WO2006014459A2 - Procede et systeme d'analyse du swing et d'entrainement au swing pour des putters - Google Patents

Procede et systeme d'analyse du swing et d'entrainement au swing pour des putters Download PDF

Info

Publication number
WO2006014459A2
WO2006014459A2 PCT/US2005/023892 US2005023892W WO2006014459A2 WO 2006014459 A2 WO2006014459 A2 WO 2006014459A2 US 2005023892 W US2005023892 W US 2005023892W WO 2006014459 A2 WO2006014459 A2 WO 2006014459A2
Authority
WO
WIPO (PCT)
Prior art keywords
stroke
golfer
club
golf
epc
Prior art date
Application number
PCT/US2005/023892
Other languages
English (en)
Other versions
WO2006014459A3 (fr
Inventor
Eric A. Cassady
Richard D. Eyestone
John A. Farrington, Jr.
Alessandro U. Gabbi
Nathan J. Hood
John H. Lupher
Original Assignee
Smartswing, Inc.
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 Smartswing, Inc. filed Critical Smartswing, Inc.
Priority to PCT/US2005/023892 priority Critical patent/WO2006014459A2/fr
Publication of WO2006014459A2 publication Critical patent/WO2006014459A2/fr
Publication of WO2006014459A3 publication Critical patent/WO2006014459A3/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B60/00—Details or accessories of golf clubs, bats, rackets or the like
    • A63B60/42—Devices for measuring, verifying, correcting or customising the inherent characteristics of golf clubs, bats, rackets or the like, e.g. measuring the maximum torque a batting shaft can withstand
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B15/00—Clubs for gymnastics or the like, e.g. for swinging exercises
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
    • A63B24/0006—Computerised comparison for qualitative assessment of motion sequences or the course of a movement
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0021—Tracking a path or terminating locations
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B60/00—Details or accessories of golf clubs, bats, rackets or the like
    • A63B60/46—Measurement devices associated with golf clubs, bats, rackets or the like for measuring physical parameters relating to sporting activity, e.g. baseball bats with impact indicators or bracelets for measuring the golf swing
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/36—Training appliances or apparatus for special sports for golf
    • A63B69/3617—Striking surfaces with impact indicating means, e.g. markers
    • A63B69/362—Striking surfaces with impact indicating means, e.g. markers electrical or electronic
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/36—Training appliances or apparatus for special sports for golf
    • A63B69/3676—Training appliances or apparatus for special sports for golf for putting
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
    • A63B24/0006—Computerised comparison for qualitative assessment of motion sequences or the course of a movement
    • A63B2024/0012—Comparing movements or motion sequences with a registered reference
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0021—Tracking a path or terminating locations
    • A63B2024/0037—Tracking a path or terminating locations on a target surface or at impact on the ground
    • A63B2024/0043—Systems for locating the point of impact on a specific surface
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0021—Tracking a path or terminating locations
    • A63B2024/0056—Tracking a path or terminating locations for statistical or strategic analysis
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/0002—Training appliances or apparatus for special sports for baseball
    • A63B2069/0004—Training appliances or apparatus for special sports for baseball specially adapted for particular training aspects
    • A63B2069/0008—Training appliances or apparatus for special sports for baseball specially adapted for particular training aspects for batting
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A63B2071/0625—Emitting sound, noise or music
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • A63B2071/0625—Emitting sound, noise or music
    • A63B2071/0627—Emitting sound, noise or music when used improperly, e.g. by giving a warning
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B2071/0647—Visualisation of executed movements
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2102/00—Application of clubs, bats, rackets or the like to the sporting activity ; particular sports involving the use of balls and clubs, bats, rackets, or the like
    • A63B2102/02—Tennis
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2102/00—Application of clubs, bats, rackets or the like to the sporting activity ; particular sports involving the use of balls and clubs, bats, rackets, or the like
    • A63B2102/20—Cricket
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2102/00—Application of clubs, bats, rackets or the like to the sporting activity ; particular sports involving the use of balls and clubs, bats, rackets, or the like
    • A63B2102/22—Field hockey
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2102/00—Application of clubs, bats, rackets or the like to the sporting activity ; particular sports involving the use of balls and clubs, bats, rackets, or the like
    • A63B2102/34—Polo
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/30—Speed
    • A63B2220/34—Angular speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/40—Acceleration
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/51—Force
    • A63B2220/53—Force of an impact, e.g. blow or punch
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/62—Time or time measurement used for time reference, time stamp, master time or clock signal
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/64—Frequency, e.g. of vibration oscillation
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
    • A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
    • A63B2225/20—Miscellaneous features of sport apparatus, devices or equipment with means for remote communication, e.g. internet or the like
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
    • A63B2225/50—Wireless data transmission, e.g. by radio transmitters or telemetry
    • A63B2225/54—Transponders, e.g. RFID
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B59/00—Bats, rackets, or the like, not covered by groups A63B49/00 - A63B57/00
    • A63B59/60—Bats, rackets, or the like, not covered by groups A63B49/00 - A63B57/00 of mallet type, e.g. for croquet or polo

Definitions

  • This disclosure pertains generally to a sports training system and, more particularly, to a method and system for measuring and modeling sports instrument inertial motion sensing signals an intelligent sports club, bat or racquet that takes quantitative measurements of a swing for real-time feedback and subsequent analysis and display.
  • the consistency of the putter stroke is an important consideration. The ability always to always the same stroke, at the same speed is difficult to achieve. At impact with the golf ball, the 'face' of the putter may be square to the target line. The ability consistently to strike the golf ball on the 'sweet spot' of the putter is also important. The tempo of the putter stroke is important to ensure a consistent relationship between the length of the backstroke and club head speed at impact. The ability to roll the ball a specific distance, under varying green conditions, is key to being a consistent and successful putter. This ability is often referred to as the golfer's 'touch' with the golf ball.
  • the putter may always be accelerating at impact with the golf ball.
  • FIGURE 1 shows selected aspects of an instrumented golf club system which may use the disclosed subject matter
  • FIGURE 2 shows a partially exploded view of an instrument golf club (IGC) which may incorporate an inertial measurement unit (IMU) consistent with the teachings of the disclosed subject matter;
  • IGC instrument golf club
  • IMU inertial measurement unit
  • FIGURE 3 shows a partially cut-away view of an IGC depicting a printed circuit board (PCB) capable of containing the circuitry and instructions for one embodiment of the disclosed subject matter;
  • FIGURE 4 shows an exploded view of the top portion of the IGC grip;
  • FIGURE 5 shows three views of an IMU incorporating the claimed subject matter. DETAILED DESCRIPTION OF THE FIGURES
  • FIGURE 1 shows selected aspects of an instrumented golf training system 10, which may use the disclosed subject matter.
  • instrumented golf training system 10 processes measured golf club swing data 12 on computer 14.
  • a player may control computer 14 using keyboard 16 to communicate with instrumented golf IGC 18 and achieve a highly interactive process that may be formed and may operate as here disclosed.
  • An alternative embodiment of the present invention may be used as a golf training aid, a club fitting tool and an add-on module to standard golf putters.
  • This embodiment is an instrumented golf putting system consisting of a standard golf putter with either a steel or graphite shaft and a standard putter head, a modified golf club grip, a circuit board that is inserted into the distal (butt) end of the shaft, a mounting system for the circuit board, embedded software in the club mounted circuit board, a means of communication to a standard computational platform, a standard computational platform such as a PC and analytical, control and display software for the PC.
  • the invention can be thought of as being comprised of the three major components, a software application, a golf putter containing electronic circuitry and a uni-directional RF device.
  • the circuitry and embedded software in the club are sufficient to track, calculate and store information regarding the trajectory, position, velocity, and acceleration in three-dimensional space of the golf putter during one or more strokes.
  • the circuitry also generates real ⁇ time audio or tactile feedback/response to the user during the course of the stroke. Multiple strokes may be stored on the putter and subsequently downloaded to the software application via a wireless or physical connection.
  • the software application executes on a personal computer and enables the user to review the downloaded strokes independently or with respect to a known good golf putting stroke, defined as a reference stroke". Furthermore, the software application analyzes the downloaded strokes and provides advice to assist the user in stroke improvement.
  • the uni-directional RF device is used as an alignment aid.
  • the putter is composed of a standard putter head, a standard shaft, and a modified grip.
  • the grip has been modified to include a mounting system for the circuitry and a protective end cap.
  • the circuitry is mounted and encapsulated within the shaft at the distal end of the shaft. All components are contained within approximately the last 7" of the distal end of the shaft. Furthermore, by keeping the weight of all components, mounts, and encapsulant below 2 ounces, the putting experience of the electronic putting club ("EPC”) will not differ materially from that of a standard putter.
  • EPC electronic putting club
  • Within the distal end of the shaft Micro-Electro-Mechanical Systems (MEMS) accelerometers and gyroscopes are mounted in an orthogonal configuration.
  • MEMS Micro-Electro-Mechanical Systems
  • the MEMS components are coupled with supporting signal acquisition, memory, passive and processing components to calculate the motion and position of the club during the putting stroke.
