WO1995005269A1 - Improvements relating to joint monitoring devices - Google Patents

Improvements relating to joint monitoring devices Download PDF

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Publication number
WO1995005269A1
WO1995005269A1 PCT/GB1994/001796 GB9401796W WO9505269A1 WO 1995005269 A1 WO1995005269 A1 WO 1995005269A1 GB 9401796 W GB9401796 W GB 9401796W WO 9505269 A1 WO9505269 A1 WO 9505269A1
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WO
WIPO (PCT)
Prior art keywords
joint
sensors
movement
monitoring device
sensor
Prior art date
Application number
PCT/GB1994/001796
Other languages
French (fr)
Inventor
Eric Frank Rhys Edwards
Original Assignee
Eric Frank Rhys Edwards
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Eric Frank Rhys Edwards filed Critical Eric Frank Rhys Edwards
Priority to AU73893/94A priority Critical patent/AU7389394A/en
Priority to GB9603347A priority patent/GB2297396A/en
Publication of WO1995005269A1 publication Critical patent/WO1995005269A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/02—Hand grip control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure

Definitions

  • a device for monitoring the movements of the joints of part of the body of a human or animal comprising a flexible garment designed to be a skin-tight fit on the body part and incorporating movement sensors attached to the garment at joint positions of the body part for registering the degree of movement of each such joint and for producing and transmitting signals representative of that degree of movement.
  • the signals transmitted by the movement sensors can then be used to control actuators on a robotic joint so that, with suitable actuators, a realistic mimicking movement of the robotic joint can be created.
  • the garment is designed to fit over the whole of those parts of the body which incorporate movable joints to be monitored.
  • the garment could be a complete body suit incorporating sensors at the positions of most or all of the main movable joints of the body.
  • the garment could comprise pairs of collars or strap members to be fitted about the body part to either side of the joint to be monitored, with the sensor connected between respective pairs of the collars or strap members. These pairs of collars or strap members could each be interlinked by an articulated rod having a pivot point which will correspond with the location of the joint to be monitored. This alternative arrangement allows a number of separate monitoring devices to be individually attached to a number of different joints to be monitored.
  • the sensors can be provided in pairs to be positioned at the flexion and extension sides of a linearly actuable joint. Sensors position at an angle across a joint can help to monitor rotational movements of the joint. This enables control signals to be transmitted to actuators on the robotic joint so as to mimic movement of the joint in various directions.
  • each sensor is linked in a Wheatstone bridge circuit to a similar sensor which will be situated near the joint but which will not be activated by the movement of the joint and is, therefore, passive.
  • passive sensors helps to eliminate the effects of environmental changes such as temperature, pressure and humidity.
  • the sensor outputs can be linked to a control unit which records the signals transmitted from the various sensors. These signal can then be stored in memory for later use and/or transmitted to a computerised animation program for illustrating realistic movements of an animated cartoon character on a screen.
  • the control unit can be linked to a slave system of joint actuators on an animated replica of the body of the human or animal or part thereof to enable movement of said body or part to be mimicked by the replica.
  • the control unit could be a device which feeds on the signals directly to the joint actuators on the replica such as through hard wiring, fibre optic cable or by a radio, ultrasound or other indirect transmission system.
  • the control unit could be a computer which stores the information from the sensors for immediate transmission to the slave system of joint actuators or for transmission to the slave system at some later time, as required.
  • control unit will incorporate a calibration system.
  • Firmware could limit the maximum and minimum extent of output signals, for example to exaggerate or reduce any replicated movement so as to create an unusual appearance of movement.
  • Temporary memory could store the signal parameters from various sensors, with an associated learning program, could tune all the sensed values into the same band, even though sensors with widely differing operational characteristics are used.
  • the sensors are ideally flexible linear sensors whose resistance changes as they extend and contract. Particularly suitable sensors for this purpose are those as described in U.S. Patent No. 5,095,756.
  • the joints actuators are advantageously of the type as described in U.S. Patent No. 5,218,280.
  • the invention may be performed in various ways and preferred embodiments will now be described, by way of example, with reference to the accompanying drawings, in which:- Figure 1 illustrates the design of a body suit of the invention enabling movement of joints of a human body to be monitored;
  • Figure 2 illustrates a mechanism of the invention for monitoring the movement of a knee joint
  • Figure 3 shows the design of a glove unit of the invention for monitoring the movement of a hand
  • Figure 4 is a diagram illustrating the interlinking of the monitoring devices illustrated in Figures 1 to 3 with actuators on a robotic slave unit.
