In an embodiment, the receiving antennas 204 are adapted to be positioned about 5 mm from the surface of the skin. In an embodiment, some receiving antennas are positioned at different differences from the surface of the skin. For example, one grouping of receiving antennas is positioned at 1 mm from the surface of the skin, while another grouping of receiving antennas is positioned at 2 mm from the surface of the skin. In an embodiment, each of the receiving antennas are positioned at a different distance from the surface of the skin. Generally, as the receiving antennas 204 approach, or are located in proximity to the surface of the skin, the magnitude of the infused signal received from the skin increases. Other factors that impact the reception of infused signal by the receiving antennas are the geometry of the receiving antennas and size of the receiving antennas.

[0024] The sensing device 200 also comprises transmitting antenna 202 (also referred to as a conductor or electrode). While a single transmitting antenna 202 is shown, more than one transmitting antenna may be used in the sensing device 200. More transmitting antennas can provide additional sources of signal that when measured and processed can provide additional information regarding the activity of muscles. The transmitting antenna 202 is adapted to infuse a signal into the user of the sensing device 200. The transmitting antenna 202 is operably connected to the band 201 and is located sufficient!y proximate to the user so as to effectively transmit signal into the user so that the signal is able to be carried by the user. In an embodiment, the band 201 separates the transmitting antenna 202 from the surface of the wrist area 203. In an embodiment, a layer of material other than the band separates a transmitting antenna or transmitting antennas from the surface of the skin. In an embodiment, a housing separates the transmitting antenna or transmitting antennas from the surface of the skin. In an embodiment, multiple layers of material separate a transmitting antenna or transmitting antennas from the surface of the skin. In an embodiment, a transmitting antenna or transmitting antennas are placed proximate to the surface of the skin without any intervening layers. In an embodiment, a transmitting antenna or transmitting antennas are placed on the surface of the skin. The distance of the transmitting antenna from the surface of the skin or whether the transmitting antenna is located on the skin may be determined by factors such as signal strength and body chemistry.

[0025] In FIG. 2, the transmitting antenna 202 is shown located distal!y from the receiving antennas 204, however it should be understood that the transmitting antenna 202 may be located at various distances from the respective receiving antennas 202. The proximity of the transmitting antenna 202 to a receiving antenna 204 may impact the measurements of the signal received by the receiving antennas 204. It should also be understood that the roles of the transmitting antenna and the receiving antennas may switch or alternate in some embodiments, with the transmitting antenna functioning as receiving antenna and the receiving antennas functioning as transmitting antennas. [0026] In FIG. 2, a transmitting antenna 202 is shown that infuses a signal to a user of the sensing device 200. In an embodiment, more than one transmitting antenna infuses a signal to a user. In an embodiment, more than one transmitting antenna infuses a signal to a user wherein each of the transmitting antennas infuses a signal that is orthogonal from each other signal transmitted to the user. In an embodiment, one transmitting antenna infuses more than one signal to a user wherein each of the signals transmitted to the user is orthogonal with respect to each other signal transmitted to the user. By using more transmitted signals potentially more information regarding the location being measured can be obtained.

[0027] While the transmitting antenna 202 is shown located on the band 203, it should be understood that the transmitting antenna 202 does not have to be located on the band 203 or necessarily proximate to the band 201. In an embodiment the transmitting antenna or antennas are located on a wearable located elsewhere on the body. In an embodiment, the transmitting antenna or antennas are located proximate to another hand of the user. In an embodiment the transmitting antenna or antennas are located on a ring worn by the user. In an embodiment the transmitting antenna or antennas are located on goggles or glasses located on the head. In an embodiment the transmitting antenna or antennas are located in an article of clothing worn by the user. In an embodiment the transmitting antenna or antennas are located on a token carried by the user.

[0028] In an embodiment, the transmitting antenna or antennas are located within the environment and signal is transmitted to the user upon being proximate to the transmitting antenna. In an embodiment, the transmitting antenna or antennas are located in a chair in which the user sits. In an embodiment, the transmitting antenna or antennas are located on the floor on which the user stands. In an embodiment, the transmitting antenna or antennas are located within a vehicle.

[0029] In FIG. 2 the geometry is set forth so that there is one transmitting antenna 202 and a plurality of receiving antennas 204. In an embodiment, the roles of the transmitting antenna and receiving antennas may be reversed or alternated. In an embodiment, the receiving antenna or receiving antennas are switched to perform the role of a transmitting antenna or transmitting antennas and the transmitting antenna or transmitting antennas are switched to perform the role of a receiving antenna or receiving antennas. By alternating roles of the antennas additional and different information may be obtained.

