JP7017921B2 - Golf swing evaluation system and golf swing evaluation method - Google Patents

Description

The present invention relates to a golf swing evaluation system and a golf swing evaluation method.

Traditionally, in golf lessons, the instructor gives guidance to the golfer based on the appearance of the swing and the measurement results of various measuring instruments (trackman (ball ballistic measuring instrument), motion sensor, camera, etc.). Was common. There is a problem that the degree of improvement of the golfer who receives the instruction depends on the skill of the instructor in the instruction based on the information that can be seen from the outside such as the movement of the golfer's body obtained from the appearance of the swing, the motion sensor, the camera and the like.

In Patent Document 1, a golfer's body and club are modeled using four segments, and energy parameters related to energy transfer through the golfer's body are measured from the measurement results of the ground reaction force generated during the golfer's swing. The technology is disclosed. Further, Patent Document 2 discloses a technique for analyzing a golfer's golf swing by modeling the golfer's body using a body segment having rigidity and a plurality of body joints.

Japanese Patent Publication No. 2011-502602 Special Table 2014-530047 Gazette

As mentioned above, in the conventional information-based instruction that can be seen from the outside, the degree of improvement of the golfer who receives the instruction depends on the skill of the instructor. Here, not only the information that can be seen from the outside but also the details will be described later, but by biomechanically analyzing the movement of each part of the golfer's body during the swing obtained by the kinematics calculation and the kinetics calculation, it is more objective. It is possible to provide guidance that is targeted and does not depend on the skill of the instructor. In particular, comparing the calculation results of the kinematics calculation and the kinetics calculation between multiple swings (multiple swings by the same golfer, multiple swings by different golfers) makes it easier to understand the difference between the swings. It is useful. In Patent Documents 1 and 2, the comparison of the calculation results of the kinematics calculation and the kinetics calculation is not considered.

An object of the present invention made in view of the above-mentioned problems is that a golf swing can easily compare the calculation results of the kinematics calculation and the kinetics calculation for each joint of a golfer among a plurality of swings. To provide an evaluation system and a golf swing evaluation method.

The swing evaluation system as one aspect of the present invention is a golf swing evaluation system that evaluates the swing of a club by the golfer, and is the position coordinate data of a predetermined part of the body of the golfer during the swing of the club by the golfer and the said. It was acquired by the first acquisition means for acquiring the position coordinate data of a predetermined part of the club, the second acquisition means for acquiring the ground reaction force data of the golfer during the swing, and the first acquisition means. , Position coordinate data of a predetermined part of the golfer's body, position coordinate data of a predetermined part of the club, ground reaction force data acquired by the second acquisition means, and a plurality of rigid elements and rigid elements of the human body. By the first calculation means and the first calculation means for calculating the calculation results of the kinematics calculation and the kinetics calculation for each joint of the golfer based on the rigid link model represented by the joint elements connecting the golfers. A display unit is provided which displays at least one of the calculation results for each of the golfer's joints calculated for each of the plurality of swings in a comparable manner.
By having the above configuration, it is possible to easily compare the calculation results of the kinematics calculation and the kinetics calculation for each joint of the golfer between a plurality of swings.

In the swing evaluation system according to the present invention, the calculation result for each joint of the golfer is the joint torque.
By having the above configuration, it is possible to easily compare the joint torque of each joint of the golfer, which is particularly useful for the analysis of the swing of the golfer.

In the swing evaluation system according to the present invention, the contribution of the joint torque for each joint of the golfer calculated by the first calculation means and the force generated by the movement of the golfer during the swing to the head speed of the club. It is preferable to further provide a second calculation means for calculating for each golfer's joint.
By having the above configuration, it is possible to easily grasp the contribution of the joint torque of each joint of the golfer and the force generated by the movement of the golfer during the swing to the head speed of the club for each joint of the golfer.

The swing evaluation method as one aspect of the present invention is a golf swing evaluation method for evaluating the swing of a club by a golfer, and is the position coordinate data of a predetermined part of the body of the golfer during the swing of the club by the golfer and the club. The first acquisition step of acquiring the position coordinate data of the predetermined portion of the golfer, the second acquisition step of acquiring the ground reaction force data of the golfer during the swing, and the acquisition of the first acquisition step. The position coordinate data of a predetermined part of the golfer's body, the position coordinate data of a predetermined part of the club, the ground reaction force data acquired by the second acquisition step, and a plurality of rigid elements and rigid elements of the human body. By the first calculation step and the first calculation step of calculating the calculation results of the kinematics calculation and the kinetics calculation for each joint of the golfer based on the rigid link model represented by the joint elements connecting the golfers. Includes a display step that comparableably displays at least one of the calculation results for each of the golfer's joints calculated for each of the plurality of swings.
By providing the above configuration, it is possible to easily compare the calculation results of the kinematics calculation and the kinetics calculation for each joint of the golfer between a plurality of swings.