  • the circuitry includes onboard memory sufficient to store multiple strokes. Furthermore, onboard components support system power, system recharge, and data exchange with the software application.
  • a small LED indicator is located adjacent to the switch for display of on/off/low battery/error system statuses.
  • the putter contains components required to give audible or tactile feedback to the user during the course of a stroke.
  • the EPC looks, feels, sounds and performs like a standard putter when the circuitry is in the powered-down state and the protective cap is in place on the distal end of the club.
  • the embedded software which is stored on the putter resident circuit board, calculates what are acceptable, virtual 'stroke rails' and 'stroke stops' for the user.
  • the 'stroke rails' are parallel, virtual planes that are perpendicular to the earth's surface.
  • the 'stroke rails' are set by the user some increment wider than the face of the putter in use to enable practicing their stroke and receiving real-time feedback when the stroke contacts a virtual 'stroke rail'.
  • the virtual 'stroke stops' are perpendicular to the 'stroke rails' and are settable by the user to enable practicing strokes of a given length and receiving real- time feedback on the same. If the putter head 'breaks' either of the 'stroke rails', then feedback is provided to the user instantaneously. A stroke is said to 'break' a 'stroke rail' if any part of the club leaves the zone defined by two virtual planes during the backstroke or the following downstroke. Similarly, instant, real ⁇ time feedback will be given to the user if the putter head breaks any 'virtual stop' more than a settable amount. This instant, corrective feedback is a significant improvement over prior art. The real-time feedback allows the user to note when their stroke breaks these virtual 'rails' and 'stops' and immediately make corrective adjustments in subsequent swings.
  • a small set of the SmartSwing PC software application provides functionality to the user for adjusting application parameter settings and golf putter parameter settings.
  • the primary function of the SmartSwing desktop application is the review and analysis of strokes recorded by the EPC and to enable a much better quality practice environment.
  • the logical organization of the application initially focuses the golfer's efforts on learning to stroke the putter within the 'stroke rails' and 'stroke stops'. Next, the golfer is encouraged to work on alignment skills, utilizing the uni-directional RF device on a practice green.
  • This portion of the PC application focuses on applying the improved putting stroke learned by practicing with the 'virtual rails' and 'virtual stops'. Impact analysis is employed to analyze how consistently the golfer is able to stroke the ball with the center or 'sweet spot' of the putter face.
  • the PC software enables the golfer to practice, virtually anywhere, under a variety of simulated conditions.
  • the application allows the user to review and critique strokes by providing three-dimensional stroke visualization and playback features. Furthermore, the application can overlay a user's stroke with a previously stored stroke or with a known good reference stroke. An example of a 'reference stroke' could be the stroke of any of today's PGA or LPGA professionals. A user's performance improvement over time can be analyzed by overlaying multiple strokes or by charting any of the measured or calculated variables. In addition, the application provides information regarding a large number of variables associated with the golf stroke
  • [0030] + enable a golfer to gam insight that has not been previously possible into their own stroke by providing the golfer access to information that enables the golfer to undei stand how his/her stroke differs from a known, good 'reference stroke',
  • [0031] + provide an instrumented golf putter that looks, feels, sounds, and is of similar weight and behavior as a normal golf putter for day-to-day use
  • [0032] + provide a system that is capable of being used to provide sufficient data on any golfer's stioke to be used for fitting putters specifically to each individual golfer,
  • [0034] + provide a user with a practice environment m which a wide variety of conditions associated with a putting a golf ball can be successfully simulated m order to help the golfer apply their putting skills
  • the EPC will have a wide range of functionality At its simplest level it will emulate, with greater flexibility and usability, simple mechanical devices m wide use today At its most sophisticated level it will enable a golfer to simulate putting on a green of infinite size and speed [0037] Because many terms will be used throughout this paper, this section will attempt to accuiately define the terms to be used, m order to minimize confusion
  • Stroke-Stroke is used to define the 'mmiswing' taken by the golfer when putting
  • Tempo-Tempo refers to the rhythm that the golfer uses to strike each putt. Just as the speed at which different people walk or talk, so does the speed at which one putts a golf ball.
  • Alignment- Alignment refers to the relationship of the putter face to the target line. When correctly aligned the face of the putter will be perpendicular to the target line.
  • Reading a Green-This refers to the golfer's ability to study the contours of a 'non- flat' putting surface and make a determination of where and at what speed to stroke the ball in order to make the putt.
  • a 'pager-sized' remote transceiver with the ability to receive data in real-time. This device would need voice synthesizer capabilities an earpiece additional memory and other capabilities and features.
  • a uni-directional RF device /with a low physical profile, to be used as an alignment tool is a uni-directional RF device /with a low physical profile, to be used as an alignment tool.
  • the EPC would use a set of 'real-time' tools to provide 'real-time' feedback to him/her on the path of the club head and the length of the backswing. It is worth noting that the intent of most golfers is to swing the putter, like a pendulum and to stroke the ball vs. hitting the ball.
  • the EPC may be used anywhere to hone the golfer is putting stroke.
  • These 'virtual rails' roughly correspond to the 'swing planes' in our full swing clubs. The golfer will need to be able to set these 'virtual rails' at some distance apart from each other. This can be best thought of as the distance from the toe and heel of the putter. For example, if the putter a golfer is using is 3" wide, and the golfer wanted a 1" margin of error on each side of the putter, then these 'virtual rails' would be 5" apart and 1" from each side of the putter. These rails would work as follows.
  • the tone that a golfer hears should be a 'relative tone' that increases or decreases in volume as the stroke varies.
  • An increase in tone volume would occur as the stroke drifted away from the 'perfect stroke' and a corresponding decrease in volume should occur as the stroke moves back toward the midpoint of our 'virtual rails'.
  • 'Virtual Stops' would be employed to provide the golfer feedback on the length of the backstroke. The golfer would be able to define the length of the backstroke that they want to work on. In other words, this would be a 'settable parameter 1 . Further, each distance that the golfer is working on is actually a set of 'virtual stops'. The first of the 'virtual stops' would be at the desired distance. The second of the 'virtual stops' would be set at default distance, perhaps 1 ", further from the ball. This distance also needs to be a 'settable parameter'.
  • 'Re-play' mode will require some additional hardware and software capabilities, as described in the previous hardware section. 'Re-play' mode takes place on a practice green where the golfer can easily and safely set-up devices to achieve an excellent practice situation. Use would be as follows.
  • the 'simulation mode' of the EPC would be comparable to the Touring edition of the full swing club.
  • 'Simulation mode' like 'practice mode' is purely a practice exercise and may be set-up and used anywhere space permits.
  • the golfer would set-up, as follows.
  • the 'pager size' device would provide immediate feedback about both the distance of the putt from the hole and the direction of the miss. For example, feedback might be "Alignment good, 16 inches past the hole, miss right by 4 inches".
  • Each club would arrive with two sets of 'packaged drills' all ready set-up in the club, for use in 'practice mode' [00138] The first of these would be to have a set of 'virtual rails' and 'virtual stops' set at 3" increments, starting at 3" and progressing up to 36". The second of these is nearly the same except with the stops set in 6" increments, starting at 6" and progressing up to 36".
  • a set-up window will be required to enable the golfer to more effectively practice. At least two methods of set-up seem obvious. In the first method the golfer would define the length of backswing they wish to practice (lor more such lengths, or either pre-packaged set of drills) and the number of iterations they wish to make at each length. In the second scenario the golfer would identify the length of putt they wish to practice and identify a club whose 'greens' they wish to putt on. SmartSwing would need to refer back to our mini-data base of green speeds by golf course.
  • the EPC lends itself to collecting and analyzing performance improvement in a variety of manners, providing the golfer with real and accurate feedback on the progress they are making through time. Some of these are as follows. [00143] 1. Stroke improvement. Measure and track the average deviation from a 'perfect stroke' from practice session to practice session.
  • the basic display would have the following characteristics.
  • Stroke analysis display [00159] a. A visual display of both stroke path and stroke length vs. the 'perfect stroke'.
  • [00162] a. Classic X v. Y graph of grip pressure vs. time with demarcation for address position, end of the backstroke, impact and end of the stroke. [00163] 3. A result pattern display.
  • the electronic putting device is a golf learning system that helps a golfer quickly to learn how to become a better putter.
  • the EPC provides golfers with instant feedback and records stroke movements for more in-depth analysis later.
  • An accompanying desktop application allows golfers to perform further analysis of their performance and to adjust settings on the EPC itself.
  • the training aid is built into a commercial, off-the-shelf golf putter and designed with all electronics hardware and embedded software fitting into the handle (shaft grip area) of the golf club.
  • the EPC may be designed to provide instant, audible feedback to the golfer, and may include an alignment device that may be either RF or optical as well as a wireless connection to a personal computer via a wireless protocol.
  • a "batch” means a group of strokes, either downloaded together from the club or saved manually by the golfer.
  • a “rail” means a small virtual plane that helps the golfer improve his stroke path.