[0030] While the embodiment shown and described in FIGs. 1 and 2 have been able to determine and distinguish movement and position of the fingers, it has been discovered that certain motions of the arm can cause differences in the signals that are received and used for determining the position and movement of the hand and fingers. Movement of the arm will impact the measurements of signals received by a sensing device, such as the sensing device 100 shown in FIG. 1 of the sensing device 200 shown in FIG. 2.

[0031] By way of example, movement of a finger on the hand will interact with the signals transmitted by the transmitting antenna or transmitting antenna. Signals received on the receiving antennas are then measured and used to form heat maps that reflect the position of the finger as it moves. Additionally, the position of the arm also impacts properties of the signals that are received at the receiving antennas. The measurements of the signals that correlate to the movement of a finger in the same manner vary based upon the movement of the arm. If the arm is extended palm up and the finger moves the resultant measurements are different than if the arm is extended with the hand placed edgewise and the same finger is moved. As the arm moves while the relative position of the finger with respect to the sensing device remains the same changes in the measurements of the received signals reflect the movement of the arm. That is to say the rotation of the arm while the relative positioning of the fingers with respect to the sensing device can be measured.

[0032] The changes in the measurements of received signals based upon the movement of the arm can be used to accomplish different goals. Through the application of machine learning the position of the arm can be correlated with the respective movement of a finger. This information can be used in order to either model the movement of the arm for purposes of determining the orientation of the arm, or to compensate for the movement of the arm in order to better discriminate movement of fingers by removing the effects of the arm movement from the signals received and processed.

[0033] The impact of movement distally located from the can be used to enhance measurements made proximate to the sensing device. Thus the movements made distally can be used to correlate movements made proximally, and/or model movements made distally and proximally to the sensing device.

[0034] In an embodiment, the effect of movement of the arm on received signals is measured and used to modify measurements of finger movement and hand position. In an embodiment, the effect of movement of the arm on received signals is measured and compensated for in measurements of finger movement and hand position. In an embodiment, the effect of movement of the arm on received signals is measured and correlated with measurements of finger movement and hand position in order to determine arm position.

[0035] While the embodiments discussed above are made with respect to a sensing device located proximate to a hand and the impact of arm movement on measurements received with respect to the movement of fingers, other potential implementations of this technique can be used at other body locations in order to model incidental movement of distal body locations that are located distally from where the sensing device is employed. Furthermore, the movement of other distally located body parts can be correlated with its impact on the sensing device located proximate to a hand. For example, the movement of a person’s head, can be correlated with its respective impact on the sensing device located proximate to a hand.

[0036] In an embodiment, the movement of a person’s leg, can be correlated with its respective impact on the sensing device located proximate to a hand. In an embodiment, the movement of a person’s torso, can be correlated with its respective impact on the sensing device located proximate to a hand. In an embodiment, the movement of a person’s other hand and arm, can be correlated with its respective impact on the sensing device located proximate to a hand. In an embodiment, the movement of each portion of a person’s body, can be correlated with its respective impact on the sensing device located proximate to a hand. In an embodiment, the movement of each portion of a person’s body can be weighted in order to determine its impact on its correlation with its respective impact on the sensing device located proximate to a hand. [0037] Based on the correlations of the movements of respective body parts with the relative impacts on the measurements made by the sensing device it is possible to reconstruct the movement of the respective body parts in order to provide a most likely scenario as to the position of the body. In this manner a holistic construction of body positioning can be determined based on the correlation of localized measurements with the positioning of the person.

[0038] In an embodiment the sensing device is located proximate to an ankle and movement of a leg is compensated for. In an embodiment the sensing device is located proximate to an ankle and movement of a leg is correlated with foot movement. In an embodiment the sensing device is located proximate to an ankle and movement of a leg is used in conjunction with foot movement and used to model the leg movement. In an embodiment the sensing device is located proximate to the chest and movement of a leg and/or arm is compensated for. In an embodiment the sensing device is located proximate to the chest and movement of a leg and/or arm is correlated with chest movement. In an embodiment the sensing device is located proximate to a chest and movement of a leg and/or arm is used in conjunction with chest movement and used to model the leg and or arm movement.