In the swing evaluation method according to the present invention, the calculation result for each joint of the golfer is the joint torque.
By having the above configuration, it is possible to easily compare the joint torque of each joint of the golfer, which is particularly useful for the analysis of the swing of the golfer.

In the swing evaluation method according to the present invention, the contribution of the calculated joint torque for each joint of the golfer and the force generated by the movement of the golfer during the swing to the head speed of the club is calculated for each joint of the golfer. , It is preferable to further include the second calculation step.
By having the above configuration, it is possible to easily grasp the contribution of the joint torque of each joint of the golfer and the force generated by the movement of the golfer during the swing to the head speed of the club for each joint of the golfer.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to provide a swing evaluation system and a swing evaluation method that can easily compare the calculation results of kinematics calculation and kinetics calculation for each joint of a golfer among a plurality of swings. can.

It is a figure which shows the structural example of the swing evaluation system which concerns on one Embodiment of this invention. It is a figure which shows the structural example of the swing evaluation system which concerns on another Embodiment of this invention. It is a figure which shows the example of attaching a marker to a golfer when the first acquisition part shown in FIG. 1A is a motion capture. It is a figure which shows the example of attaching a marker to a club when the 1st acquisition part shown in FIG. 1A is a motion capture. It is a figure which shows an example of the joint torque calculated by the 1st calculation part shown in FIG. 1A. It is a figure which shows the display example of the contribution of each joint to the head speed of a club at each time during a swing calculated by the 2nd calculation part shown in FIG. 1A. It is a figure which shows the display example of the cumulative value of the kinetic energy of the head of a club caused by each joint of a golfer, and the ratio of the cumulative value for each joint, calculated by the second calculation part shown in FIG. 1A. It is a figure which shows the display example of the joint torque for each joint calculated for a plurality of swings by the 1st calculation part shown in FIG. 1A. It is a figure for demonstrating the coherence calculated by the 1st calculation part shown in FIG. 1A. It is a figure which shows the display example of the coherence of the joint torque for each joint calculated for a plurality of swings by the 1st calculation part shown in FIG. 1A. It is a figure which shows the display example of the contribution for each joint to the head speed of a club calculated for a plurality of swings by the 2nd calculation part shown in FIG. 1A. In the figure which shows the display example of the cumulative value of the kinetic energy of the head of a club caused by each joint, and the ratio of the cumulative value for each joint calculated for a plurality of swings by the second calculation unit shown in FIG. 1A. be.

Hereinafter, embodiments of the present invention will be exemplified with reference to the drawings. In each figure, the same reference numerals indicate the same or equivalent components.

FIG. 1A is a diagram showing a configuration example of a golf swing evaluation system 10 according to an embodiment of the present invention. The golf swing evaluation system 10 according to the present embodiment is used, for example, in a golf lesson, and evaluates a club swing by a golfer.

The golf swing evaluation system 10 shown in FIG. 1A has a first acquisition unit 11 as a first acquisition means, a second acquisition unit 12 as a second acquisition means, and a first calculation unit. The calculation unit 13 of the above, the second calculation unit 14 as the second calculation means, and the display unit 15 are provided.

The first acquisition unit 11 acquires the position coordinate data of the predetermined part of the golfer's body and the position coordinate data of the predetermined part of the club during the swing of the club by the golfer, and outputs the data to the first calculation unit 13. As the first acquisition unit 11, for example, a motion capture, an inertial sensor, or the like can be used.

When motion capture is used as the first acquisition unit 11, for example, as shown in FIG. 2A, a marker is attached to a predetermined part of the golfer's body. FIG. 2A shows an example in which markers M01 to M34 are attached to 34 points on the body. Further, as shown in FIG. 2B, a marker is attached to a predetermined portion of the club. FIG. 2B shows an example in which markers M35 to M38 are attached to four points of the club. The marker M35 is attached to the grip end of the club. The marker M36 is attached to the hand of the shaft of the club. The marker M37 is attached to the tip of the shaft of the club. The marker M38 is at hand of the shaft and is attached at a right angle to the face surface of the head.