  • a “stop” is a small virtual window that is positioned perpendicular to the virtual rails, both behind and in front of the ball location. The stops are used to help the golfer make strokes of precise lengths.
  • a “rail tolerance” means a space between the putter heel or toe and the virtual rail.
  • a “touch” relates to the ability to roll a golf ball a specified distance on a green of differing conditions.
  • a “hot point” means the four or five important points in the putting stroke
  • a “hot spot” relates to the concept of using an indicator, for any type of golf swing or stroke, to indicate a spot that a teaching professional wants a golfer to either avoid or hit with each swing or stroke.
  • the EPC will enable golfers to break the stroke down into its component parts so that he can perfect each component. Having gained a comfort level with the component movements of the club, the golfer can then integrate them into a complete, smooth, consistent, repeatable putting stroke. [00208] This is accomplished by having the putter operate in five 'modes'. These are the
  • Alignment Mode the golfer goes through his pre-shot routine and sets up to the ball, checking his alignment with the Alignment Device.
  • the golfer is in practice mode, he is working on perfecting the mechanics of making a good putt. These are a consistent, repeatable stroke path, a square putter face at impact and striking the ball on the sweet spot of the putter Practice Mode.
  • replay mode the golfer is actually on a green and begins to focus his efforts on learning touch, in addition to continued work on proper mechanics.
  • Replay Mode In Simulation Mode, the golfer works on putting everything together plus begins to learn how to modify their stroke based on green conditions, such as speed and slope.
  • On Course mode the golfer is using the putter out on the course, recording strokes for later download and play back using visualization software.
  • the EPC includes positioning electronics and intelligence embedded in the putter itself. This enables us to provide the golfer with instant feedback on every stroke relative to a known, excellent stroke. Combined with personal computer based software, The EPC offers a powerful solution to break the frustrating cycle of long hours of practice with little or no improvement.
  • EPCs "know" where they are in three-dimensional space and where they are relative to a known, excellent reference stroke. This enables the EPC to provide the golfer with instant feedback when his or her stroke has strayed from the reference stroke. Stroke data is also captured in memory and may be downloaded, played back for study and intensively analyzed by our personal computer -based software. EPCs are not just passive training devices. You can putt with them on the practice green and put them in your bag to play with every day.
  • the EPCs goal is to provide avid golfers with a system that will rapidly improve their golf game through instant feedback and use of analytical tools.
  • the EPC is the first that can record stroke movement while simultaneously providing audible feedback. It is also the first device to provide golfers with a comprehensive analytical tool that may be used at home, enabling the golfer to work on his game away from the course.
  • the key audience for the product is the avid golfer and top teaching pros, the product has the potential to reach a variety of additional markets: the beginner, the local teaching pro, the touring golf pro, etc.
  • the present embodiment provides a relative frame of reference to keep the putting stroke "on line" during the back stroke and the down stroke.
  • the disclosed subject matter also provides a way of getting immediate feedback w/out a golf professional or trainer.
  • the disclosed subject matter also avoids the need for videotaping every stroke on the course since there is here provided a frame of reference. As such, it is possible to visualize what the body and club do as an integrated whole. Improvement comes rapidly and frequently and learning is enjoyable.
  • the EPC enables golfers to practice putting strokes while receiving instant feedback and recording their performance.
  • golfers can connect the EPC to a personal computer, transfer data, and begin using desktop software that supports a more detailed analysis of each stroke.
  • EPC electronic circuitry
  • the EPC provides the typical end golfer with four main functions. First, the EPC sensing and communications electronics is embedded in normal golf club. Accordingly, the golfer practices his stroke using a putter that looks, feels, sounds, and performs like any other good-quality putter, yet gets training feedback unavailable from any other club.
  • the golfer also receives immediate feedback from the EPC.
  • the data storage and transfer functions allow the golfer to record up to/at least 50 strokes from a practice session at the practice green, or anywhere else, without any change to his/her normal golfing behavior, either in a practice environment or on the course; then the golfer can connect the EPC to a personal computer and download his practice session.
  • the disclosed subject matter includes personal computer software provides the typical end golfer with two main functions of data transfer and stroke comparison/analysis.
  • the data transfer allows the golfer quickly to download the data from a practice session to view it in the personal computer application as a "batch" and can upload device and personal characteristics.
  • stroke comparison and analysis the golfer can view his stroke using a three-dimensional model to superimpose "his" model over that of a known good reference stroke.
  • the golfer can manipulate the video by replaying, looping, viewing in aggregate, etc. so that he may better study his performance. For the putter, reference strokes are most useful when measuring and comparing tempo.
  • the software are installed on personal computer computers running Windows 2000,
  • the disclosed subject matter provides a sampling frequency sufficient to capture changes in motion; initial estimates put this at 500-1000 Hz while avoiding integration drift and not requiring a large memory footprint of each stroke.
  • the EPC provides the ability to estimate initial inclination around all three axes to calculate the stroke accurately.
  • the memory may store 50+ strokes, at a data transfer rate of 72.5 K per second.
  • the EPC may include sufficient battery power to last 1-1.5 hours of constant use, e.g., for practice green use, while providing 6 hours of periodic use, e.g., for golf course use.
  • the EPC is constructed to withstand storage within an automobile. Golfers typically keep clubs in their automobile for long periods to be prepared for unforeseen golfing opportunities.
  • the EPC preferably withstands jostling and bumping experienced by clubs in a trunk and is able to withstand storage across the temperature ranges experienced in an automobile.
  • the disclosed subject provides a "good stroke" path by creating two virtual rails in space. As such, the EPC good stroke path passes between these virtual rails. Since there are many different putting styles, the club and the application may provide feedback with any style. These include the following putting styles. With pendulum style putting, the golfer attempts to take the putter 'straight back & straight through'. In other words, the center of the putter would correspond exactly with the target line and never vary from it at any point in the stroke.
  • a "good stroke" tempo presents the concept of a metronome.
  • the stop of the back stroke may correspond to one tick of the metronome, and the completion of the forward stroke may correspond with the next. This speed may remain unchanged regardless of the length of back stroke and forward stroke.
  • each different golfer will have his own specific cadence. These typically range from 60 beats/minute to 102 beats/minute.
  • the EPC records the following segments: (1) from address to the end of the back stroke, (2) from the start of the down stroke to impact, and (3) from impact to the end of the follow through.
  • the present embodiment keeps all three of these statistics, thus enabling further research and for new metrics for putting tempo.
  • the present embodiment makes no assumptions about a golfer's stance, posture, etc.
  • the present embodiment When not using an alignment device, the present embodiment also assumes that the golfer aligns the putter face correctly.
  • the key assumption is that the golfer has a relatively normal address position.
  • the present embodiment is indifferent between a right-handed golfer and a left-handed golfer.
  • Golfers preferably sense no difference between a good-quality putter and the EPC. It preferably feels the same when held, both in weight, grip type, and performance.
  • the physical hardware that may be added to the exterior of the EPC in order for it to function may be placed so that they do not interfere with the activity of stroking a golf ball with the putter.
  • the EPC electronics fits in the top 150mm of the shaft of a standard steel or graphite golf club.
  • the inner diameter of a standard shaft is approximately 12.7 mm at the top of the shaft.
  • EPC electronic circuitry weighs less than 2 ounces, including encapsulate, because this weight will not affect the golfer's ability to make a normal putting stroke.
  • the EPC is resistant to shock and vibration as experienced by normal golf clubs.
  • shocks include striking the ball, striking the ground, accidentally dropping the club on a hard surface, and bumping against other clubs in the golf bag during transport.
  • the sensors may be functionally capable for five (5) years.
  • the EPC electronic circuitry is immobile within the club shaft such that any shock absorbing material preferably provides the appropriate "give” to prevent data inaccuracy in low frequency acceleration measurement.
  • the shock absorbing material preferably resists high frequency transmission of vibration and impact (for example, a sharp strike to the butt end of the club), and does not interfere with accuracy of sensors during normal operation.
  • Internally generated heat preferably does not force the EPC to reach temperatures over the specified tolerances of included components and encapsulant.
  • the method of mounting and encapsulating the circuitry in the club may include a mechanism for pressure equalization between the air volume in the shaft and the outside atmosphere.
  • Allowing for air pressure equalization makes the club robust to non-pressurized airplane cargo holds and to pressure variations caused by temperature and altitude shifts.
  • a thin tube may be inserted to connect the inner shaft air chamber with the outside atmosphere. If necessary, a small hole may be drilled in the shaft immediately below the EPC.
  • the mechanical design preferably protects the exposed device components (switches, personal computer connection, etc.) from environmental factors including moisture and dirt. The design may also mitigate impact from golfers dropping the club into the bottom of the golf bag (like a removable rubber stopper or the like).
  • the club preferably uses a standard consumer or lightweight grip and may be formed both graphite and steel shafts (nearly 100% of putters use steel shafts.)
  • the club preferably performs the same as a club without instrumentation, with the final weight being preferably no more than 2 oz heavier than a comparable club without circuitry.
