WO2005064271A1 - Procede de capture du mouvement d'un solide, utilisant une mesure absolue associee a une mesure par double integration - Google Patents
Procede de capture du mouvement d'un solide, utilisant une mesure absolue associee a une mesure par double integration Download PDFInfo
- Publication number
- WO2005064271A1 WO2005064271A1 PCT/FR2004/050729 FR2004050729W WO2005064271A1 WO 2005064271 A1 WO2005064271 A1 WO 2005064271A1 FR 2004050729 W FR2004050729 W FR 2004050729W WO 2005064271 A1 WO2005064271 A1 WO 2005064271A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- measurement
- solid
- translation
- movement
- rotation
- Prior art date
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1113—Local tracking of patients, e.g. in a hospital or private home
- A61B5/1114—Tracking parts of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1121—Determining geometric values, e.g. centre of rotation or angular range of movement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1126—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique
- A61B5/1127—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb using a particular sensing technique using markers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1071—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring angles, e.g. using goniometers
Definitions
- the present invention relates to a method 5 making it possible to measure - it is also said to capture (in English "sensible") - the movement of an object or, more precisely, of a solid, that is to say to measure the displacements of this solid. It will be recalled that any displacement of a solid decomposes into a translation and a rotation (but can be limited to a simple translation or to a simple rotation).
- the invention applies in particular to the capture of the movements of the human body. 15 It thus finds applications for example in the sports field, the medical field, the cinema, multimedia and augmented reality.
- the invention allows movement to be captured reliably and inexpensively, even in the case of rapid movement of a person.
- the invention completes the technique which is described in document [1] and which uses a device called an “attitude center”, comprising at least one angular position sensor (preferably at least one accelerometer and at least one magnetometer).
- the invention makes it possible to increase the performance of this technique, in particular in the case of rapid movements.
- various more or less efficient techniques are known for determining the displacement of a mobile object.
- the double integration method is known in particular from acceleration measurements carried out by means of one or more accelerometers. This double integration method is implemented in positioning systems called “inertial systems" and gives good results, even in the case of rapid movements or, more precisely, movements whose speed varies rapidly.
- the double integration of signals supplied by accelerometers is a source of positioning drift.
- the aim of the present invention is to remedy the drawbacks of the known methods for measuring the movement of a solid, which have been mentioned above, namely the absolute measurement method and the double integration method, in order to obtain a method which is not a source of drift in positioning and can be implemented to study movements whose speed varies rapidly.
- the dual integration method and the absolute measurement method are combined in order to readjust the measurements provided by the dual integration method, by means of the measurements provided by the absolute measurement method, these latter measurements being taken into account when the solid whose movement is measured slows down or, more precisely, when the speed of this solid varies slowly.
- the present invention relates to a method of measuring the movement of a solid, method in which one measures at least a first translation (first degree of freedom) of this solid, this method comprising a series of stages of measurement of the acceleration of the solid and double integration of the measurements thus carried out to obtain successive values of the first translation, this method being characterized in that it further comprises a series of steps of absolute measurement of at least a second degree of freedom of the solid, this second degree of freedom being a rotation, using at least one rotation sensor, and in that this measurement of rotation is transformed into a measurement of translation and this measurement of translation is used to readjust the first translation.
- the second degree of freedom measurement obtained at this stage can be used as an initial condition for obtaining, by double integration, the value of the first translation which follows the values previously obtained from this first translation.
- the steps of absolute measurement and the steps of measuring the acceleration of the solid can be simultaneous, each step of absolute measurement thus taking place at the same time as a step of measuring the acceleration of the solid.
- the transformation of the measurement of rotation into a measurement of translation uses kinetic models of the solid and / or of its movement, making it possible to establish relations between rotation and translation.
- the rotation sensor is preferably chosen from accelerometers and magnetometers (and the second degree of freedom is therefore measured at using at least one accelerometer and / or at least one accelerometer).
- the first translation is measured using a translation sensor which is also the rotation sensor.
- a translation sensor which is also the rotation sensor.
- the criterion of slowness of the movement can be the situation of a function of the standard of the acceleration of the solid below a predefined threshold.
- the inertial sensor consists of one or more accelerometers, the accuracy of which is as high as possible. It is optionally possible to use three accelerometers each having a sensitivity axis, the respective sensitivity axes being orthogonal two by two, or an accelerometer having three axes of orthogonal sensitivity two by two.
- the measurement process is then as follows.