With markers attached to the golfer and club, the golfer's swing is photographed from the surroundings with a plurality of (for example, 10 or more) motion capture cameras at a predetermined sampling rate (for example, 100 Hz or more). The first acquisition unit 11 identifies the position coordinates of each marker from the images taken by each motion capture camera, so that the position coordinate data of the predetermined part of the golfer's body and the position coordinate data of the predetermined part of the club during the swing are specified. To get.

When the inertia sensor is used as the first acquisition unit 11, the inertia sensor is attached to a predetermined part of the golfer's body and a predetermined part of the club. The first acquisition unit 11 acquires (estimates) the position coordinate data of a predetermined part of the golfer's body during the swing and the position coordinate data of the predetermined part of the club from the measurement results of each inertial sensor during the swing. When motion capture is used as the first acquisition unit 11, not only large-scale equipment is required to attach markers to golfers and clubs and the state of the swing is captured by a large number of motion capture cameras, but also dedicated equipment is required. It takes a lot of time and effort to acquire data such as wearing a suit and calibrating a camera. On the other hand, when the inertial sensor is used as the first acquisition unit 11, it is only necessary to attach the inertial sensor to the golfer and the club and acquire the position coordinates of the inertial sensor. Therefore, it is possible to acquire the position coordinate data of a predetermined part of the golfer's body and a predetermined part of the club with a very simple configuration as compared with the case of using motion capture.

FIG. 1B is a diagram showing a configuration example of a golf swing evaluation system 10 according to another embodiment of the present invention. As shown in FIG. 1B, the first acquisition unit 11 shown in FIG. 1A can be replaced with the third acquisition unit 16 (third acquisition means). The position coordinate data acquired by the first acquisition unit 11 shown in FIG. 1A has the position coordinates of the marker attached to a predetermined part of the golfer's body and the club, and information on the time change of the coordinates. Therefore, the existing rigid body link model including the position coordinate information created in advance and the motion data obtained by the inertial sensor attached to a predetermined part of the golfer and the club as the third acquisition unit 16 are combined. Can be replaced with.

When using an existing rigid link model prepared (created) in advance and capturing the motion with an inertial sensor or the like, the posture of the segment may be acquired instead of the position coordinates. By doing so, compared to the method of creating a rigid body link model from the position coordinates, it is possible to eliminate the deviation of the marker affixed portion and the error caused by the camera. In addition, since large-scale equipment is not required and initial settings such as camera calibration can be simplified, the practitioner can perform the procedure anywhere.

The rigid body link model is a model in which a human body is represented by a plurality of rigid body elements (segments) and joint elements connecting the rigid body elements. Coordinate information may be given to each rigid body element, or coordinates acquired from the sensor may be input. When using a single body model prepared (created) in advance, the calculation time can be shortened by simplifying the system. When using multiple body models prepared in advance, select the appropriate body model for the golfer from the attributes such as height, gender, and weight of the golfer from the multiple body models prepared in advance. can.

The inertial sensor data detects the amount of movement and the posture of the inertial sensor attached to a predetermined portion of the golfer and the club, and is detected by a 3-axis acceleration sensor, a 3-axis angular velocity sensor, or the like. For example, Perseption Neuron manufactured by Noitom and M-Tracer manufactured by Seiko Epson Corporation can be used. These sensors are commercially available general-purpose sensors and are widely used not only by researchers but also by researchers. With these sensors, various data such as position coordinates, velocity, and angular velocity during swing operation can be acquired. It is also possible to create a rigid body link model using the position information in the embodiment shown in FIG. 1A and execute the analysis system, but as in the embodiment shown in FIG. 1B, a rigid body link model prepared in advance is used. By doing so, it becomes possible to easily use it in a store or the like because the difference in the skill of the instructor to attach the sensor to the body measurement point is less likely to affect the result without using a large-scale equipment.

The software that comes with Perseption Neuron mentioned above has a human body model set by default for creating animations using avatars. In this human body model, the length, joint position, and initial posture of each part (segment) of the body are determined in advance, and the movement of the whole body can be reproduced in real time by acquiring the posture of each segment from moment to moment with a sensor. can. To acquire the posture, the relative angles (Euler angles) or quarters formed by adjacent segments may be acquired. By calculating the posture of each segment from these data in order from the determined position of the right hip joint (R. hip) in the distal direction of the body, the posture of the entire model of the human body can be obtained, and the posture of the entire model of the human body can be obtained from there with the swing. It is also possible to estimate the displacement of each part of the body from moment to moment. Similarly for the club, assuming that the position of both hands and the position of the grip part of the club match, input the posture of the club acquired by the above-mentioned sensors such as Perseption Neuron and M-Tracer into the prepared model. This makes it possible to estimate the movement.