  • the club preferably delivers the same sound during ball impact as a comparable club without circuitry.
  • Temperature ranges of club storage and operation to allow golfer to treat the club like a standard golf club without circuitry. Although golfers will not play golf in these temperature ranges, these ranges are conceivable storage conditions in an automobile trunk.
  • the club may be able to withstand storage and operation across a temperature range of an upper temperature of 16O 0 F (i.e., approximately the temperature of closed-car heating conditions) and a lower temperature of 0 0 F (i.e., a lowest recorded continental US temp is -69.7°F)
  • a golfer may flag a stroke directly after stroking the golf ball.
  • the golfer will use this flag to identify noteworthy strokes when viewing their stroke batch using the software.
  • the ability to flag a stroke are necessary when the golfer is practicing on a real green, playing on the course, or when performing one of the pre-defined drills.
  • the present embodiment makes no semantic association with a tagged stroke.
  • the golfer can flag any stroke in any mode. It is up to the golfer to remember why the stroke was tagged. This "semantic-less flagging" is something up for discussion in future present embodiments.
  • An encapsulant, or mechanical system may be identified that will act as a shock absorber to mitigate the effects of ball impact and other jarring shocks. Accelerometers and gyroscopes contain moving parts and are vulnerable to physical shocks during manufacturing, device storage, and device usage.
  • Golfers may selectively turn on and off the EPC and preferably are able to see when the EPC is on, sleeping, and off.
  • the EPC manages power and after a period of inactivity may automatically turn off.
  • Golfers preferably are able to recharge batteries, and ideally may know when batteries are becoming low.
  • a switch or some other method may be available for turning device on and off. If a switch is utilized, it may be positioned at the butt of the club handle. The switch may be very small, as long as it may be easily actuated using a golf tee or object of similar dimensions.
  • Indicators may include an On/sleep/off status that is visible to the golfer, and overall system status (Error or Low Power) that may be communicated in some manner. Audible alerts are an acceptable alternative to an LED.
  • An error indicator may be triggered when 10% continuous battery usage remains.
  • EPC may be automatically power down after 1 minute of inactivity and the EPC may include sleep/wake mode or other routines if necessary for power management.
  • a method of recharging the EPC may be available. If this is a physical connector, it may be positioned at the butt of the club. Recharge also may be available, for example, from a car, wall unit, etc. Battery life may be sufficient to handle either the s of a practice green using 50+ strokes over 1.5 hrs or a full round of golf with 50+ strokes in groups of five or six over six hrs. [00241] Small amount of handle area greatly limits options for indicators. The present embodiment needs to be very careful to make device communication clear to the average golfer.
  • golfers Upon purchase of the disclosed system, golfers preferably are able to connect the EPC to the personal computer running the disclosed application and transfer data from the personal computer application to the onboard application. This data will include the golfer's personal measurements, calibration information and the results of golfer defined putting drills. At any time, the golfer may be able to update the EPC with upgrades to the firmware or modified personal or calibration data.
  • golfers may connect the EPC to the personal computer running the disclosed application and transfer data from the EPC to the personal computer application, and upon completion, erase the data that was just transferred from the EPC memory. During use of the EPC in Simulation Mode, data transfer may occur immediately following the 'end of stroke'.
  • the EPC preferably supports two-way data transfer with a personal computer, including synchronization of information and hardware management between the personal computer and the EPC, and stroke data transfer from the EPC to the personal computer.
  • Swing data transfer includes transferring swing data from the golf club to the computer. Synchronization of information may be able to complete necessary communications between the golf club and the desktop software to coordinate sharing of sensor-, club- and golfer-specific calibration information, as well as the results of the golfer- defined drills.
  • Sensor characteristics Given the plan specified in the data capture requirements, it may not be necessary to transfer any data associated with sensor characteristics to the desktop application.
  • Club characteristics include the ability to transfer fixed club characteristics from the software to the EPC.
  • Fixed data points include, shaft length, Hosel/lie angle, IMU position offset, serial number (preferably indicating type of club, date and location of manufacture, hardware revision number, and other data), and width of the widest part of the putter head (this permits determination of where to situate the rails.)
  • the present embodiment includes offsets from where the shaft connects to the putter head to the locations including the sweet spot, the putter toe, and the putter heel. This information may be used as input for drawing the putter head appropriately, determining the quality of the impact point, and determining where to put the rails. Transfer occurs on initialization of golf club in desktop software
  • Golfer characteristics may include measurements relating to the way the golfer addresses the ball.
  • a third party may initially enter golfer characteristics incorrectly, so the golfer may be able to update and transfer data after the initial transfer.
  • the golfer characteristics data may include, for example, golfer body measurements, golfer stroke type, such as square-square-square (pendulum) stroke, or mini-swing stroke.
  • a unique golfer identifier may be included. For example, a single text string may be sufficient, since a single pro will not likely be teaching two "Ted Smith's" at the same time. Even so, with such a text string the present embodiment can always add text to distinguish between the two.
  • the disclosed embodiment provides a virtual rail distance between rails as one of three pre-packaged distances. These distances are measured as the distance from the putter toe to the top rail, and from the putter heel to the bottom rail. Note that these distances are the same in that one setting might be "1 inch.” In such a case, the toe is 1 inch from the top rail and the heel is 1 inch from the bottom rail.
  • the present embodiment provides uses a virtual stop distance from the ball, both directions as well as virtual stop widths. For example, the distance of each stop from the impact point may be different. Therefore, they are set independently. Usually, the back "stop" distance is shorted than the forward stop distance, the present embodiment will pre-package three sets of stop distances: Back 6" Forward 7"; Back 12" Forward 14", and Back 18", Forward 21". The present embodiment will also supply three out-of-the-box stop window widths: 3", 2", and 1"
  • Desktop software tracks whether a club has up-to-date information. Such information may vary according to different golfer characteristics. For example, with certain hardware management aspects, data transfer allows for hardware troubleshooting and firmware upgrading.
  • the desktop software communicates with the DSP/MCU to trigger self-diagnosis routines, and the results of those tests are sent back to the desktop software.
  • firmware patches and upgrades are sent from the desktop computer via the data transfer mechanism.
  • Hardware troubleshooting operations preferably support back-and forth communication to monitor the status of the hardware
  • Various hardware support routines may include power management for tracking the level of charge of the on-board battery and signal when 10% of continuous use remaining power remains (which is about 9 minutes of use). Self-test routines run on all sensors.
  • Battery integrity test recognize an error condition stored on the club and transferring it to the software.
  • Club clock/calendar sync algorithms allow the club to update its onboard clock/calendar with personal computer time and date.
  • Connection sensing algorithms detect when the on-board unit of the club is successfully communicating with the desktop software.
  • An on-board memory status routine detect whether there are strokes stored on the EPC connected to the personal computer.
  • the desktop software may be the launching point for any firmware upgrades that take place. Upgrades may be transferred to the club and executed, and responses may be returned upon success.
  • the EPC system provides wireless communications, with wireless connection inside the club.
  • the connectivity solution may be low-impact to the golfer (i.e. not require system configuration that cannot be carried out by the disclosed application).
  • Embedded software may be developed to support connectivity with specifications sufficient for development of the personal computer interface.
  • the API may be documented for use by personal computer application developers.
  • the EPC may also store data about the EPC and the golfer, including a unique identifier or serial number, club dimensions and characteristics stored at time of manufacturing, length, IMU position offset, Lie and Loft, and a unique golfer identifier, programmable from the personal computer application. Tolerance parameters for instant feedback, programmable from the personal computer application. At least one embodiment may have no instant feedback, however.
  • the EPC includes a number of drills, including a set of pre-defined, out-of-the-box putting drills.
  • the pre-defined drills may include the following a 6-inch drill wherein the backstop is set at 6" and the forward stop is set at 7" for ten putts; a 12-inch drill wherein the backstop is set at 12" and the forward stop is set at 14" for ten putts; and an 18-inch drill (Practice Mode) The backstop is set at 18" and the forward stop is set at 21" for ten putts.
  • the present embodiment may also provide for golfer- defined drills, defined in a simple manner such as including distance from the hole, number of putts to be attempted, a limit of ten (10) 'Distance/Number of Putts', and combinations thereof.
  • the golfer preferably provides method of denoting whether a putt was successful. Flagging a stoke fulfills this requirement. Again, the golfer may be able to flag a stroke for any reason. There are many reasons a golfer would like to flag a stroke. These may include, but are not limited to, a putt on an actual green being holed, that a putt felt like it was well- struck, but missed the hole, that the result of a putt was terrible, that a putt felt bad in terms of tempo, that a putt felt great in terms of tempo, and other reasons.
  • the disclosed embodiment also provides a data transfer rate sufficient to achieve the claimed subject matter. Calculations in the data capture spec suggest that the data footprint for a set of 100 strokes is approximately 4.35 megabytes of data. In order to ensure product usability, the time needed for data transfer may be kept to less than a minute if possible. Given the above requirements, the present embodiment can calculate the rate of transfer for a data solution to be 72.5 kilobytes per second, or 580 kilobits per second. Most USB solutions offer rates significantly higher than this, so meeting this requirement carries little risk. [00257]
  • the EPC includes an Inertial Measurement Unit (IMU) that accurately calculates and captures position and motion.
