TWI263488B - Method and device for measuring calorie consumption - Google Patents

Method and device for measuring calorie consumption Download PDF

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Publication number
TWI263488B
TWI263488B TW93129731A TW93129731A TWI263488B TW I263488 B TWI263488 B TW I263488B TW 93129731 A TW93129731 A TW 93129731A TW 93129731 A TW93129731 A TW 93129731A TW I263488 B TWI263488 B TW I263488B
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heart rate
measuring
rate
age
unit
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TW93129731A
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Chinese (zh)
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TW200610519A (en
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Jia-Jr Lin
Jr-Wei Jang
Rung-Shiuan Lin
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Jia-Jr Lin
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Abstract

The invention relates to a kind of calories consumption measuring method and device. The method includes a step of measuring or inputting a data of age, weight, Hrrest (heart rate rest), exercise heart rate, body fat rate, exercise time and an exercise time of a person. According to the data, calorie consumption is counted. The device includes a data entry unit and a measuring unit for measuring or key-in data of age, weight, Hrrest (heart rate rest), exercise heart rate, body fat rate and exercise time, an exercise timer, a CPU for counting calorie consumption and a display unit for displaying the counted calorie consumption according to above input data.

Description

1263488 九、發明說明: 【發明所屬之技術領域】 本發明係與量測器材有關,特別是指一種熱量消耗量 測方法及其裝置。 【先前技術】 处在某些制的運動H材上設置有熱量消耗的訊息顯示 力此7使用者在使用該運動器材的過程中,可瞭解運動 %的生理狀態以及所消耗的熱量數值。 10 15 大部分具有熱量消耗的訊息顯示功能的運動器材,均 ,考慮年齡、體重、時間三種因素,套用—般性原則(例如 ,、運動類型所雜的代謝當量MET範圍),料推估出使 用者所消耗的熱量。然,即使在相同的運動量下,每個人, 因本身的生理狀態的差異,所雜的熱量也有所差異。因 準材^ 【發明内容】 盆4發的在於提供一種熱量消耗量測方法及 準確的熱量消耗資訊。 、生“科’喊供較為 為達祕叙發明目的,本發明所提供之熱量消耗量 測方法包含有··量測武於λ Λ σ 、 以及體脂率’·量測運動二以' 安靜心率 出人員所雜的熱及運_間;根據前述計算 -4- 20 1263488 入單=發供之熱量消耗量測裝置,包含有-輸 率、安靜心率與運動Γ率供L輸;;與量測年齡、體重、體脂 -中央處理單元 物器’用以計算運動時間; 率:及運動時間等資料計算出-熱量值,以及一顯 不早兀,用以顯示該熱量值。 【實施方式】 》了詳細本發明之構造及_所在,紳以下之 〇較佳實施例並配合圖式說明如后: 本舍明的公式依據為··⑴運動熱量的消耗主要發生於 肌肉而肌肉佔大多數去脂重(fatfreemass,FFM)的比例。 ⑵身體活動所造成的熱量消耗(沖㈣㈤狀加办rdated energy expenditure)與 FFM 顯著相關(Goran et ai,i997)。(3) 15逐步回歸分析顯示可解釋非肥胖成人85 %安靜代 謝率(resting energy expenditure,REE)之變異程度(Illner et al5 2000)。據此以實驗求得FFM對熱量消耗的關係,並依照 運動強度的不同作圖,如圖一所示,5條曲線低位至高位分 別為運動強度(%V02max): 50 %、60 %、70 %、80 %、85 %, 2〇 FFM( kg)對應產熱率對應產熱率(kcal)的關係,FFM在此以 BIA(生物電阻法測得),而產熱率由攝氧量分析儀 (Metamax 3B,Germany)測得。 _5_ 1263488 曰請參閱第二圖所示,本發明一較佳實施例所提供之熱 量消耗量測方法,包含有下列步驟: 一、輸入或量測人員的年齡、體重、安靜心率與體脂 率等基本生理資料: 在發明人的實驗當中,發現使用者的年齡、體重、體 脂率與安靜心率是雜熱量的重要时伽㈣之一。使用 者在依循本發财法4測雜歸消鱗,必 =年齡、體重、體脂率與安靜心率以為後續量測步驟之 基礎。如果,依據本發所製造出的量測裝置,本 量測體重與體脂率的功能時,可由裝 ^ 據直接輪人,而不需纽輪人。 ^測到的數 二、量測運動心率以及運動時間·· 的心率,亦即 人員開始運動一段時間後,即測量人員 運動心率,以及運動時間。 、 15 二、由年齡、體重、體脂率、安靜心率、 及運動時間計算消耗的熱量·· 稍心率以 在取得前述之相關生理指標後(年齡、 運動心率以及運動昧m 叮嫌 體重、體脂率、 消耗之熱量運動㈣)’即可帶人公式,Μ算出人員所 四顯示消耗熱量的訊息·· :般的顯示器,例如:音訊顯語 等)現讯顯示器(顯示數字 ^息、蜂鳴器 示消耗熱量的訊息。 里録燈切),均可用來顯 至步驟五,即可使人 重複步驟___ 貝在運動的過程 -6- 1263488 中可了解所消耗的熱量。 本發明的量測方法中可具有 值, 明更加入了年齡、體重、 =㈣的,而且本發 等生理資料為計算的指標,因 及體脂率 法,相較於習用的計算法,可得到供之量測方 數據。 更為精確的消耗熱量的 15 一輸入單元10,供人員輸入年齡、體 基本生理資料,以及控制電源的啟閉,量二體脂率等 結束 =;=:;:,本以:同 一計時器30,用以計算運動時間。 