It is assumed that the position of the center of pressure (COP) of the golfer is on the line connecting the heel and the toe at the time of addressing, or at least one of the left and right toes is aligned with the fixed point of the force plate to fly. By acquiring the data by taking the address parallel to the direction of the sphere, it is possible to perform spatial synchronization with the ground reaction force data.

Referring to FIG. 1A again, the second acquisition unit 12 acquires the ground reaction force data of the golfer during the swing and outputs it to the first calculation unit 13. As the second acquisition unit 12, for example, a force plate can be used. When a force plate is used as the second acquisition unit 12, two force plates are prepared, and the golfer swings with the right foot on one and the left foot on the other to acquire ground reaction force data. be able to. The second acquisition unit 12 acquires the force and moment applied to the force plate as ground reaction force data, for example, by a golfer's swing. Further, the second acquisition unit 12 acquires, for example, the moment (free moment) generated by friction around the vertical axis and the position of the center of pressure of the golfer (COP (Center of pressure) position) as the ground reaction force data. do.

The first calculation unit 13 is acquired by the position coordinate data of a predetermined part of the golfer's body and the position coordinate data of a predetermined part of the club acquired by the first acquisition unit 11, or by the third acquisition unit 16. Based on the motion data of a predetermined part of the golfer's body, the motion data of a predetermined part of the club, the ground reaction force data acquired by the second acquisition unit 12, the rigid body link model, and the partial inertia coefficient of the body of the golfer. The joint torque for each joint is calculated and output to the second calculation unit 14. The body part inertia coefficient indicates information on inertial characteristics such as the mass of the body part, the position of the center of mass, and the moment of inertia. The partial inertia coefficient of the body is obtained in advance by various measurements and the like. The details of the operation of the first calculation unit 13 will be described later.

The second calculation unit 14 determines the contribution of the joint torque for each joint of the golfer calculated by the first calculation unit 13 and the force generated by the movement of the golfer during the swing to the head speed of the club. Calculated for each joint. In golf, increasing the flight distance is one of the important factors, and in order to extend the flight distance, it is important to increase the head speed of the club. Therefore, it is very useful to analyze how each joint of the golfer contributes to the head speed of the club. The details of the operation of the second calculation unit 14 will be described later. The contribution of the joint to the head speed of the club refers to the acceleration, kinetic energy, etc. given to the head of the club by each joint.

The display unit 15 displays the calculation result of the joint torque of each joint of the golfer by the first calculation unit 13, the calculation result of the contribution of each joint of the golfer to the head speed of the club by the second calculation unit 14. In addition, the display unit 15 performs various displays using these calculation results.

Next, the golf swing evaluation method executed by the golf swing evaluation system 10 shown in FIGS. 1A and B will be described.

In the golf swing evaluation method according to the present embodiment, the first acquisition unit 11 acquires the position coordinate data of a predetermined part of the golfer's body during the swing of the club by the golfer and the position coordinate data of the predetermined part of the club. The third acquisition step, in which the acquisition step 1 or the third acquisition unit 16 acquires the movement data of a predetermined part of the golfer's body during the swing of the club by the golfer and the movement data of the predetermined part of the club. The second acquisition step 12 acquires the ground reaction force data of the golfer during the swing, and the first calculation unit 13 acquires the golfer's body in the first acquisition step. With the position coordinate data of the predetermined part, the position coordinate data of the predetermined part of the club, the ground reaction force data acquired in the second acquisition step, and the joint element connecting the human body to a plurality of rigid elements and the rigid elements. The first calculation step for calculating the joint torque for each golfer's joint based on the rigid link model represented, and the second calculation unit 14 are the joints for each golfer's joint calculated by the first calculation step. It includes a second calculation step of calculating the contribution of the torque and the force generated by the golfer's movement during the swing to the head speed of the club for each golfer's joint. Hereinafter, the operations of the first calculation unit 13 and the second calculation unit 14 will be described in more detail.

First, the operation of the first calculation unit 13 will be described.

The first calculation unit 13 is roughly divided into kinematics calculation and kinematics calculation. The first calculation unit 13 calculates, for example, the posture / angular velocity / angular acceleration of the segment, the center of gravity position / center of gravity velocity / center of gravity acceleration, and the like as kinematics calculation. Further, the first calculation unit 13 calculates the joint torque of each joint of the golfer, the moment arm for calculating the equivalent torque (the vertical line connecting the rotation axis and the action line of the force), and the like as the kinetic calculation.