[0039] An aspect of the disclosure is a sensing device comprising: a plurality of transmitting conductors adapted to transmit a plurality of signals, wherein each of the plurality of signals transmitted are frequency orthogonal with respect to each other the plurality of signals transmitted at the same time; a plurality of receiving conductors adapted to receive any one of the plurality of signals transmitted, wherein received signals are measured; and a signal processor adapted to process measurements of the received signals and determine movement and position of a body part proximal to the sensing device based on the measurements of the received signals and to correlate movement and position of the body part proximal to the sensing device with movement of another body part located further from the sensing device than the body part proximal to the sensing device

[0040] Another aspect of the disclosure is a sensing device comprising: at least one transmitting conductor adapted to transmit at least one signal; a plurality of receiving conductors adapted to receive the at least one signal transmitted, wherein measurements of the at least one signal received at the plurality of receiving conductors are taken; and a signal processor adapted to process the measurements and determine movement and position of a body part proximal to the sensing device based on the measurements and to correlate movement and position of the body part proximal to the sensing device with movement of another body part located further from the sensing device than the body part proximal to the sensing device.

[0041] Still yet another aspect of the disclosure is a method for determining body part movement comprising: transmitting at least one signal from at least one transmitting conductor; receiving at least one signal transmitted at a plurality of receiving conductors; taking measurements of the at least one signal transmitted; processing the measurements; and determining movement and position of the body part proximal to the plurality of receiving conductors based on the measurements and correlating movement and position of the body part proximal to the plurality of receiving conductors with movement of another body part located further from the plurality of conductors than the body part proximal to the plurality of receiving conductors.

[0042] While the invention has been particularly shown and described with reference to a preferred embodiment thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

Claims

1 . A sensing device, comprising: a plurality of transmitting conductors adapted to transmit a plurality of signals, wherein each of the plurality of signals transmitted are frequency orthogonal with respect to each other the plurality of signals transmitted at the same time; a plurality of receiving conductors adapted to receive any one of the plurality of signals transmitted, wherein received signals are measured; and a signal processor adapted to process measurements of the received signals and determine movement and position of a body part proximal to the sensing device based on the measurements of the received signals and to correlate movement and position of the body part proximal to the sensing device with movement of another body part located further from the sensing device than the body part proximal to the sensing device.

2. The sensing device of claim 1 , wherein the body part proximal to the sensing device is a hand and the another body part is an arm.

3. The sensing device of claim 2, wherein rotation of the arm is correlated with movement of the hand.

4. The sensing device of claim 1 , wherein the body part proximal to the sensing device is a foot.

5. The sensing device of claim 4, wherein the movement of the another body part is shifting of a leg.

6. The sensing device of claim 1 , wherein the body part proximal to the sensing device is a torso.

7. The sensing device of claim 1 , wherein at least one of the plurality of transmitting conductors is adapted to transmit at least one of the plurality of signals into a user.

8. The sensing device of claim 1 , wherein the signal processor is adapted to process measurements of the received signals using a discrete Fourier transform.

9. A sensing device, comprising: at least one transmitting conductor adapted to transmit at least one signal; a plurality of receiving conductors adapted to receive the at least one signal transmitted, wherein measurements of the at least one signal received at the plurality of receiving conductors are taken; and a signal processor adapted to process the measurements and determine movement and position of a body part proximal to the sensing device based on the measurements and to correlate movement and position of the body part proximal to the sensing device with movement of another body part located further from the sensing device than the body part proximal to the sensing device.

10. The sensing device of claim 9, wherein the body part proximal to the sensing device is a hand and the another body part is an arm.

11. The sensing device of claim 10, wherein rotation of the arm is correlated with movement of the hand.

12. The sensing device of claim 9, wherein the body part proximal to the sensing device is a foot.

13. The sensing device of claim 12, wherein the movement of the another body part is shifting of a leg.

14. The sensing device of claim 9, wherein the body part proximal to the sensing device is a torso.

15. The sensing device of claim 9, wherein at least one transmitting conductor is adapted to transmit the at least one signal into a user.

16. The sensing device of claim 9, wherein the signal processor is adapted to process measurements using a discrete Fourier transform.

17. A method for determining body part movement, comprising: transmitting at least one signal from at least one transmitting conductor; receiving at least one signal transmitted at a plurality of receiving conductors; taking measurements of the at least one signal transmitted; processing the measurements; and determining movement and position of the body part proximal to the plurality of receiving conductors based on the measurements and correlating movement and position of the body part proximal to the plurality of receiving conductors with movement of another body part located further from the plurality of conductors than the body part proximal to the plurality of receiving conductors.

18. The method of claim 17, wherein the body part proximal to the sensing device is a hand and the another body part is an arm.

19. The method of claim 18, wherein rotation of the arm is correlated with movement of the hand.

20. The method of claim 17, wherein the body part is a foot.