率以及運動後之運動里I率’包括運動前之安靜心 一中央處理單元5〇,前述之各項資料(年齡 月:率、安靜心率、勒心率以及魏時間)輸人該中= 早几’可依據預設公式計算出·,叹各項資料與 -7- 20 1263488 控制訊號之處理中心。 一顯示單元60,用以顯示各項訊息(包含··前述之各項 資料、消耗熱量以及其他)。 、 一電源70,用以提供前述元件必要之能源。 在此要特別提出説明的是··本發明之熱量消耗量測壯 置中之量測單元,除心率量測外,更可提供體重量測與= 脂率量測之功能,因此,該輸入單元僅供人員輸入年齡: 而該量測單元可測量人員的心率(安靜心率與運動心率 重與體脂率。 ' ~ 151263488 IX. DESCRIPTION OF THE INVENTION: TECHNICAL FIELD OF THE INVENTION The present invention relates to measuring equipment, and more particularly to a method and apparatus for measuring heat consumption. [Prior Art] The message of the calorie consumption is set on the motion material H of some systems. In the process of using the exercise equipment, the user can understand the physiological state of the exercise and the amount of heat consumed. 10 15 Most of the sports equipment with information display function of calorie consumption, considering the three factors of age, weight and time, apply the general principle (for example, the metabolic equivalent MET range of the exercise type), and estimate The amount of heat consumed by the user. However, even under the same amount of exercise, each person has a different amount of heat due to differences in their physiological state. Because of the material ^ [Invention] The basin 4 is to provide a calorie consumption measurement method and accurate calorie consumption information. The "Ke" screaming is more for the purpose of the invention. The calorie consumption measurement method provided by the present invention includes the measurement of λ Λ σ and the body fat rate '·measurement exercise 2 to be quiet Heart rate out of the heat and transportation of the personnel; according to the above calculation -4- 20 1263488 into the single = supply of calorie consumption measuring device, including the rate of transmission, quiet heart rate and exercise rate for L;; and Measuring age, body weight, body fat - central processing unit 'for calculating exercise time; rate: and exercise time and other data to calculate - calorie value, and a display is not early, to display the calorie value. The structure and the details of the present invention are described in detail below, and the following preferred embodiments are described with reference to the following figures: The formula of Ben Sheming is based on (1) the consumption of calories mainly occurs in muscles and muscles. The proportion of most fat freemass (FFM). (2) The calorie expenditure caused by physical activity (rushed (four) and rdated energy expenditure) was significantly correlated with FFM (Goran et ai, i997). (3) 15 stepwise regression analysis Display can explain non-obese adults 85 The degree of variation in % resting metabolic rate (REE) (Illner et al 5 2000). Based on this, the relationship between FFM and calorie expenditure was obtained experimentally and plotted according to the difference in exercise intensity, as shown in Figure 1. The low to high position of the curve is the exercise intensity (%V02max): 50%, 60%, 70%, 80%, 85%, 2〇FFM(kg) corresponds to the heat production rate corresponding to the heat production rate (kcal), FFM Here, BIA (measured by bioelectrical resistance method), and the heat generation rate is measured by an oxygen uptake analyzer (Metamax 3B, Germany). _5_ 