First, the kinematics calculation will be described. The first calculation unit 13 is necessary for inverse dynamics calculation based on the position coordinate data acquired by the first acquisition unit 11 or the operation data acquired by the third acquisition unit 16 and the existing rigid body link model. Calculate the marker coordinate position for calculation and the posture of each segment. Inverse dynamics calculation is a method of calculating the torque exerted by each joint in order to realize the motion obtained by the measurement. Next, the first calculation unit 13 creates a rigid body link model based on the calculated marker coordinate positions, and calculates the velocity / acceleration of each marker. Next, the first calculation unit 13 sets the Local coordinate system, and based on the calculated velocity / acceleration of each marker, the posture / angular velocity / of each segment in the rigid body link model representing the golfer's body in the Local coordinate system. Calculates angular acceleration, center of gravity position / center of gravity velocity / center of gravity acceleration, etc. In the present embodiment, the first calculation unit 13 uses the body partial inertia coefficient as necessary in each of the above-mentioned calculations.

Next, the kinetic calculation will be described. The first calculation unit 13 uses the inverse dynamics calculation based on the ground reaction force data acquired by the second acquisition unit 12 and the angular velocity of each segment calculated by the kinematics calculation, for each joint of the golfer. Calculate the joint torque of. The first calculation unit 13, for example, as shown in FIG. 3, includes a golfer's neck (Neck), right shoulder (R. shoulder), right elbow (R. elbow), right wrist (R. wrist), and left shoulder (R. wrist). L. shoulder, left elbow (L. elbow), left wrist (L. wrist), torso (Torso), right hip joint (R. hip), right knee (R. knee), right ankle (R. angle), The joint torques in the three axial directions (X-axis, Y-axis, Z-axis) are calculated for each of the left hip joint (L. hip), the left knee (L. knee), and the left ankle (L. angle). Further, the first calculation unit 13 calculates the ground reaction force generated by the golfer's swing based on the ground reaction force data. Further, the first calculation unit 13 calculates a moment arm for calculating the equivalent torque of the calculated torque.

The first calculation unit 13 outputs the kinematics calculation and the calculation result of the kinetics calculation to the second calculation unit 14.

Next, the operation of the second calculation unit 14 will be described.

The second calculation unit 14 solves the following equations (1) to (3).

The second calculation unit 14 calculates C ₁ , C ₂ , and h in the equations (2) and (3). Since these calculations are well known to those skilled in the art, detailed description thereof will be omitted.

When the mass M _head of the club head is multiplied on both sides of the formula (5), the following formula (6) is obtained.

The second calculation unit 14 calculates the contribution of each joint to the head speed of the club, for example, as shown in FIG. 4, on the body of the golfer displayed in the stick picture, at each time during the swing of the golfer. The contribution of each joint in the above can be superimposed and displayed on the display unit 15. In FIG. 4, the joints accelerating the head speed (joints making a positive contribution) are marked with diamonds, and the joints decelerating the head speed (joints making a negative contribution). Is marked with a circle. Further, in FIG. 4, the magnitude of the contribution of each joint is shown by the size of the mark attached to the joint. As shown in FIG. 4, by superimposing and displaying the contribution of each joint at each time during the swing on the golfer's body, it is easy to see what kind of contribution each joint makes at each stage of the swing. Can be grasped.

In addition, the second calculation unit 14 may calculate the ratio of the contribution of each joint of the golfer to the contribution of all the joints for which the contribution has been calculated. By doing so, the degree of contribution of each joint can be grasped in more detail.

Further, the second calculation unit 14 integrates the contribution of the joint (power acting on the head) to the head speed of the club from a specific posture (for example, the top posture) during the swing of the golfer. It is possible to calculate the cumulative value of the kinetic energy of the club head due to the joint from a specific posture. The cumulative contribution of a joint to head speed up to each time during the swing indicates the contribution of that joint to the kinetic energy of the club's head at each time. The second calculation unit 14 calculates the above-mentioned cumulative contribution for each joint. By doing so, it is possible to easily grasp how each joint contributes to the kinetic energy of the head of the club.

FIG. 5 is a diagram showing an example of displaying the cumulative value of the kinetic energy of the club head caused by each joint of the golfer by the second calculation unit 14. As shown in FIG. 5, the second calculation unit 14 calculates the cumulative value of the kinetic energy of the club head caused by the golfer's joint up to that time at each time during the swing for each joint of the golfer. It can be displayed on the display unit 15. The sum of the cumulative values of the kinetic energy of the club head caused by each joint at a certain time corresponds to the kinetic energy of the club head at that time.