  • Figure 1 is a diagrammatic illustration of a human body covered by a skin-tight suit 1 incorporating a number of linear sensors 2 at various joint positions on the body. As the joints move, the sensors will register the extent of movement and produce signals which can be transmitted for direct or subsequent control of joint actuators on an animated robotic replica of the human body, or on a computer controlled animated display.
  • the sensors will be positioned to the outside or the inside of the relevant joints but, ideally, there will be a sensor on each of the inside and outside positions.
  • FIG. 2 An alternative method of positioning movement sensors about a joint is shown in Figure 2.
  • an articulated rod 3 is fitted at the side of a knee joint 4 by means of adjustable location straps 5.
  • the pivot point 6 of the rod 3 corresponds with the pivot point of the knee joint 4.
  • a flexible linear sensor 7 is mounted across the pivot 6 to the two parts of the rod 3. As the knee is flexed, this sensor 7 will register the degree of movement and pass a signal to a circuit such as that shown in Figure 4.
  • a passive sensor 8 is fitted on a non-moving part of the system and is linked with the sensor 7 in a Wheatstone's Bridge circuit. This passive sensor 8 then enables the effect of environmental changes to be substantially eliminated.
  • a further movement sensor 9 is connected behind the pivot 6 (to the two parts of the rod 3) and is used to monitor the degree of extension of the limb about the knee joint 4.
  • Figure 3 shows a form of glove unit 10 which can be fitted over a hand. This incorporates movement sensors 2 at suitable positions to be able to monitor the movement of various knuckle joints of the hand. Ideally passive sensors 11 will also be provided on the glove 10 at positions where no joint movement is expected. Again these passive sensors 11 will be linked in a Wheatstone's Bridge circuit with relevant movement sensors 2 to enable environmental changes to be cancelled out substantially.
  • Signals from the movement sensors 2 on the sensor suit 1 or on the glove 10 can be transmitted to a computer data storage unit 12 via an analogue to digital converter 13 ( Figure 4) .
  • a computer control unit determines the operation of joint actuators on a slave unit 15 (which will comprise a robotic animated replica of a live body or part thereof).
  • the unit 14 can be instructed directly from the analogue to digital converter 13, or from the storage unit 12 at some later time as required.
  • Another possibility is to link the movement sensors on the sensor suit 1 directly to the slave unit 15 via a voltage comparator 16.
  • the movement of various joints of the body enclosed within the sensor suit 1 can be transmitted to operate corresponding joint actuators on the animated replica so as to create a movement in the replica which is very realistic of live movements of the human body.
  • the system can be used to control slave units in the form of puppets for live performance or for creating special animatronic effects for films.
  • This system would also be of advantage in industry in general for the remote handling of robotic automated systems particularly in environments which would be hostile for a human operator. Another possibility is the incorporation of the system in a rigid joint system into which the user would fit himself and his movements could then be used to control actuation of an arcade game. It would also be possible for the monitoring device to be used to check the performance of the wearer such as for the analysis of the motion of sportsmen or as a diagnostic aid for skill analysis or for medical conditions, gait analysis or body ergonomics. Animal versions of the suit can be used for training purposes.
  • the sensors can be designed so as to be operable in water or in a vacuum so that the sensor suit could be a pressurised version for use under water or in outer space.
  • sensors Whilst, for any particular joint, either a single or pair of sensors have been illustrated, it will be appreciated that more sensors can be used as necessary for a particular joint. For example, for a shoulder, multiple sensors could be used depending upon the required degree of accuracy. Two pairs of sensors might be used, for example, in a hip joint to monitor forward and backward movement as well as sideways left and right movement.
  • the senor itself may be displaced from the joint to be monitored but linked to an inextensible fibre (in the nature of a tendon) which passes over the joint.
  • the sensors can additionally be so placed as to sense muscle movements.
  • the sensor could be strapped over a muscle (either in a longitudinal or circumferential direction) so as to be receptive to expansions and contractions of those muscles.
  • This also provides the possibility of monitoring the movement of facial muscles, and perhaps replicating this in a puppet or animation. This would be particularly useful as a diagnostic tool for medical purposes in checking the effects of paralysis in stroke victims, for example, or as an aid in teaching dialects or languages.

Abstract

A skin-tight suit (1) covering a human body incorporates a number of linear sensors (2) at various joint positions on the body. As the joints move, the sensors will register the extent of movement and produce signals which can be transmitted for direct or subsequent control of joint actuators on an animated robotic replica of the human body, or to control an animated display on a computer screen. The sensors will be positioned to the outside or the inside (or both) of the relevant joints.