1263488 曰Please refer to the second figure, a preferred embodiment of the present invention The calorie consumption measurement method provided includes the following steps: 1. Basic physiological data such as age, weight, resting heart rate and body fat percentage of the input or measurement personnel: In the inventor's experiment, the user's age and weight were found. Body fat percentage and quiet heart rate are one of the important time consuming gamma (4). Users follow the method of this method of financing 4 to reduce the scale, must = age, weight, body fat rate and quiet heart rate as follow-up measurement steps The basis of this. If, according to this issue, The measuring device, when measuring the function of body weight and body fat rate, can be directly rotated by the person who installs the data, without the need for a new wheel. ^The measured number 2, the measured heart rate and the heart rate of the exercise time·· That is, after the person starts exercising for a period of time, the measured person's heart rate and exercise time are measured. 15 Second, the calories burned by age, weight, body fat rate, resting heart rate, and exercise time · · A little heart rate to obtain the aforementioned After the relevant physiological indicators (age, exercise heart rate, and exercise 昧m 叮 体重 体重 、 、 、 、 、 、 、 、 、 、 、 四 四 ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' For example, audio display, etc.) The current display (displays the digital information, the buzzer shows the message of calorie consumption. It can be used to display step 5, which can make people repeat the steps ___ shell in the process of movement -6- 1263488 to understand the heat consumed. The measuring method of the present invention may have a value, and the age, the body weight, and the (four) are added, and the physiological data such as the hair is a calculated index, and the body fat percentage method is compared with the conventional calculation method. The measured data is obtained. More accurate calorie consumption 15 an input unit 10, for the person to enter the age, body basic physiological data, as well as control the power supply opening and closing, the amount of body fat rate, etc. End =; =:;:, the original: the same timer 30, used to calculate the exercise time. The rate and the rate of exercise after exercise 'including the pre-exercise quiet heart - a central processing unit 5 〇, the above information (age month: rate, quiet heart rate, heart rate and Wei time) loses in the middle = early 'Can be calculated according to the preset formula, sigh the data and the processing center of the -7-20 1263488 control signal. A display unit 60 is configured to display various messages (including the aforementioned items, calories burned, and others). A power source 70 for providing the necessary energy for the aforementioned components. In particular, the measurement unit in the heat consumption measurement of the present invention can provide the function of body weight measurement and fat rate measurement, and therefore, the input is provided. The unit is for personnel input only age: and the measurement unit can measure the heart rate of the person (quiet heart rate and exercise heart rate and body fat rate. ' ~ 15