- the solid translation data is calculated by a double integration of the signals supplied by the accelerometer (s) and the rotation data is calculated from the attitude unit.
- This attitude controller is capable of determining whether the movement in progress is fast or slow and therefore whether the values it supplies are exact or biased, for example by an evaluation of the absolute value of the amplitude of the measurements supplied by the or the accelerometers in the attitude station.
- the data from this central attitude is used to readjust the movement of the solid.
- the output signals from the accelerometer (s) (which are preferably of high precision) are integrated twice and thus provide a more exact response than that provided by the attitude station. It should be noted that this process does not cover the capture of movements in all its generality. However, it ideally covers the case of capturing the movements of the human body and, more generally, of the body of a vertebrate, or even of an assembly of mechanically articulated rigid segments.
- this method is also applicable when an a priori model of the movement of the solid is known, for example in the case of a ballistic movement.
- a priori model of the movement of the solid is known, for example in the case of a ballistic movement.
- a method according to the invention then consists in using the double integration in the phases where the movements of the body are rapid (these phases being generally short, because the body can only carry out periodic movements) and in switching to registration mode. whenever the acceleration of body movements becomes weak.
- Figure 1 is a schematic view of a device for implementing a method according to the invention.
- This device makes it possible to measure the movement of a solid 2 and comprises: - one or more accelerometers 4, - one or more accelerometers 6 and / or one or more magnetometers 8, and - electronic means 10 provided for storing and processing, in accordance in the invention, the information or signals supplied by the accelerometer (s) 4 and by the accelerometer (s) 6 and / or the magnetometer (s) 8, and for storing the results of the processing.
- the accelerometer (s) 4 as well as the accelerometer (s) 6 and / or the magnetometer (s) 8 are fixed to the solid 2 whose movement is to be measured.
- the electronic means 10 may or may not be integral with this solid 2.
- the electronic means 10 are therefore provided for implementing the invention by cooperating with the accelerometer (s) 4 and with the accelerometer (s) 6 and / or the magnetometer (s) 8. In particular, they cooperate with the magnetometer (s) 4 to implement a method of measurement by double integration and with the accelerometer (s) 6 and / or the magnetometer (s) 8 to implement an absolute measurement method.
- the reference 12 symbolizes an output from the electronic means 10, in which the results of the processing can be retrieved, for example with a view to displaying these results. Examples of the invention are considered in the following, in which angular data and accelerometric data are used jointly.
- the first example relates to a double permanent integration failed (in English "updated").
- Each measurement point is equipped with a set of sensors, comprising from 1 to 3 accelerometers and possibly from 1 to 3 magnetometers.
- three accelerometers are each used, each having an axis of sensitivity, they are advantageously arranged so that their respective axes of sensitivity form a triangular trihedron. It is the same when using three magnetometers each having an axis of sensitivity.
- the data acceleration are integrated twice permanently.
- the output signals obtained therefore result from this double integration.
- the latter is subject to drift, the amplitude of which depends on the quality of the accelerometer or accelerometers used.
- the data from the angular unit is acquired continuously in parallel.
- a quality index of these angular data is also calculated. It is a function of the standard
- This quality index is used as a criterion of slowness of the movement or, more precisely, of slowness of the variation in the speed of this movement. When the movement is sufficiently slow, which is determined for example by comparing this index to a predefined threshold and determining if the index is less than this threshold, then the angular data are used to calculate a position resulting from the movement of the solid studied.
- the second example which is described with reference to Figure 2, relates to a method known as the "variable lever arm".
- two rigid parts 14 and 16 are seen which are articulated by any appropriate means 18.
- the part 14, the part 16 and their articulation 18 are respectively an arm and the corresponding forearm and elbow .
- the forearm 16 is equipped with two assemblies 20 and 22 spaced from one another.
- Each set has one to three accelerometers and constitutes a measurement point. When it has three accelerometers, the latter are mounted so that their axes of sensitivity form a three-dimensional trihedron. At least one of the two measurement points 20 and 22 also includes three magnetometers, the axes of sensitivity of which form an advantageously trirectangle trihedron.
- the two sets 20 and 22 record different accelerations since the acceleration recorded by a set depends the distance from the latter to the center of rotation, namely the bend 18 in the example. The difference in accelerations is used to assess the acceleration component after eliminating the contribution of gravity.