Description

"Improvements relating to Joint Monitoring Devices"
For the purpose of achieving realistic movement of robotic joints it would be advantageous to monitor the movement of live biological joints and to record the characteristics of that movement in such a way that the robotic joint could be instructed to move in a similar manner. Information concerning joint movements could also be used to control computerised animation of body movement. According to the present invention there is provided a device for monitoring the movements of the joints of part of the body of a human or animal and comprising a flexible garment designed to be a skin-tight fit on the body part and incorporating movement sensors attached to the garment at joint positions of the body part for registering the degree of movement of each such joint and for producing and transmitting signals representative of that degree of movement.
The signals transmitted by the movement sensors can then be used to control actuators on a robotic joint so that, with suitable actuators, a realistic mimicking movement of the robotic joint can be created.
In one preferred type of arrangement, the garment is designed to fit over the whole of those parts of the body which incorporate movable joints to be monitored. Indeed, the garment could be a complete body suit incorporating sensors at the positions of most or all of the main movable joints of the body. As an alternative, the garment could comprise pairs of collars or strap members to be fitted about the body part to either side of the joint to be monitored, with the sensor connected between respective pairs of the collars or strap members. These pairs of collars or strap members could each be interlinked by an articulated rod having a pivot point which will correspond with the location of the joint to be monitored. This alternative arrangement allows a number of separate monitoring devices to be individually attached to a number of different joints to be monitored.
The sensors can be provided in pairs to be positioned at the flexion and extension sides of a linearly actuable joint. Sensors position at an angle across a joint can help to monitor rotational movements of the joint. This enables control signals to be transmitted to actuators on the robotic joint so as to mimic movement of the joint in various directions. Preferably, each sensor is linked in a Wheatstone bridge circuit to a similar sensor which will be situated near the joint but which will not be activated by the movement of the joint and is, therefore, passive. The use of passive sensors helps to eliminate the effects of environmental changes such as temperature, pressure and humidity.
The sensor outputs can be linked to a control unit which records the signals transmitted from the various sensors. These signal can then be stored in memory for later use and/or transmitted to a computerised animation program for illustrating realistic movements of an animated cartoon character on a screen. Alternatively the control unit can be linked to a slave system of joint actuators on an animated replica of the body of the human or animal or part thereof to enable movement of said body or part to be mimicked by the replica. In its simplest form, the control unit could be a device which feeds on the signals directly to the joint actuators on the replica such as through hard wiring, fibre optic cable or by a radio, ultrasound or other indirect transmission system. As another possibility the control unit could be a computer which stores the information from the sensors for immediate transmission to the slave system of joint actuators or for transmission to the slave system at some later time, as required.
Ideally in any event the control unit will incorporate a calibration system. Firmware could limit the maximum and minimum extent of output signals, for example to exaggerate or reduce any replicated movement so as to create an unusual appearance of movement. Temporary memory could store the signal parameters from various sensors, with an associated learning program, could tune all the sensed values into the same band, even though sensors with widely differing operational characteristics are used.
The sensors are ideally flexible linear sensors whose resistance changes as they extend and contract. Particularly suitable sensors for this purpose are those as described in U.S. Patent No. 5,095,756. The joints actuators are advantageously of the type as described in U.S. Patent No. 5,218,280. The invention may be performed in various ways and preferred embodiments will now be described, by way of example, with reference to the accompanying drawings, in which:- Figure 1 illustrates the design of a body suit of the invention enabling movement of joints of a human body to be monitored;
Figure 2 illustrates a mechanism of the invention for monitoring the movement of a knee joint; Figure 3 shows the design of a glove unit of the invention for monitoring the movement of a hand; and
Figure 4 is a diagram illustrating the interlinking of the monitoring devices illustrated in Figures 1 to 3 with actuators on a robotic slave unit. Figure 1 is a diagrammatic illustration of a human body covered by a skin-tight suit 1 incorporating a number of linear sensors 2 at various joint positions on the body. As the joints move, the sensors will register the extent of movement and produce signals which can be transmitted for direct or subsequent control of joint actuators on an animated robotic replica of the human body, or on a computer controlled animated display. The sensors will be positioned to the outside or the inside of the relevant joints but, ideally, there will be a sensor on each of the inside and outside positions.
An alternative method of positioning movement sensors about a joint is shown in Figure 2. Here an articulated rod 3 is fitted at the side of a knee joint 4 by means of adjustable location straps 5. The pivot point 6 of the rod 3 corresponds with the pivot point of the knee joint 4. A flexible linear sensor 7 is mounted across the pivot 6 to the two parts of the rod 3. As the knee is flexed, this sensor 7 will register the degree of movement and pass a signal to a circuit such as that shown in Figure 4. A passive sensor 8 is fitted on a non-moving part of the system and is linked with the sensor 7 in a Wheatstone's Bridge circuit. This passive sensor 8 then enables the effect of environmental changes to be substantially eliminated. A further movement sensor 9 is connected behind the pivot 6 (to the two parts of the rod 3) and is used to monitor the degree of extension of the limb about the knee joint 4. Figure 3 shows a form of glove unit 10 which can be fitted over a hand. This incorporates movement sensors 2 at suitable positions to be able to monitor the movement of various knuckle joints of the hand. Ideally passive sensors 11 will also be provided on the glove 10 at positions where no joint movement is expected. Again these passive sensors 11 will be linked in a Wheatstone's Bridge circuit with relevant movement sensors 2 to enable environmental changes to be cancelled out substantially.
Signals from the movement sensors 2 on the sensor suit 1 or on the glove 10 (or the sensors 7 and 9 associated with a limb joint for an arrangement such as that shown in Figure 2) can be transmitted to a computer data storage unit 12 via an analogue to digital converter 13 (Figure 4) . A computer control unit determines the operation of joint actuators on a slave unit 15 (which will comprise a robotic animated replica of a live body or part thereof). The unit 14 can be instructed directly from the analogue to digital converter 13, or from the storage unit 12 at some later time as required. Another possibility is to link the movement sensors on the sensor suit 1 directly to the slave unit 15 via a voltage comparator 16. By means of this system the movement of various joints of the body enclosed within the sensor suit 1 can be transmitted to operate corresponding joint actuators on the animated replica so as to create a movement in the replica which is very realistic of live movements of the human body. Thus the system can be used to control slave units in the form of puppets for live performance or for creating special animatronic effects for films.
This system would also be of advantage in industry in general for the remote handling of robotic automated systems particularly in environments which would be hostile for a human operator. Another possibility is the incorporation of the system in a rigid joint system into which the user would fit himself and his movements could then be used to control actuation of an arcade game. It would also be possible for the monitoring device to be used to check the performance of the wearer such as for the analysis of the motion of sportsmen or as a diagnostic aid for skill analysis or for medical conditions, gait analysis or body ergonomics. Animal versions of the suit can be used for training purposes. The sensors can be designed so as to be operable in water or in a vacuum so that the sensor suit could be a pressurised version for use under water or in outer space. Whilst, for any particular joint, either a single or pair of sensors have been illustrated, it will be appreciated that more sensors can be used as necessary for a particular joint. For example, for a shoulder, multiple sensors could be used depending upon the required degree of accuracy. Two pairs of sensors might be used, for example, in a hip joint to monitor forward and backward movement as well as sideways left and right movement.
Where there are space constraints, or for other reasons, the sensor itself may be displaced from the joint to be monitored but linked to an inextensible fibre (in the nature of a tendon) which passes over the joint.
The sensors can additionally be so placed as to sense muscle movements. For example, the sensor could be strapped over a muscle (either in a longitudinal or circumferential direction) so as to be receptive to expansions and contractions of those muscles. This also provides the possibility of monitoring the movement of facial muscles, and perhaps replicating this in a puppet or animation. This would be particularly useful as a diagnostic tool for medical purposes in checking the effects of paralysis in stroke victims, for example, or as an aid in teaching dialects or languages.