本發明之熱量消耗量測裝置的實施態樣舉例如下: 請參閱第四圖所示,本發明之熱量消耗量測裝置包乂 有一心跳量測帶90以及一手錶92,其中該手錶92X中 該輸入單兀、該儲存單元、該計時器、該中央處理單元上 及該顯示單元等。該心跳量測帶9〇環繞於人員的胸部,^ 中具有該㈣單it,用以量測心率,並利用—紅外線編 傳送器(未顯示)將心率訊號傳送至該手錶92。 ° § :先=等严,生理資料輸入該手錶92中,而“卿 帶90罝測安靜轉’並姻紅外線傳送至料錶%,然弟 開始運動’在過財,該心跳量測帶90可依控制或是自、貴 量測運動—’並_紅外線傳送至該手錶92,而手錶9 内的中央處理單场可計算出人㈣ · 於該手錶92之(未顯示)。 置於:跑所不,本發明之熱量消耗量測裝置可惠 置於一跑步機94上。兮始丰地„丄 鑌跑步機94具有一面板96,其中肩 -8- 20 1263488 儲存單元、該計時器、該中央處理單元 ”"^、属不早凡專。該跑步機94具有二扶手98,其上設有電 極片100,其為該量测單元的量測端子,用以量測人員的心 率^及體脂率。人負首先在該面板%上輪人年齡與體重, =著雙手握住扶手98上的電極片刚,即可測量人員 靜心率以及體脂率。然後人員可開始運動,當人員想知道 運動所雜的熱量時,雙手需握著扶手上98的電極片 10^’讓制量此時的運動^率,如此即可計算出所消耗的 熱量,並在面板96上的螢幕顯示。 相同原理’本發明之熱量消耗量測裝置可設置於踏步 機、腳踏車或其他運動器材上。 1263488 【圖式簡單說明】 第一圖係本發明在不同運動強度下FFM與產熱率的回 歸曲線及公式; 第二圖係本發明一較佳實施例之量測方法流程圖; 第三圖係本發明一較佳實施例之量測裝置方塊圖; 第四圖係本發明一較佳實施例之量測裝置設置於心跳 量測帶以及手錶之示意圖,以及 第五圖係本發明一較佳實施例之量測裝置設置於跑步 機上之示意圖。 10 【主要元件符號說明】 10輸入單元 20儲存單元 30計時器 40量測單元 50中央處理單元60顯示單元 70電源 90心跳量測帶 92手錶 94跑步機 96面板 98扶手 100電極片 15An embodiment of the calorie consumption measuring device of the present invention is as follows: Referring to the fourth figure, the calorie consumption measuring device of the present invention includes a heartbeat measuring tape 90 and a watch 92, wherein the watch 92X The input unit, the storage unit, the timer, the central processing unit, the display unit, and the like. The heartbeat measuring tape 9 is wrapped around the chest of the person, and the (4) single it is used to measure the heart rate, and the heart rate signal is transmitted to the watch 92 by using an infrared ray transmitter (not shown). ° §: First = equal, physiological data is entered into the watch 92, and "Qing belt 90 罝 安静 安静 ' ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” ” The motion can be measured according to control or self-measurement - 'and_ infrared transmission to the watch 92, and the central processing in the watch 9 can calculate the person (4) in the single field. · (not shown) on the watch 92. The heat consumption measuring device of the present invention can be placed on a treadmill 94. The starting treadmill 94 has a panel 96, wherein the shoulder -8-20 1263488 storage unit, the timer The central processing unit ""^ is not premised. The treadmill 94 has two armrests 98, and is provided with an electrode sheet 100, which is a measuring terminal of the measuring unit, for measuring personnel Heart rate ^ and body fat rate. The person first loses the age and weight of the person on the panel, = the hand holds the electrode piece on the armrest 98, and can measure the person's meditation rate and body fat rate. Then the person can start Exercise, when the person wants to know the heat of the exercise, the two hands need to hold the electrode piece on the armrest 98 10^' Let the current movement rate be calculated, so that the consumed heat can be calculated and displayed on the screen on the panel 96. The same principle 'The calorie consumption measuring device of the present invention can be set on a stepper, a bicycle or Other sports equipment. 1263488 [Simple description of the drawings] The first figure is the regression curve and formula of the FFM and the heat production rate of the present invention under different exercise intensities; the second figure is the flow of the measurement method according to a preferred embodiment of the present invention. FIG. 3 is a block diagram of a measuring device according to a preferred embodiment of the present invention; and FIG. 4 is a schematic view of a measuring device according to a preferred embodiment of the present invention, which is disposed on a heartbeat measuring tape and a watch, and a fifth drawing. A schematic diagram of a measuring device according to a preferred embodiment of the present invention disposed on a treadmill. 10 [Description of main component symbols] 10 input unit 20 storage unit 30 timer 40 measuring unit 50 central processing unit 60 display unit 70 power supply 90 Heartbeat measuring tape 92 watch 94 treadmill 96 panel 98 armrest 100 electrode sheet 15