  • IMU Inertial Measurement Unit
  • Accurate data are provided by three key hardware components, including (a) a biaxial accelerometer, (b) a gyroscope, and (c) a DSP/MCU (1).
  • an absolute timestamp may be provided either by a separate component or from the DSP/MCU.
  • the use of four (4) biaxial accelerometers assumes that the present embodiment accommodates two (2) sensors, with varying sampling ranges on each axis, to enable an accurate solution.
  • Club head position accuracy occurs within speeds of 2-20 MPH, wherein the EPC position of the club head within +/- 2 mm with a 95% confidence interval.
  • Device accuracy may be sufficient to provide a minimum of 2 seconds of accurate data to encompass a "slowest case" stroke in its entirety.
  • the IMU will consist of, at minimum, three gyroscopes (one embodiment may use an Analog Devices ADXRS300 BGA) and four dual-axis accelerometers (for which an embodiment uses an Analog Devices ADXL210E) and a time/calendar chip. These devices provide data that allows the position and motion of the club in space to be calculated. Sensors readings derive from accelerometers that may be mounted to measure acceleration along the coordinate axes of the golf club frame-of- reference. The disclosed subject matter contemplates that data be captured from at least three of the four accelerometer sensor channels.
  • the present embodiment may analyze whether capturing a redundant measurement, for an axis will help with accuracy along that axis. If it will, the redundant axis will likely be the x-axis in the club frame-of-reference. This occurs since the redundant axis will often dictate "breaking the rail" for the instant feedback mechanism.
  • Three gyroscopes may be mounted to measure angular rate around the three coordinate axes of the golf club frame-of-reference.
  • the gyroscopes capture the sensor readings from each of the three gyroscopes.
  • the sensor offsets capture readings necessary for calculating offsets, as well as capture results from any on-board calibration routines.
  • the face angle to target is +/- Y 4 degree to the perpendicular.
  • An external device maybe to achieve this level of accuracy.
  • the present embodiment may achieve this granularity without the use of an external device.
  • the present embodiment measures the impact point on the face of the putter +/- 2mm.
  • the DSP/MCU processes into discrete units the incoming information about the movement of the EPC provided by the accelerometers and gyroscopes. Continuous data is processed into discrete units covering the same time interval from sensor to sensor. In other words, if information from a gyroscope is captured at the end of one second of gathering information, then information may be captured from all other sensors at that same moment. A golf swing, therefore, will be represented by a set of data points from all sensors for each time interval. [00262] The DSP/MCU goes through a series of processing steps to convert data from raw voltages into positions. The frequency of data point capture is to be determined.
  • Time/calendar chip may be either in the DSP/MCU or as a stand-alone chip and may be adjustable by the desktop software. During operation, data gathered from the IMU devices may be processed to produce position and attitude data. This data may then be transferred to the personal computer application.
  • Memory footprint for a time interval capture processed sensor data (in the form of accelerations, angular rates, and time stamps) to represent a stroke.
  • each golf stroke may contain an absolute time stamp (start of swing) and a series of time intervals, consisting of 3-4 accelerations, 3 angular rates.
  • the maximum total memory for a golf stroke has been calculated to be 43.5 kilobytes, given certain assumptions.
  • a minimum of 50+ strokes may be stored in the EPC between downloads to the personal computer application.
  • the memory footprint for a set of 100 strokes calculates to be, in the most conservative case, 4.35 megabytes in size, given certain assumptions.
  • the IMU components preferably are oriented so that the sensing axis of each gyroscope may be positioned parallel to its respective club axis.
  • Each accelerometer provides data on two axes.
  • the accelerometers may be positioned so that three of these sensing axes are parallel to their respective club axes, six if using accelerometers of multiple ranges.
  • the IMU may be calibrated at manufacturing. Due to variability in null points and sensitivity of the IMU devices, calibration may be performed during production. The results of calibration may be stored in the EPC for use in data processing. There may be a simple way of allowing golfers to re-calibrate the on club device periodically due to device movement over time. Proper calibration is important, since many of the other face angle and stroke path requirements depend on such calibration.
  • two, or four, accelerometers are mounted to measure acceleration along the coordinate axes of the golf club frame-of-reference. Because the accelerometers are biaxial, the present embodiment makes four or eight readings available. Preferably a minimum capture of three of the four channels, or six of eight channels for each axis occurs. However, the fourth, or seventh and eighth, channel may be useful in reducing the error due to noise along an axis; this needs to be investigated more closely. Moreover, data from the fourth channel of the accelerometers would be useful in reducing the error due to noise along an axis.
  • accelerometers other than the ADXL210 and ADXRS300 may satisfy requirements for detection ranges, sampling rates, and bandwidth. In fact, a lower g accelerometer may improve performance of the EPC.
  • the EPC provides an onboard instant feedback that focuses on three items: Address detection, successful stroke detection, and practice stroke detection. The present embodiment needs the ability to compare the last practice stroke with the actual stroke. This will need some technical thought, since the present embodiment has to "work backwards" from the actual putt to the last practice swing.
  • address detection occurs in a manner similar to that of the instrumented golf club ("IGC") of U.S. Patent Application Serial No. .
  • the "enter address” detection may function essentially the same as in the IGC.
  • the "exit address” detection may function essentially the same as in the IGC. Tolerances for all aspects of address detection are changed easily due to various idiosyncrasies in the pre-stroke routines of different golfers. Successful Stroke Detection may function essentially the same as in the IGC.
  • One practice stroke (the "last" practice stroke) may be saved in the club's memory.
  • the "old” practice stroke When a "new" practice stroke is detected, the “old” practice stroke may be purged from the club's memory. When an actual stroke is detected, the “last" practice stroke is saved along with the actual stroke. These two strokes are a “pair” and may be kept together for analysis in the user interface.
  • the present embodiment includes a user interface capable of distinguishing practice strokes from real strokes. Also, the user interface may provide an easy way for the golfer to compare the last practice stroke to the real stroke. Moreover, the present embodiment preferably takes into account that the golfer might not take a practice stroke prior to hitting a putt. [00274]
  • the present embodiment preferably determines the all characteristics of what constitutes a "putting stroke," regardless of whether or not "something" is struck at the perceived impact point. Preferably, this includes determining whether a real golf ball has been struck by the putter at speeds of (0 mph ⁇ putter head speed ⁇ 20 mph). Using the disclosed subject matter, the golfer may be able to, in "almost” real time, purge the data for an "old” practice stroke when it was determined that a "new" practice stroke has occurred.
  • the mechanism the present embodiment uses includes comparison to a set of virtual rails, which are golfer adjustable, on either side of the putter face. Additionally, either in addition to the use of virtual rails, or by themselves each IMU will support a set of golfer definable virtual stops. These stops are set, by the golfer, at some distance behind and in front of the ball. For example, the stop located behind the ball may be set to 8" and the one in front of the ball set to 12". Each time a golfer's stroke breaks either the virtual rail or virtual stop, they may be given instant feedback so that they may begin to adjust their stance, grip, stroke, etc. [00276] Define a set of virtual rails for each golfer for use in the feedback mechanism.
  • Feedback preferably occurs within 50 ms of a detected error (rail break or stop break) in the golfer's stroke and may be available for all points from the start of the swing through ball contact and to completion of the follow-through.
  • the mechanism may be able to determine when a swing has been aborted so that the present embodiment prevents false feedback from movements before actual start of stroke (e.g., practice strokes). This mechanism may solve the false-feedback issue described above.
  • Real-time feedback for the disclosed subject matter includes almost real-time computations on the DSP/MCU. Stroke-start, stroke-abort, and stroke-end algorithms preferably are determined. Golfers preferably are able to display a given stroke graphically from a top view with no perspective. If perspective is added, the focal point needs to be directly over the target line directly over, or slightly behind, the ball. For the present embodiment, this is defined as displaying the putter head throughout the stroke.
  • Software may be capable of displaying each stroke in "real time" to present more of a video of each stroke.
  • a clock displaying the time during the swing would be a nice feature, as it would allow a golfer to compare tempo between swings.
  • Software may be capable of displaying the complete putting stroke. The software may be able to determine the ending position of the putter, even if some positional information is lost at impact with the golf ball.
  • Software preferably displays the presumed location of the golf ball up through impact.
  • an outline of the location of the ball may remain, or other indicator of the golf ball's original location, such as a 'tic mark'.
  • Software may also display a putter stroking a putt.
  • Some professional golf instructors maintain that good putters take the same amount of time beginning from the end of their backstroke to the end of their finish stroke (past impact where acceleration reaches zero) regardless of the length of the putt. Such professionals speculate that this pace (backstroke/end of stroke) is based on a specific body rhythm. Using a metronome, all people seem to fall in a range of 60 to 110 beats/minute.