Claims

1. A device for monitoring the movements of the joints of part of the body of a human or animal and comprising a flexible garment designed to be a skin-tight fit on the body part and incorporating movement sensors attached to the garment at joint positions of the body part for registering the degree of movement of each such joint and for producing and transmitting signals representative of that degree of movemen .
2. A monitoring device according to Claim 1, wherein the garment is designed to fit over the whole of those parts of the body which incorporate movable joints to be monitored.
3. A monitoring device according to Claim 1, wherein the garment comprises pairs of collars or strap members to be fitted about the body part to either side of the joint to be monitored, with the sensor connected between the respective pairs of collars or strap members.
4. A monitoring device according to Claim 3, wherein the pairs of collars or strap members are interlinked by an articulated rod having a pivot point which will correspond with the location of the joint to be monitored.
5. A monitoring device according to any one of Claims 1 to 4, wherein the sensors are provided in pairs to be positioned at the flexion and extension sides of a linearly actuable joint.
6. A monitoring device according to any one of Claims 1 to 5, wherein each sensor is linked in a Wheatstone bridge circuit to a similar sensor which will not be activated by the movement of the joint and is, therefore, passive.
7. A monitoring device according to any one of Claims 1 to 6, wherein the sensor outputs are linked to a control unit which records the signals transmitted from the various sensors.
8. A monitoring device according to Claim 7, wherein the control unit is linked to a slave system of joint actuators on an animated replica of the body of the human or animal or part thereof to enable movement of said body or part thereof to be mimicked by the replica.
9. A monitoring device according to Claim 8, wherein the sensors and the slave system are interlinked by hard wiring, fibre optic cable, or by a radio, ultrasound or other indirect transmission system.
10. A monitoring device according to any one of Claims 1 to 9, wherein the sensors are flexible linear sensors whose resistance changes as they extend and contract.
11. Any novel combination of features of a device for monitoring the movement of live biological joints substantially as herein described and illustrated in the accompanying drawings.
PCT/GB1994/001796 1993-08-16 1994-08-16 Improvements relating to joint monitoring devices WO1995005269A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU73893/94A AU7389394A (en) 1993-08-16 1994-08-16 Improvements relating to joint monitoring devices
GB9603347A GB2297396A (en) 1993-08-16 1994-08-16 Improvements relating to joint monitoring devices