Claims (1)

1263488 更上ii:本丨 .·、,-----_」 、申請專利範圍: 1. -種熱量消耗量測方法,包含有下列步驟: 量測或輸入人員的年齡、體曹、企 基本生理資料; 5切心率以及體脂率等 量測人員的運動心跳以及運動時間· 根據該年齡、重、該安靜心率、該體脂率、該運動 心跳以及該運動時間計算出人員所消耗的熱量值,以 顯示該熱量值。 去2豆:二申:專圍*1項所述之熱量消耗量測方 法,其中该女皆心率疋以量測的方式取得該年齡 以及該體鱗以人4人的料轉。 〆體重 甘士3.依據申請專利範圍第1項所述之熱量消耗量測方法, 八中该安靜心率以及該體脂率是 齡以及該體重是以人工輸入的方式取里^的方式取仔而该年 15 甘^ Ϊ據申請專利制第1項所述之熱量雜量測方法, °亥女好〜率、该體脂率以及該體重是以量測的方式取 件而該年齡是以人工輸入的方式取得。 5、依據申請專難_丨項所述之熱量絲量測方法, ” ^ 3有重複1測人員的運動心跳以及運動時間、 出人員所消耗的熱量值以及顯示該熱量值等步驟。。异 依據申請專利11圍第1項所述之熱量消耗量測方法, 本年齡、財、安·率錢動旨率等基 生里貝科储存以供下次量測使用。 種熱量消耗量測裝置,包含有·· 輸入單元以及一量測單元,供輸入與量測年 齡 20 1263488 重、體脂率、安靜心率與運動心率等生理資料; 一計時器,用以計算運動時間; 一中央處理單元,可依據該年齡、該體重、該體脂率、 該安靜心率、該運動心跳以及該運動時間等資料計算出一 5熱量值。 一顯示單元,用以顯示該熱量值,以及 一電源,用以提供前述元件必要之能源。 8. 依據申請專利範圍第7項所述之熱量消耗量測裝置, 其中該安靜心率是由量測單元取得而該年齡、該體重以及 10 該體脂率是由該輸入早元輸入取得。 9. 依據申請專利範圍第7項所述之熱量消耗量測裝置, 其中該安靜心率以及該體脂率是由量測單元取得而該年齡 以及該體重是由該輸入早元輸入取得。 10. 依據申請專利範圍第7項所述之熱量消耗量測裝 15置,其中該安靜心率、該體重以及該體脂率是由量測單元 取得而該年齡是由該輸入單元輸入取得。 11. 依據申請專利範圍第7項所述之熱量消耗量測裝 置,其中包含有一儲存單元,將該年齡、該體重、該體脂 率以及該安靜心率儲存,供下次量測時使用。 2〇 12.依據申請專利範圍第7項所述之熱量消耗量測裝 置,其中該輸入單元,更具有控制電源的啟閉,量測動作 之開始與結束,或是其他設定事項等輸入功能。 13.依據申請專利範圍第7項所述之熱量消耗量測裝 置,其中該熱量消耗量測裝置分別設於一心跳量測帶以及 12 手錶,其中該心跳量測帶ι 有該輪入單元兮斗口士 /、有邊更挪單元,竽丰# ώ 元。 计時器、該尹央處理單元以二Γ具 兀早兀以及該顯示單 r依據申請專利範圍第7 量測裝置,其十該量測單s或13項所述之熱量消耗 方式傳送至該中域理^所I咖的㈣^紅外線的 •依據申w專利圍第7項所述之熱量消耗量測裝 ,其中該消耗量測裝置可設置於—跑步機上,該跑步機 /、有—扶手,其上具有電極片,作為該量測單元之量測端 子1263488 More ii: 丨.·,,-----_", the scope of application for patents: 1. - A method of measuring calorie consumption, including the following steps: measuring or inputting the age of the person, body Cao, enterprise Basic physiological data; 5 heart rate and body fat rate, etc., exercise heartbeat and exercise time. According to the age, weight, the resting heart rate, the body fat rate, the exercise heart rate, and the exercise time, calculate the consumption of the person. The calorific value to display the calorie value. Go to 2 Beans: 2: The method of measuring calorie consumption as described in item 1. The heart rate of the woman is measured by means of measurement and the body scale is transferred by 4 people. 〆 Weight Gans 3. According to the calorie consumption measurement method described in item 1 of the patent application scope, the quiet heart rate and the body fat percentage are the ages and the body weight is taken by means of manual input. In the same year, according to the calorie measurement method described in item 1 of the patent application system, the rate of the body, the rate of the body fat, and the body weight are measured by means of measurement, and the age is Obtained by manual input. 5, according to the application of the special heat _ 丨 之 热量 热量 热量 热量 热量 热量 热量 热量 ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ ^ According to the calorie consumption measurement method described in the first item of Patent Application No. 11, the basal-born Ribeco, such as the age, finance, security, and rate of money, is stored for the next measurement. , including input unit and a measuring unit for inputting and measuring physiological data such as age 20 1263488 weight, body fat rate, resting heart rate and exercise heart rate; a timer for calculating exercise time; a central processing unit Calculating a heat value according to the age, the weight, the body fat rate, the resting heart rate, the exercise heart rate, and the exercise time, etc. A display unit for displaying the heat value and a power source The energy consumption measuring device according to claim 7, wherein the resting heart rate is obtained by the measuring unit and the age, the The weight and the body fat percentage are obtained by inputting the early energy input. 9. The calorie consumption measuring device according to claim 7, wherein the resting heart rate and the body fat rate are obtained by the measuring unit. The age and the weight are obtained by inputting the early input. 10. According to the calorie consumption measurement item described in item 7 of the patent application scope, wherein the resting heart rate, the body weight and the body fat rate are measured by The unit is obtained by the input unit. The calorie consumption measuring device according to claim 7 includes a storage unit, the age, the body weight, the body fat rate, and the Quiet heart rate storage for use in the next measurement. 2〇12. The calorie consumption measuring device according to item 7 of the patent application scope, wherein the input unit further has a control power supply opening and closing, the beginning of the measuring operation And the end function, or other setting items, etc. 13. The calorie consumption measuring device according to claim 7, wherein the calorie consumption measuring device is respectively disposed at A heartbeat measuring tape and 12 watches, wherein the heartbeat measuring tape ι has the wheeling unit 兮斗口士/, the side is more moving unit, 竽丰# ώ yuan. The timer, the Yinyang processing unit is two Γ 兀 兀 兀 兀 兀 兀 兀 兀 兀 兀 兀 兀 兀 兀 兀 兀 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据 依据According to the heat consumption measurement described in the seventh paragraph of the patent application, wherein the consumption measuring device can be disposed on a treadmill, the treadmill/, having an armrest having an electrode piece thereon as the Measuring terminal of measuring unit 1313
TW93129731A 2004-09-30 2004-09-30 Method and device for measuring calorie consumption TWI263488B (en)