  • Another technical advantage of the present embodiment may include a display of a stroke. Such a display forms the basis for analyzing a stroke and see where a stroke needs correction. This functionality also provides the base for other analytics; so failing to provide this would result in other analytics being unavailable or less useful.
  • the display makes use of a determination of the position of the IMU throughout a stroke and the orientation of the IMU throughout a stroke.
  • the EPC calculates the position of the entire club from this information and graphically EPCs this information into a two- dimensional view (plane). The accuracy of data is insufficient to display a close approximation of a stroke.
  • a number of physical calculations of how the club behaves will help the golfer to analyze each stroke. This specifically includes accelerations, velocities, and positions of the club at different points of the stroke.
  • the EPC calculates acceleration, velocity, and position throughout a stroke: top of stroke, point of impact (either the theoretical point of contact [for a stroke without the ball] or the actual contact point), and end of stroke.
  • the EPC calculates orientation of the putter, including shaft angle at address and contact, shaft lean at address and contact, club face orientation at impact.
  • the disclosed subject matter also calculates the present embodiment timing as a qualitative measure of "perfect,” “early,” “very early” and “extremely early.” [00285] To be able to calculate key time markers defining moments of the swing is an important aspect of the present embodiment. Calculating any post-impact physics information may be impossible due to the vibrations introduced by contact with the ball. Calculating velocities and accelerations for the club head are non-trivial exercises. The remaining items are trivial calculations given the sensor information and the algorithms necessary to display a stroke. Dependencies with other functions may include calculating all of these functions upon being able to translate angular rate and acceleration readings (sensor readings) into positions and orientations.
  • the disclosed subject matter determines the theoretical results of a stroke; in other words, what happens to the ball.
  • the ability to determine how far a golf ball will roll on a green of a given set of conditions is to helping the golfer determine how far to take his back stroke. This provides an important aspect of learning touch in the putting stroke.
  • Functional aspects of this technical advantage include determining initial velocity of the ball and the spin imparted to the ball, as well as correlating the club head velocity at impact with the distance the ball will roll on the putting surface. The accuracy of the position and orientation calculations will affect the results such that an error in the orientation will predict an incorrect spin, while a position error when the ball is struck near the edge of the club face could indicate the ball was struck when it is missed, or vice versa.
  • Another technical feature of the disclosed subject matter includes the ability for a golfer to compare his own strokes with a reference stroke. For example, a golfer may be able to compare directly two strokes — their own actual stroke and a reference stroke, the reference stroke being a nearly ideal stroke shown so that a golfer can more quickly understand what his stroke may look like.
  • a reference stroke There are three potential sources for a reference stroke.
  • One of the golfer's own strokes may serve as a reference stroke for the particular golfer. This is typically an option for the more advanced player, as most golfers will not be able to produce a stroke good enough to use as a reference swing. However, a golfer may move to this version as soon as he can produce one good stroke.
  • Another potential reference stroke may be a stroke from another player; typically, a golf pro or tour player.
  • the drawbacks here are the fact that even tour players do not have perfect strokes, and somebody else's stroke are scaled to match the anatomy of the golfer.
  • a calculated "ideal" stroke The difficulty here is taking somebody's measurements and producing a golf stroke. This is an easier proposition if the golfer is employing a 'straight-back/straight-through' putting stroke vs. a 'mini- swing' putting stroke though this may be calculated, given sufficient information.
  • the present embodiment In order for all golfers to have access to a good reference stroke at all times, the present embodiment will require items (1) and (3) as a minimum requirement. Note: This last sentence has been replaced with the following sentence. [00293] Because most people use a subtle "mini-swing" putting stroke, one embodiment may use one of the golfer's own strokes as a reference stroke. This allows comparison of a reference stroke to any of the golfer's strokes. Such a stroke may be a practice stroke or an actual stroke. In order to quantitatively compare more than one stroke, the present embodiment analyzes what constitutes the best score for each analytic. In addition, the present embodiment combines the information quantitatively to score different elements of a stroke.
  • determining whether a putted ball is a pull or a push is determined by combining the stroke path information and the orientation of the putter face at ball impact.
  • the present embodiment needs to combine information (stroke plane, club face orientation) to determine what falls into which category.
  • the disclosed subject matter provides certain analytics, including a tempo-meter, a quality of impact, a quality of stroke, and a quality of putt analytic.
  • the tempo-meter analytic is based on con-elating the end of the back stroke and the end of the through stroke to the beats of a metronome. The metric is measured in beats/minute.
  • the quality of impact analytic is a composite analytic that combines information on club face orientation at ball strike, speed of stroke, and location of ball strike on the club face to determine the quality of the impact. The golfer may set tolerances for each of the three analytics to determine the score.
  • the quality of stroke analytic provides a composite analytic for scoring each segment of the stroke through the back stroke and the down stroke based upon a weighted sum of discrepancies between the stroke and the selected reference stroke. This, too, would require some tuning of tolerances by the golfer.
  • the quality of putt analytic provides a composite analytic including a global score combining the four elements a putting stroke. Essentially, the quality of putt analytic combines the quality of impact and quality of stroke analytics into another global analytic.
  • the present embodiment calculates analytics comparing two strokes, based primarily on the compare a reference stroke to a selected stroke. However, there may be no inherent difference between how the present embodiment represents a reference stroke and a golfer's stroke. For this technical feature, the present embodiment selects two strokes for side-by-side comparison. With the flexibility to compare any two strokes, without having to designate one as a reference stroke, the disclosed subject matter allows side-by-side comparison of a subset of any analytics. This includes the ability for an individual stroke to have a reasonably defined best and worst score, including composite analytics.
  • the EPC may compare two strokes over the arcs, possibly including multiple segments to define a series of points from 1 to 10; for each of these segments, thus allowing comparison to highlight where the major discrepancies begin/lie.
  • the EPC may calculate the difference in club positioning, velocity, and acceleration at the beginning of the segment, at the end of the segment, and at the point of maximum difference.
  • the EPC provides a variety of personal computer software programs and features.
  • the EPC connects to a personal computer and the golfer selects the "Download Strokes" item from the file menu and the save batch dialog is displayed.
  • the golfer may be able to load existing stroke data from the club and save that stroke data as a new batch.
  • These function are available from the file menu on the main golfer interface.
  • the standard Save Batch dialog is used to save the newly downloaded strokes as a Batch file. The golfer is able to choose a name for the batch or use the application's suggestion. Batches of Strokes are saved in a database rather than individual golfer files. An option to clear automatically the club's memory after download is presented via a checkbox on the Save Batch Dialog.
  • the golfer may choose to start from default values, or to create the new profile based on an existing profile. In so doing, he steps through a wizard that shows only the minimum settings, but may choose to set advanced options. The golfer loads his profile, causing settings to be loaded and strokes for that golfer to be available. The golfer then saves changes to the profile. Multiple golfer profiles preferably are able to be saved and loaded. All appropriate settings preferably are stored with the golfer's profile.
  • the golfer may load an existing batch of strokes that are added to the stroke summary table by clearing the strokes currently displayed in the stroke summary table and filtering the strokes currently displayed by a variety of criteria.
  • the golfer selects a subset of the displayed strokes by checking the boxes displayed next to each stroke and then sorts the strokes currently displayed by a column of the table.
  • the golfer finally saves the currently displayed strokes.
  • Front and back stops can be either the same distance from the ball or different distances from the ball.
  • the user interface considers this, permitting the golfer to select a putting stroke and views a 3D animation of that stroke in comparison to a reference stroke.
  • the stroke may be animated in real-time, slowed, and stepped through.
  • the present embodiment will only support a "top view" for the electronic putting club.
  • the currently selected stroke in the stroke summary table is displayed in the visualization panel.
  • the visualization panel allows a three-panel view. This view includes the top view, the visualization of the impact point on the face of the putter, and a tempo "metronome" that matches the golfer's tempo.
  • the visualization panel allows a single viewpoint view with any of the viewpoints chosen to maximize in the visualization panel.
  • the visualization panel displays a golfer's stroke as a putter head aligned with the target line and allows a golfer to toggle display of pre-defined arcs showing the path of the putter head during the stroke.
  • the visualization panel also provides a display of an indicator showing the maximum or minimum value for an analytic.
  • a display indicates the point of maximum putter head acceleration of velocity.
  • a golfer may insert a note tied to a certain point on a stroke that would display each time the general stroke is displayed. This would allow the golf pro or a golfer to make a key point about a particular stroke that may be referred to later. Allow golfer to toggle display of stroke rails in stroke path view.
  • Stroke rails may be semi-transparent and of a consistent color on the visualization panel.
  • the stroke rails may turn and remain a darker shade of the same color at any point that the putter affects the stroke rails. This allows a golfer to toggle display of stroke stops in stroke path view. Stroke stops may be semi-transparent and of a consistent color that is different from the color chosen for stroke rails.
  • the visualization display may provide, for example, ten hot-points, scaled in favor of more important sections of the stroke.
  • Hot-points 1-5 may be from (1) the "at-address” position to (5) the "at zero acceleration” point, which occurs the end of the backstroke. Points between may be from point (2) to point (4), which may to be scaled equidistant between point (1) and (5).