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB939316997A GB9316997D0 (en) 1993-08-16 1993-08-16 Improvements relating to joint monitoring devices
GB9316997.7 1993-08-16

Publications (1)

Publication Number Publication Date
WO1995005269A1 true WO1995005269A1 (en) 1995-02-23

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GB (1) GB9316997D0 (en)
WO (1) WO1995005269A1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19517486A1 (en) * 1995-05-12 1996-11-14 Bayerische Motoren Werke Ag Apparatus for assembling front seats and doors to motor vehicle
DE19752612A1 (en) * 1997-11-27 1999-06-02 Helge Zwosta Method of manipulation of equipment and programs by control and manual functions of the hand-arm complex
GB2336890A (en) * 1998-01-14 1999-11-03 Ian Coker Remotely controlled robotic toy
WO2005067796A1 (en) * 2003-12-19 2005-07-28 Michael Rufer Elastic textile structures for sensing body movements

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1083025A (en) * 1963-11-01 1967-09-13 Wed Entpr Inc Improvements in or relating to animating apparatus
DE2221767A1 (en) * 1972-05-04 1973-11-15 Johann Prof Dr-I Kleinwaechter TEACHER-STUDENT EQUIPMENT FOR LEARNING PHYSICAL MOVEMENTS
GB2013617A (en) * 1978-02-01 1979-08-15 Zarudiansky A Remote handling device
US5095756A (en) * 1988-05-19 1992-03-17 Edwards Eric F R Linear movement sensors
US5143505A (en) * 1991-02-26 1992-09-01 Rutgers University Actuator system for providing force feedback to a dextrous master glove
US5218280A (en) * 1988-05-19 1993-06-08 Edwards Eric F R Movement actuators

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1083025A (en) * 1963-11-01 1967-09-13 Wed Entpr Inc Improvements in or relating to animating apparatus
DE2221767A1 (en) * 1972-05-04 1973-11-15 Johann Prof Dr-I Kleinwaechter TEACHER-STUDENT EQUIPMENT FOR LEARNING PHYSICAL MOVEMENTS
GB2013617A (en) * 1978-02-01 1979-08-15 Zarudiansky A Remote handling device
US5095756A (en) * 1988-05-19 1992-03-17 Edwards Eric F R Linear movement sensors
US5218280A (en) * 1988-05-19 1993-06-08 Edwards Eric F R Movement actuators
US5143505A (en) * 1991-02-26 1992-09-01 Rutgers University Actuator system for providing force feedback to a dextrous master glove

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
ENGLER: "ANTHROPOMORPHIC ROBOT HAND AND TEACHING GLOVE", NTIS TECH NOTES, vol. 2301, 1 February 1992 (1992-02-01), pages 81, XP000288255 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19517486A1 (en) * 1995-05-12 1996-11-14 Bayerische Motoren Werke Ag Apparatus for assembling front seats and doors to motor vehicle
DE19752612A1 (en) * 1997-11-27 1999-06-02 Helge Zwosta Method of manipulation of equipment and programs by control and manual functions of the hand-arm complex
GB2336890A (en) * 1998-01-14 1999-11-03 Ian Coker Remotely controlled robotic toy
WO2005067796A1 (en) * 2003-12-19 2005-07-28 Michael Rufer Elastic textile structures for sensing body movements

Also Published As

Publication number Publication date
GB9316997D0 (en) 1993-09-29
AU7389394A (en) 1995-03-14

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