- the estimate of this measurement is then used in the calculation of the angles of rotation (see document [1]) by being subtracted from the total acceleration, measured by one of the two sets, which is then provided with 6 sensors (three accelerometers and three magnetometers). This gives access to a measurement of the angles, which is freed from the disturbance due to rapid movement. All these calculations are done in electronic processing means 24 which receive the signals supplied by the sensors 20 and 22.
- the third example relates to the exploitation of a model of the movement. In this third example, we rely on the fact that certain movements are very limited as regards the number of degrees of freedom. For example, in the case of the human body, a thigh is almost limited to a single degree of freedom of rotation in the walking and running phases.
- the movement considered can be described by a single parameter, or even by a single value of this parameter.
- the maximum value of the measured acceleration thus makes it possible to know the entire rotation.
- the preceding considerations are based on physiological studies which establish such results.
- the process according to the invention, which is implemented in this third example, is then as follows. Knowing a starting position easily identifiable, because it is either a stopped position, or a reversal of rotation or translation, the maximum value of the standard of the acceleration vector is measured in the following phase, by means of three sensors whose axes of sensitivity form a trirectangle trihedron, until we identify and we know a new characteristic step. We use all of these data to extract the parameter necessary to qualify the entire movement. This step is no longer carried out in real time, since it requires knowing the whole movement, but with a (slight) delay.
- the algorithm is as follows: (a) we take as the movement state the state calculated at the previous step (position, speed, acceleration), (b) we deduce the measurement values expected at the output of the sensors, (c) using a conventional mathematical optimization technique (for example the gradient descent method or more recent analogous methods), the initial state values of the movement are corrected, and (d) we return to step (a) until the estimated values at the output of the sensors are sufficiently close to the actual measured values.
- a we take as the movement state the state calculated at the previous step (position, speed, acceleration), (b) we deduce the measurement values expected at the output of the sensors, (c) using a conventional mathematical optimization technique (for example the gradient descent method or more recent analogous methods), the initial state values of the movement are corrected, and (d) we return to step (a) until the estimated values at the output of the sensors are sufficiently close to the actual measured values.
- a conventional mathematical optimization technique for example the gradient descent method or more recent analogous methods
- FIG. 3 This example is schematically illustrated in FIG. 3. It is limited to the arm in the following but generalizable to the whole of the body.
- the references 26, 28, 30, 32 and 34 respectively represent the shoulder, the arm, the elbow, the forearm and the hand.
- the initial and final positions of the hand have the references 36 and 38 respectively.
- the movement of the hand which performs a vertical translation of amplitude D, results in a rotation of angle around the elbow and possibly, depending on the amplitude of the translation, by another rotation around the shoulder. Instead of measuring D directly, we can therefore measure ⁇ . Knowing the length r of the forearm, we deduce the amplitude D of the translation.
- This technique according to the invention has the advantage of only being based on measurements absolute: it is therefore free from drifts.
- this technique uses, among other things, one or more accelerometers (attached to the forearm but not shown) to measure the angle ⁇ .
- accelerometers Attached to the forearm but not shown
- the accelerometer (s) additionally measure the acceleration resulting from such a movement, so that the angle measurement is distorted.
- a technique known from document [1] partially solves this problem. It consists in reducing the contribution of the accelerometer (s) in favor of the magnetometer (s) in the calculation of the angle (s). But this technique is only partially effective and depends on the movement performed.
- a technique proposed in the present invention is capable of supplementing the previous one and is not limited by the type of movement allowed.
- the displacement of the sensor is calculated by double integration, taking as a starting point the state of the mobile solid (the arm in the example) at the start of the rapid phase, we simultaneously correct any possible drift, by merging the agnometric data, and as soon as the movement slows down, we return to absolute mode.
- the fusion of magnetometric data consists in using, in conjunction with double integration, an estimate of rapid movement using only magnetometers. The latter technique has been described above (reducing the contribution of the accelerometer (s) in favor of the magnetometer (s) in the calculation of the angle (s)).
- double integration provides in theory the complete movement, but it is subject to drift.
- magnetometers provide a partial estimate (excluding rotations around the axis of the earth's field) but not subject to drift.
- a possible fusion consists in estimating the movement from the double integration, in deducing therefrom estimated magnetic measurements, and in using the difference between the latter and the real magnetic measurements to correct the motion estimated by a technique of “gradient descent” type. ".
- a fusion algorithm can be implemented between the double integration method and the absolute measurement method, by passing from one to the other not discontinuously but gradually, gradually decreasing the absolute contribution of accelerometers and in gradually increasing the influence of double integration when the movement accelerates, and vice versa during the deceleration phase.