  • Hot-points (6) through (8) may be set with (8) to be the "at-impact" point with the ball, and points (6) and (7) to be equidistant between points (5) and (8).
  • Hot-point (10) may be at the point of zero acceleration in the follow-through with point (9) to be equidistant between points (8) and (10).
  • the face angle display may show the relative position the putter face throughout the stroke, in real-time. Animation of putter to include multiple putter head shapes
  • Display leader board learning focus portion of the visualization panel allows the golfer to view qualitative, "at a glance” measurements of the selected stroke. Displayed on the leader board tab of the analysis panel, each analytic on this panel will initially be displayed as a single value.
  • a graphical display option allows the golfer to see a bar chart representation of the values.
  • a "view details" option allows the golfer to see the data used in the calculation and additional information.
  • a display tempo-meter analytic includes a backstroke duration, which may be calculated as time from swing start to zero acceleration point at transition to the down stroke. For now, this value is not used in computing putting tempo. However, the present embodiment may add its use in the future.
  • a through-stroke duration is provided, which is calculated as time from point of zero acceleration at transition from backstroke to point zero acceleration at the completion of the entire putting stroke.
  • the visualization panel also may provide a display quality-of-impact analytic as a numeric score following a formula such as the following: (face angle score)+(clubface impact location score)+(acceleration score).
  • the sweet spot diameter adjustable in golfer settings detail view will show putter head speed at impact, initial velocity of the ball in feet/sec, as well as clubface impact location score. Using the 10 hot-points, previously defined, may measure the divergence from the reference stroke at each hot-point, from 3" down to 1/8 of an inch.
  • the present embodiment also provides a "round notes "function”, which is a scorecard template for allow a golfer to track his rounds.
  • Part of the collateral that came with the EPC software would be tips on how to track a round. This may include how to track putts, fairways hit, greens hit, lost balls, etc.
  • the golfer could spend a few moments defining a course, and would then be able to enter his results quickly into what looks like a golf scorecard for the course. This would allow a golfer to compare his results at a course over time, and lends to some statistical analysis of a golfer's overall game.
  • the disclosed subject matter furthermore includes a tips function that displays golf tips upon desktop software start-up and/or having tips available for browsing in the software. These tips could come from one of two sources. Customizable tips may be entered after a golf less'on (possibly as part of lesson notes) or whenever the golfer encounters a tip he likes. Alternatively, a third-party professional or other source may provide some tips that the present embodiment could use within a software program. [00315] The present embodiment may also provide a 'hot spot' capability to enable a teaching professional to set a 'hot spot' at any point in space and use the hot spot to train the golfer to either hit or avoid the hot spot.
  • the DSP/MCU will process raw sensor inputs into voltages, convert the voltages into accelerations and angular rates, and then convert these data points into orientations and positions. It is possible to pass along any of the three data sets to the desktop unit, as the present embodiment can easily mimic the data processing capabilities on a desktop machine. Therefore, the main criteria for selecting which data set to transfer are desktop software usability, data accuracy, streamlining the data transfer, and overall development implications.
  • An important desktop software usability issue is the re-processing that may take place for each stroke.
  • the DSP/MCU processes the data all the way from voltages to positions and orientations, so processing that takes place on the desktop unit are redundant if the fully processed information is not transferred.
  • the DSP/MCU will have slower than a desktop computer processor, and that on-board processing happens in less than the time of a golf stroke (less than three seconds), re-processing of information may not be a significant concern. This is especially true because the desktop software can process the information just one time, and store information for future use.
  • Data accuracy may depend upon the point at which the EPC chooses to transfer data.
  • the EPC may use simplified orientation or position algorithms on-board to reduce processing time for instant feedback purposes. Since DSPs are designed for signal processing, it is less likely that conciliations are made in the processing of raw sensor signals into accelerations and angular rates, and more likely that the simplifications are made later in the process.
  • Streamlining the transferred data set will reduce the time of transfer and the minimum connection speed for one embodiment.
  • a streamlined set will promote the smallest memory footprint for storing data for a swing, either reducing memory requirements or allowing the golfer to store extra strokes.
  • the information that may be transferred includes, for all three scenarios (assuming four accelerometer readings) raw sensor data of accelerometer voltages, gyroscope voltages, changes to dynamic offsets, and time information. Sensor offsets may be stored in the desktop software or be available in the data transfer.
  • Processed data may include angular rates and accelerations, and time information
  • a preferred embodiment transfers the processed sensor data to both streamline data transfer and minimize risk and development time. Therefore, each swing may consist of, for example, at most 8 data points for each time interval. Assuming that the present embodiment capture time offsets in milliseconds and assuming a maximum necessary precision of 16 bits for each acceleration and angular rate, this implies a footprint of 14.5 bytes per time interval.
  • the present embodiment makes use of specific data for each stroke.
  • the first piece of data for a given stroke is a time stamp denoting the beginning of the stroke. Because this is just one data point, this piece of data is not included in calculation of the memory footprint size. By this same logic, any additional "one-time" pieces of information will have very little impact on the overall size of the memory footprint, as the most precise number carries a cost of about 2 bytes.
  • the remaining data are the series of readings for each time intervals.
  • Each time interval will consist of 3 to 8 accelerations and 3 angular rates.
  • the present embodiment will transfer a count of the milliseconds elapsed since the previous time interval.
  • the claimed subject matter for modeling the golf club swinging motion and performing the measurement corrections here claimed applies to all types of golf clubs, including irons, fairway woods, wedges, and putters.
  • Another type of sports device that may benefit from the claimed subject matter is a racquet. All racquet sports include tennis, racquetball, squash, and badminton racquet.
  • bats such as those used in baseball, softball, t-ball, cricket, polo, hockey, etc.
  • the disclosed subject matter may apply to any sport using an instrument to strike another instrument, which may even include a leg (e.g., as in kicking a soccer ball or football) or an ami (e.g., as in boxing or playing handball).
  • a leg e.g., as in kicking a soccer ball or football
  • an ami e.g., as in boxing or playing handball.
  • An additional embodiment of the present correction process may be adapted for use with a video game controller or computer game controller. Real time data transmission from an instrumented game controller allows for real-life swing data to be directly fed into any sports video or computer game.
  • the portions of the disclosed subject matter can be instrumented in software, hardware, or a combination of software and hardware.
  • the hardware portion can be instrumented using specialized logic; the software portion can be stored in a memory and executed by a suitable instruction execution system such as a microprocessor, tablet personal computer (PC), or desktop PC.
  • a suitable instruction execution system such as a microprocessor, tablet personal computer (PC), or desktop PC.
  • the concepts of an IMU may also be employed in a system associated with a telecommunications system for the purpose of communicating between the sports instrument and a remote site.
  • the remote site may receive data relating to the movement of the sports instrument.
  • Such data may be used to provide a more accurate evaluation and a more timely player coaching from the remote location.
  • remote viewing could be used for evaluation/coaching, as well as for displaying the swing.
  • applications such as viewing a golf shot where there are no cameras exist on the golf course, or with computer game applications, such as displaying an actual swing to a remote viewer/competitor.
  • a coach may produce a make a demonstration swing for use by a student using the method and system of the disclosed subject matter
  • intial measurement unit For purposes of the disclosed subject matter, the term "inertial measurement unit" or
  • IMU ascribes to one or more sensor groupings of nominally three accelerometers and nominally three gyroscopes. Each of such groupings align along the same set of mutually perpendicular axes, however, such sensors may align to one of the three sensors along an axis that is not mutually perpendicular or may align along a different set of coordinate axes. Ultimately, the groupings of accelerometers, gyroscopes, or other sensors all cooperate to provide appropriate sensor readings to establish IMU movement detection in a three-dimensional coordinate axis system.
  • devices different from accelerometers and/or gyroscopes may be used to obtain the desired measurements of acceleration and changes in inertial measurements.
  • the disclosed subject matter therefore, provides an IMU for use in measuring movement of a sports instrument, which movement measurements include analyzing a stroking motion of the sports instrument, determining the point at which the sports instrument contacts an object, and correcting for differences between measured signals and actual signals.
  • the IMU may be classified as a six-degree-of-freedom measurement unit, and may include six sensors.
  • any number of sensors may be used to achieve the IMU measurements. For example, more than six sensor readings may be beneficial for certain applications to improve accuracy, which measurements may use redundant sensors to reduce noise or capture high speed motion versus low speed motion.
  • the term "Frame-of-reference” or “FoR” relates to a system within a system. For example, when a golfer rides in a car, the player is motionless in the player's frame of reference, while the world appears to move around the player. In an IMU for use with the disclosed subject matter, a FoR has its own coordinate system, so the IMU FoR has a set of coordinate axes fixed relative to IMU. [00332] In the golfing application of the disclosed subject matter, the term “square clubface” describes a situation that occurs when a vector normal to the sweet spot of the face lies in the vertical plane along the target line.
  • a target line runs along the ground, and a normal vector may point into the ground or up in the air.