In addition, the second calculation unit 14 calculates the ratio of the cumulative value of the kinetic energy of the club head caused by each joint of the golfer at a specific timing during the swing (for example, the timing of impact) for each joint. You may. By doing so, as shown in FIG. 5, the second calculation unit 14 is the ratio of each joint to the total kinetic energy of the club head at a specific timing during the swing (impact timing in FIG. 5). Can be displayed on the display unit 15.

Further, the second calculation unit 14 compares and compares the contribution of each joint to the club head speed calculated for the first swing and the contribution of each joint to the club head speed calculated for the second swing. The result may be output. That is, the second calculation unit 14 calculates the contribution of each joint to the head speed of the club for each of the plurality of swings, compares the contribution of each joint to the head speed of the club calculated for each swing, and compares the results. It may be output. By doing so, it is possible to extract the difference in contribution of each joint between swings and identify the factors that cause the difference in head speed.

For example, the second calculation unit 14 calculates the contribution of each joint to the head speed of the club for each of the two swings (first swing and second swing) by the same golfer. Then, the second calculation unit 14 changes the difference between the contribution of each joint to the head speed of the club calculated for the first swing and the contribution of each joint to the head speed of the club calculated for the second swing in time series. A point with a large difference may be extracted as a factor causing a difference in head speed.

Further, the second calculation unit 14 determines the difference between the contribution of each joint to the club head speed calculated for the first swing and the contribution of each joint to the club head speed calculated for the second swing in chronological order. An index indicating the degree of improvement of the golfer may be calculated. For example, the second calculation unit 14 swings as an index showing the degree of improvement of the golfer according to the degree of agreement of the contribution of each joint to the head speed of the club calculated for each of the first swing and the second swing. An index indicating the degree of stability of may be calculated. By doing so, it is possible to more effectively evaluate the degree of improvement of the golfer by a more objective index, which is a biomechanically calculated contribution of each joint to the head speed of the club.

Further, in the second calculation unit 14, the first swing is set as a swing by the golfer, the second swing is set as the target swing (for example, a swing by an advanced player), and the state of the golfer who has made the first swing is in the state of the golfer. An index indicating the degree may be calculated. That is, the second calculation unit 14 contributes each joint to the club head speed calculated for the first swing and for each joint to the club head speed calculated for the second swing (model swing). By comparing the difference with the contribution in chronological order, an index indicating the degree of improvement of the golfer who made the first swing may be calculated. For example, the second calculation unit 14 shows the degree of improvement of the golfer who made the first swing according to the degree of agreement of the contribution of each joint to the head speed of the club calculated for each of the first swing and the second swing. An index indicating the above may be calculated. By doing so, it is possible to more effectively evaluate the degree of improvement of the golfer by a more objective index, which is a biomechanically calculated contribution of each joint to the head speed of the club.

In addition, the second calculation unit 14 compares the contribution of the joint to the head speed of the club during a specific period during the swing (for example, the period from the top to the impact) among the plurality of swings, and the result of the comparison. May be output (may be displayed on the display unit 15). By doing so, it is possible to compare the contribution of each joint during a specific period during a swing among a plurality of swings.

Further, in the golf swing evaluation system 10 according to the present embodiment, the first calculation unit 13 calculates the kinematics calculation for each joint and the calculation result of the kinetics calculation, and the second calculation unit 14 determines the joint with respect to the head speed of the club. The contribution for each swing may be calculated for a plurality of swings, and the display unit 15 may display the calculation results for each swing in a comparable manner. That is, the first calculation unit 13 calculates the calculation results of the kinematics calculation and the kinetics calculation for each joint of the golfer for each of the plurality of swings, and the display unit 15 calculates the calculation results of the first calculation unit 13 for each of the plurality of swings. At least one of the calculation results for each joint of the golfer calculated by may be displayed in a comparable manner. Further, the display unit 15 may display the golfer's joint torque calculated by the first calculation unit 13 for each of the plurality of swings in a comparable manner. Further, the second calculation unit 14 calculates the contribution of the joint torque of each joint of the golfer and the force generated by the movement of the golfer during the swing to the head speed of the club for each of the plurality of swings for each joint of the golfer. , The display unit 15 may display the contribution of each joint of the golfer calculated by the second calculation unit 14 for each of the plurality of swings in a comparable manner. The display unit 15 may display the kinematics calculation results calculated for each of the plurality of swings by the first calculation unit 13 in a comparable manner.