- the state of the mobile is estimated (position, speed, acceleration) from the last known state and the double integration of high precision accelerometers.
- the estimated movement is corrected by applying a "gradient descent" type method.
- the correction in question is parameterized: it is all the more important the slower the movement, the criterion being for example the ratio of the norm of the vector acceleration to the norm of g, ratio which was mentioned above.
- the criterion being for example the ratio of the norm of the vector acceleration to the norm of g, ratio which was mentioned above.
- the invention has all the advantages of the technique which is described in document [1]: it can be implemented inexpensively, it does not require any external equipment, such as magnetic sources or cameras, and it can be implemented with robust algorithms. In addition, the invention leads to reliable measurements even in the case of rapid movements.
- the present invention can be implemented with an attitude unit whose angular precision is less than or equal to 1 ° and with accelerometers at least 10 bits (advantageously from 14 to 16 bits). It is specified that the criterion of "slowness of the movement", which we mentioned above, is a function of the precision that we want to obtain on the movement.
- An object of the invention being to separate the acceleration of the solid from the acceleration of gravity, as long as the standard of the acceleration of the solid remains below - Il g II (little different from lm / s 2 ), the movement will be considered slow and the process will lead to acceptable accuracy.
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Abstract
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Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006544530A JP2007515637A (ja) | 2003-12-22 | 2004-12-20 | 二重積分によって計算された測定に関連した絶対位置測定を使用することにより固体の移動を検出するための方法 |
EP04816578A EP1714112A1 (fr) | 2003-12-22 | 2004-12-20 | Procede de capture du mouvement d'un solide, utilisant une mesure absolue associee a une mesure par double integration |
US10/582,764 US7460975B2 (en) | 2003-12-22 | 2004-12-20 | Method of sensing the motion of a solid, using an absolute measurement that is associated with a measurement calculated by double integration |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0351167 | 2003-12-22 | ||
FR0351167A FR2864225B1 (fr) | 2003-12-22 | 2003-12-22 | Procede de mesure du mouvement d'un solide, utilisant une mesure absolue associee a une mesure par double integration |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005064271A1 true WO2005064271A1 (fr) | 2005-07-14 |
Family
ID=34630618
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/FR2004/050729 WO2005064271A1 (fr) | 2003-12-22 | 2004-12-20 | Procede de capture du mouvement d'un solide, utilisant une mesure absolue associee a une mesure par double integration |
Country Status (5)
Country | Link |
---|---|
US (1) | US7460975B2 (fr) |
EP (1) | EP1714112A1 (fr) |
JP (1) | JP2007515637A (fr) |
FR (1) | FR2864225B1 (fr) |
WO (1) | WO2005064271A1 (fr) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2864225B1 (fr) | 2003-12-22 | 2006-07-21 | Commissariat Energie Atomique | Procede de mesure du mouvement d'un solide, utilisant une mesure absolue associee a une mesure par double integration |
FR2895500B1 (fr) * | 2005-12-23 | 2008-03-28 | Commissariat Energie Atomique | Procede d'estimation d'un mouvement d'un solide. |
WO2009132712A1 (fr) * | 2008-04-30 | 2009-11-05 | Movea Sa | Dispositif de detection d'evenement de percussion, et systeme mobile associe. |
GB2574074B (en) | 2018-07-27 | 2020-05-20 | Mclaren Applied Tech Ltd | Time synchronisation |
GB2588236B (en) | 2019-10-18 | 2024-03-20 | Mclaren Applied Ltd | Gyroscope bias estimation |
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US4119212A (en) * | 1977-07-18 | 1978-10-10 | Western Electric Company, Inc. | Monitoring the location of a robot hand |
EP0655301A1 (fr) * | 1993-11-15 | 1995-05-31 | Asea Brown Boveri Ab | Procédé et dispositif d'étalonnage des axes de mouvement d'un robot industriel |