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Cited By (4)

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US8376944B2 (en) 2008-02-28 2013-02-19 Shimano Inc. Caloric consumption measuring device, caloric consumption measuring method, and caloric consumption measurement preparation processing method
TWI395573B (en) * 2009-12-25 2013-05-11 Nat Univ Dong Hwa Calorie consumption assessment method
TWI407987B (en) * 2009-12-22 2013-09-11 Ind Tech Res Inst Sport guiding device and sport guiding method using the same
US8751144B2 (en) 2010-11-08 2014-06-10 Industrial Technology Research Institute Automatic navigation method and automatic navigation system

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TWI568415B (en) * 2014-03-11 2017-02-01 Personal activity state energy metabolism measurement method, wearable electronic Devices, and computer programs

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8376944B2 (en) 2008-02-28 2013-02-19 Shimano Inc. Caloric consumption measuring device, caloric consumption measuring method, and caloric consumption measurement preparation processing method
TWI414272B (en) * 2008-02-28 2013-11-11 Shimano Kk Consumption of heat measurement device, consumption of calorie determination method, and consumption of calorie determination with pre-treatment methods
TWI407987B (en) * 2009-12-22 2013-09-11 Ind Tech Res Inst Sport guiding device and sport guiding method using the same
US8662901B2 (en) 2009-12-22 2014-03-04 Industrial Technology Research Institute Sport guiding device and sport guiding method using the same
TWI395573B (en) * 2009-12-25 2013-05-11 Nat Univ Dong Hwa Calorie consumption assessment method
US8751144B2 (en) 2010-11-08 2014-06-10 Industrial Technology Research Institute Automatic navigation method and automatic navigation system

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