For example, as shown in FIG. 6, the first calculation unit 13 superimposes the joint torque calculated by the first swing and the joint torque calculated by the second swing on each joint, and the display unit 15 It may be displayed in. By doing so, it is possible to easily grasp which joint has a large difference between the first swing and the second swing.

Further, the first calculation unit 13 calculates the coherence (correlation value) between the joint torque calculated for the first swing and the joint torque calculated for the second swing for each joint, and displays it on the display unit 15. You may. The first calculation unit 13 calculates coherence, for example, based on the following equation (8).

The first calculation unit 13 may calculate the coherence between the joint torque calculated for the first swing and the joint torque calculated for the second swing for each joint and display it on the display unit 15. FIG. 8 is a diagram showing a display example of coherence of joint torques (TorqueX, TorqueY, TorqueZ,) in the triaxial direction for each joint calculated for each of the first swing and the second swing. In FIG. 8, the right hip joint (Rhip), the right knee (Rknee), the right ankle (Rankle), the left hip joint (Lhip), the left knee (Lknee), the left ankle (Lankle), the torso (Trunk), and the right shoulder (Rshoulder). ), Right elbow (Relbow), right wrist (Rwrist), left shoulder (Lshoulder), left elbow (Lelbow), left wrist (Lwrist), the joint torque calculated for the first swing and the joint torque calculated for the second swing. It shows the coherence with the joint torque. By doing so, it is possible to easily grasp the joint having a large difference between the first swing and the second swing.

Further, the second calculation unit 14 may display the contribution of each joint to the head speed of the club calculated for each of the first swing and the second swing in a comparable manner on the display unit 15. For example, as shown in FIG. 9, the second calculation unit 14 displays the contribution of each joint to the head speed of the club calculated for each of the first swing and the second swing in chronological order as a stick picture. It may be superimposed on the body of the golfer and displayed on the display unit 15. As shown in FIG. 9, by displaying the contribution of each joint to the head speed of the club calculated for the first swing and the second swing side by side, for example, in the first swing, the club is displayed from the top position. The first swing and the second swing, in which the contribution from the lower half of the body is large until the swing-down impact, and in the second swing, the deceleration of the club by the shoulder joint is remarkable before the impact. The difference between the two can be easily grasped.

Further, the second calculation unit 14 relates to the cumulative value of the kinetic energy of the club head caused by each joint or the total kinetic energy of the club head calculated for each of the first swing and the second swing. The ratio of the cumulative value for each joint may be displayed on the display unit 15 in a comparable manner. For example, as shown in FIG. 10, the second calculation unit 14 determines the cumulative value of the kinetic energy of the club head caused by each joint calculated for the first swing and each joint calculated for the second swing. The cumulative value of the kinetic energy of the head of the club may be displayed side by side on the display unit 15. Further, as shown in FIG. 10, the second calculation unit 14 calculates the kinetic energy of the club head due to each joint calculated for the first swing at a specific timing during the swing (for example, the timing of impact). The ratio of the cumulative value of the cumulative value for each joint and the ratio of the cumulative value of the kinetic energy of the club head caused by each joint calculated for the second swing for each joint may be displayed side by side on the display unit 15.

The first swing and the second swing may be swings by the same golfer or swings by different golfers. If the first swing and the second swing are by different golfers, for example, the first swing is the swing by the golfer taking the lesson, and the second swing is the swing by the advanced player (target). Swing).

In the present embodiment, the golf swing evaluation system 10 has been described with reference to an example including the first calculation unit 13 and the second calculation unit 14, but the present invention is not limited thereto. When it is not necessary to calculate the contribution of the golfer's joint torque per joint and the force generated by the golfer's movement during the swing to the head speed of the club, the golf swing evaluation system 10 may be second. It is not necessary to provide the calculation unit 14 of.

As described above, the golf swing evaluation system 10 according to the present embodiment acquires the position coordinate data of the predetermined part of the golfer's body and the position coordinate data of the predetermined part of the club during the swing of the club by the golfer. Position coordinate data of a predetermined part of the golfer's body and a predetermined club acquired by the second acquisition unit 12 and the first acquisition unit 11 that acquire the ground reaction force data of the golfer during the swing and the unit 11. Based on the position coordinate data of the part, the ground reaction force data acquired by the second acquisition unit 12, and the rigid link model representing the human body as a plurality of rigid elements and joint elements connecting the rigid elements to each other. The calculation result for each joint of the golfer calculated for each of a plurality of swings by the first calculation unit 13 for calculating the kinematics calculation for each golfer's joint and the calculation result for the kinetics calculation, and the first calculation unit 13. A display unit for displaying at least one in a comparable manner is provided.