US5645077A (en) * | 1994-06-16 | 1997-07-08 | Massachusetts Institute Of Technology | Inertial orientation tracker apparatus having automatic drift compensation for tracking human head and other similarly sized body |
US5819206A (en) * | 1994-01-21 | 1998-10-06 | Crossbow Technology, Inc. | Method and apparatus for determining position and orientation of a moveable object using accelerometers |
US20030028340A1 (en) * | 2001-06-26 | 2003-02-06 | Etienne Brunstein | Hybrid inertial navigation method and device |
FR2838185A1 (fr) * | 2002-04-05 | 2003-10-10 | Commissariat Energie Atomique | Dispositif de capture des mouvements de rotation d'un solide |
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JPS63315909A (ja) * | 1987-06-19 | 1988-12-23 | Fujitsu Ltd | 慣性航法装置 |
JP2894872B2 (ja) * | 1991-06-28 | 1999-05-24 | 日本電気ホームエレクトロニクス株式会社 | ナビケ゛ーション装置 |
JPH0755513A (ja) * | 1993-08-19 | 1995-03-03 | Canon Inc | 位置管理装置 |
JPH07295736A (ja) * | 1994-04-25 | 1995-11-10 | Sony Corp | 3次元位置検出装置 |
JPH08285621A (ja) * | 1995-04-14 | 1996-11-01 | Omron Corp | ナビゲーション装置 |
JPH09189564A (ja) * | 1996-01-11 | 1997-07-22 | Matsushita Electric Ind Co Ltd | 移動体位置速度算出装置 |
JPH09257461A (ja) * | 1996-03-18 | 1997-10-03 | Ricoh Co Ltd | 3次元座標測定装置 |
US20030047002A1 (en) * | 1998-10-28 | 2003-03-13 | Steven W. Arms | Mems based angular accelerometer |
US6728632B2 (en) * | 2001-08-30 | 2004-04-27 | Ericsson Inc. | Navigation devices, systems, and methods for determining location, position, and/or orientation information based on movement data generated by a movement detector |
DE60139881D1 (de) * | 2001-11-13 | 2009-10-22 | Nokia Corp | Verfahren, Vorrichtung und System zur Kalibrierung von Winkelratenmesssensoren |
FR2847689B1 (fr) | 2002-11-27 | 2005-01-21 | Commissariat Energie Atomique | Procede et dispositif de capture du mouvement d'un solide, utilisant au moins une camera et un capteur angulaire |
FR2860700B1 (fr) | 2003-10-10 | 2005-12-09 | Commissariat Energie Atomique | Dispositif de controle de foulee |
FR2864225B1 (fr) | 2003-12-22 | 2006-07-21 | Commissariat Energie Atomique | Procede de mesure du mouvement d'un solide, utilisant une mesure absolue associee a une mesure par double integration |
FR2897680B1 (fr) * | 2006-02-17 | 2008-12-05 | Commissariat Energie Atomique | Dispositif de capture de mouvement et procede associe |
-
2003
- 2003-12-22 FR FR0351167A patent/FR2864225B1/fr not_active Expired - Lifetime
-
2004
- 2004-12-20 WO PCT/FR2004/050729 patent/WO2005064271A1/fr not_active Application Discontinuation
- 2004-12-20 EP EP04816578A patent/EP1714112A1/fr not_active Ceased
- 2004-12-20 JP JP2006544530A patent/JP2007515637A/ja active Pending
- 2004-12-20 US US10/582,764 patent/US7460975B2/en active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4119212A (en) * | 1977-07-18 | 1978-10-10 | Western Electric Company, Inc. | Monitoring the location of a robot hand |
EP0655301A1 (fr) * | 1993-11-15 | 1995-05-31 | Asea Brown Boveri Ab | Procédé et dispositif d'étalonnage des axes de mouvement d'un robot industriel |
US5819206A (en) * | 1994-01-21 | 1998-10-06 | Crossbow Technology, Inc. | Method and apparatus for determining position and orientation of a moveable object using accelerometers |
US5645077A (en) * | 1994-06-16 | 1997-07-08 | Massachusetts Institute Of Technology | Inertial orientation tracker apparatus having automatic drift compensation for tracking human head and other similarly sized body |
US20030028340A1 (en) * | 2001-06-26 | 2003-02-06 | Etienne Brunstein | Hybrid inertial navigation method and device |
FR2838185A1 (fr) * | 2002-04-05 | 2003-10-10 | Commissariat Energie Atomique | Dispositif de capture des mouvements de rotation d'un solide |
Also Published As
Publication number | Publication date |
---|---|
EP1714112A1 (fr) | 2006-10-25 |
US7460975B2 (en) | 2008-12-02 |
FR2864225B1 (fr) | 2006-07-21 |
US20070163343A1 (en) | 2007-07-19 |
FR2864225A1 (fr) | 2005-06-24 |
JP2007515637A (ja) | 2007-06-14 |
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