Further, the golf swing evaluation method according to the present embodiment includes a first acquisition step of acquiring position coordinate data of a predetermined part of the golfer's body and position coordinate data of a predetermined part of the club during the swing of the club by the golfer. The second acquisition step of acquiring the ground reaction force data of the golfer during the swing, and the position coordinate data of the predetermined part of the golfer's body and the position coordinate data of the predetermined part of the club acquired by the first acquisition step. , Kinematics for each golfer's joint based on the ground reaction force data acquired in the second acquisition step and the rigid link model representing the human body as a plurality of rigid elements and joint elements connecting the rigid elements to each other. Comparably display at least one of the calculation results for each joint of the golfer calculated for each of the plurality of swings by the first calculation step for calculating the calculation results of the calculation and the kinetics calculation. , Display steps and include.

Therefore, it is possible to easily compare the calculation results of the kinematics calculation and the kinetics calculation for each joint of the golfer between a plurality of swings.

The golf swing evaluation system and the golf swing evaluation method according to the present invention are not limited to the specific configurations shown in the above-described embodiment, and can be variously modified or modified as long as they do not deviate from the scope of claims.

10 Golf swing evaluation system 11 First acquisition unit (first acquisition means)
12 Second acquisition unit (second acquisition means)
13 First calculation unit (first calculation means)
14 Second calculation unit (second calculation means)
15 Display unit 16 Third acquisition unit (third acquisition means)
M01-M38 marker

Claims (6)

A golf swing evaluation system that evaluates the swing of a club by a golfer.
A first acquisition means for acquiring position coordinate data of a predetermined part of the body of the golfer and position coordinate data of a predetermined part of the club during the swing of the club by the golfer.
A second acquisition means for acquiring the ground reaction force data of the golfer during the swing, and
The position coordinate data of the predetermined part of the golfer's body and the position coordinate data of the predetermined part of the club acquired by the first acquisition means, and the joint element connecting the human body to a plurality of rigid body elements and the rigid body elements. A rigid body link model representing the golfer's body is created based on the existing rigid body link model represented by, and the calculation result of the kinematics calculation for each joint of the golfer is calculated based on the created rigid body link model. A first calculation means for calculating the calculation result of the kinetics calculation for each joint of the golfer based on the calculation result of the kinematics calculation and the ground reaction force data acquired by the second acquisition means.
The golf swing is characterized by comprising a display unit for comparablely displaying at least one of the calculation results for each joint of the golfer, which is calculated for each of the plurality of swings by the first calculation means. Rating system. In the golf swing evaluation system according to claim 1,
The calculation result for each joint of the golfer is a joint torque, which is a golf swing evaluation system. In the golf swing evaluation system according to claim 2,
The contribution of the joint torque for each joint of the golfer calculated by the first calculation means and the force generated by the movement of the golfer during the swing to the head speed of the club is calculated for each joint of the golfer. A golf swing evaluation system further comprising a second calculation means. It is a golf swing evaluation method that evaluates the swing of a club by a golfer.
The first acquisition step of acquiring the position coordinate data of a predetermined part of the body of the golfer and the position coordinate data of the predetermined part of the club during the swing of the club by the golfer.
The second acquisition step of acquiring the ground reaction force data of the golfer during the swing, and
The position coordinate data of the predetermined part of the body of the golfer and the position coordinate data of the predetermined part of the club acquired by the first acquisition step, and the joint element connecting the human body to a plurality of rigid body elements and the rigid body elements. A rigid body link model representing the body of the golfer is created based on the existing rigid body link model represented by, and the calculation result of the kinematics calculation for each joint of the golfer is calculated based on the created rigid body link model. Based on the calculation result of the kinematics calculation and the ground reaction force data acquired by the second acquisition step , the calculation result of the kinetics calculation for each joint of the golfer is calculated, and the first calculation step and
A golf swing evaluation comprising a display step for comparablely displaying at least one of the calculation results for each joint of the golfer calculated for each of the plurality of swings by the first calculation step. Method. In the golf swing evaluation method according to claim 4,
The calculation result for each joint of the golfer is a golf swing evaluation method which is a joint torque. In the golf swing evaluation method according to claim 5,
A second calculation step is further included in which the contribution of the calculated joint torque for each joint of the golfer and the force generated by the movement of the golfer during the swing to the head speed of the club is calculated for each joint of the golfer. , Golf swing evaluation method.

Images