  • the "neutral at-address position” occurs when a club is positioned so that the sports instrument face is square and the shaft is leaning neither towards the target nor away from the target.
  • the "at-address” position means the golfer has positioned the club face square to the target line and has ceased human-perceptible motion for a period of time.
  • a "world FoR" or “world frame of reference” has a set of coordinate axes where the X-axis is the direction a right-handed player faces, the Y-axis is the target line of the golf shot, and the Z-axis is up.
  • the origin is at the center of the golf ball.
  • the "club FoR" or “club frame of reference” includes the coordinate axes given a neutral at-address position for the sports instrument, where the Z-axis is up center of club shaft, the X-axis is the "top” of the sports instrument grip and should lie in world XZ plane in a neutral at-address position, and further where the Y-axis - positions towards target and should be parallel to world Y-axis is a neutral at-address position.
  • the origin is fixed distance from top of board.
  • FIGURE 2 shows a partially exploded view of an instrument golf club (IGC) 18 which may incorporate an inertial measurement unit (IMU) consistent with the teachings of the disclosed subject matter.
  • IGC 18 includes a head 20 and a shaft 22, both of which are similar to shafts and heads on a typical golf club.
  • head 20 can be any type of golf club, including but not limited to, an iron, a wedge, a wood, and a putter.
  • the claimed subject matter is not limited to golf clubs but can be applied to many types of bats, racquets, and game controllers.
  • Grip 24 includes a Power On/Mute/Power Off button 26, a battery recharge connector 28, a battery recharge connector cover 30, a grip faceplate 32 and a Flag Swing button 34.
  • Power On/Mute/Power Off button 26 is pushed once to power on the IGC 18. Once the IGC 18 is powered on, off button 26 is pushed to toggle on and off an audio feedback signal that indicates to a player when a particular swing has broken a plane representing a correct swing. Note that such audio feedback is not a necessary, but rather a possible feature of the disclosed embodiment. Other forms of feedback and other modes of communication may occur with similar embodiments of the disclosed subject matter.
  • off button 26 is pushed in and held for four or more seconds.
  • IGC 18 may turn off when held upside down and stationary for five seconds.
  • Battery recharge connector 28 is a socket into which a battery recharger may be inserted to charge a battery pack within IGC 18.
  • Flag swing button 34 is pushed when a player desires to mark the data corresponding to a particular swing of IGC 18 for future investigation using an analysis application on an associated computing device.
  • a saved swing can also become a benchmark, or reference swing, against which subsequent swings can be compared, including setting a reference for the breaking planes sounds.
  • Grip 24 includes a Power On/Mute/Power Off button 26, a battery recharge connector
  • Power On/Mute/Power Off button 26 is pushed once to power on IMU 44. Once IMU 44 is powered on, off button 26 is pushed to toggle on and off an audio feedback signal that indicates to a player when a particular swing has broken a plane representing a correct swing. To power off the IMU 44, off button 26 is pushed in and held for four or more seconds.
  • Battery recharge connector 28 is a socket into which a battery recharger is inserted to charge a battery pack within IMU 44.
  • Battery recharge connector cover 30 is a plastic cover that has two protruding posts, post 36 plugs into the connector 28 and keeps moisture and dirt from entering connector 28 when battery recharger is not connected to IMU 44.
  • Post 38 plugs into anchor hole 40 to retain cover 30 after retracing post 36 from connector 28.
  • cover 30 is lifted and rotated around the second protruding post to expose connector 28 and a battery recharger is inserted into connector 28.
  • Grip faceplate 32 is a finishing piece for IMU 44 that fits within grip 24
  • FIGURE 3 shows a partially cut-away view of IGC 18 depicting printed circuit board
  • FIGURE 4 shows club grip 24 and an expanded view of a top portion of IMU 44, which fits within IGC 18.
  • Battery recharge connector cover 30, grip faceplate 32, power on/mute/power off button 26 and flag swing button 34 were introduced above in conjunction with FIGURE 1.
  • Below grip faceplate 32 is an antenna board 46 that is employed in wireless communication between IGC 18 and an associated RF link box as described in U.S. Patent Application Serial No. 10/810168.
  • Tab 48 extends from main board 42 and serves to secure IMU 44 in a fixed position relative to grip 24.
  • a second, opposing tab protrudes from the other side of main board 42 and also serves to secure IMU 44 in position relative to grip 24.
  • a microprocessor on main board 42 serves as a central processing unit for IGC 18.
  • the microprocessor controls the other components of main board 42, collects sensor data, monitors system temperature, corrects sensor data for temperature related distortion, processes the corrected sensor data into position, velocity, and acceleration vectors, stores the corrected sensor data in flash memory (not shown) for later download, and performs real-time collision detection of IGC 18 with respect to the swing planes.
  • FIGURE 5 shows three views of IMU 44.
  • an outer view 60 an inner, exploded view 62, and an inner, assembled view, or assembly 64.
  • Outer view 60 shows a tube 66 into which assembly 64 fits.
  • a screw 68 that secures assembly 64 to tube 66.
  • Exploded view 62 includes antenna board 46 and a full view of main board 42, both of which were introduced above in conjunction with FIGURE 3.
  • Antenna board 46 is coupled both mechanically and electrically to main board 42.
  • Also coupled mechanically and electiically to mam board 42 are a club transceiver chip 70, a sounder 72, an accel/gyro board 84 and a Z-gyro board 78
  • Club transceiver chip 70 which in this example is a 2 4 GHz transceiver, is responsible for wireless communication between IGC 18 and the associated RF link box.
  • Transceiver chip 70 employs a quaiter wave monopole antenna (not shown) located on antenna boaid 46
  • Sounder 72 provides an audio feedback signal to a player of IGC 18 when a particular swing falls outside of acceptable parameters.
  • Screw 68 extends through one wall of tube 66, through one tube insert 76, through mam board 42, through second tube insert 76 and through the opposite wall of tube 66. Screw 68 serves as a mam position of facilitatectural integrity within IMU 44.
  • IMU 44 employs three solid-state gyroscopes, such as Analog Devices' ADXRS 160, to measure angular rates around axes C x , C ⁇ , and C z .
  • a gyroscope located on accel/gyro board 84 measuies the angular rate of rotation around C x
  • a gyroscope located on mam board 42 measures the angular rate of rotation around C ⁇
  • a gyroscope located on the Z-gyro board 78 measures the angular rate of rotation around C z .
  • IMU 44 makes possible corrected output from the gyroscope sensor measuiements fiom accel/gyro board 84 These gyroscopes are configured with a bandwidth of 1320 degrees per second m order to record a typical golf swing, although other bandwidths are possible depending upon the particular application. Additional signal conditioning and analog to digital conversion circuitry (not shown) supports the three gyroscope sensors.
  • IMU 44 also piovides two dual-axis accelerometers, such as Analog Devices
  • ADXL210e to measure linear acceleration along axes C x , C ⁇ , and C z .
  • An accelerometer on mam board 42 measures linear acceleration along C x and C z axes
  • An accelerometer on accel/gyro board 84 measures linear acceleration along Cy axis and duplicated data along the C z axis
  • accelerometers can measure both linear acceleration and forces due to gravity The ability to measure the effects of giavity allows foi the iesolution of a gravity vector that in effect tells IGC 18 which direction is down with respect to the surrounding world.
  • Swing data is stored on 8 MB of serial flash memory (not shown) on mam board 42.
  • One embodiment of the claimed subject matter employs approximately 72 IcB of memory per iecorded swing therefoie allowing over 100 swings to be stored on the flash memory before the flash memoiy is consumed.
  • Another embodiment of the claimed subject matter may use higher quantities of memory that would allow for data captuied for a higher number of swings. For example, additional memory may store additional sensor readings, if additional sensors or groups of sensors are used for performing the disclosed movement measurements
  • exploded view 62 further shows tube inserts 76, battery standoff 80, battery pack 82, and battery pack wires 84.
  • the disclosed subject matter provides a comprehensive system for accurately measuring and modeling a swing sports instrument, such as IGC 18. For such accurate measurements and swing modeling, a coordinately set of analysis points, impact points, corrections and calibrations are necessary.
  • One aspect of the disclosed subject matter therefore, includes a method and system for isolating analysis positions of a golf swing.
  • Another aspect of the disclosed subject matter provides a method and system for determining an impact position of a swinging sports instrument.
  • Another aspect of the disclosed subject matter includes a -method and system for correcting golf swing measurement errors for more accurately measuring and modeling the swinging motion.
  • IMU 44 provides for highly accurate determination of accelerometer measurements and gyroscopic measurements using a calibration process.
  • the calibration process takes into consideration the property that IMU 44 operates as though all accelerometer and gyroscopic measurements occur with reference to a single geometric position. Because this cannot occur in practice, measurement calibrations must take place.
  • the calibration process of the disclosed subject matter therefore, accounts for both position and orientation measurements that actually occur and that differ from measurements that may occur were it possible for them to occur in ideal circumstances.
  • the calibrations associated with the disclosed subject matter are described and claimed in U.S. Patent Application No. , entitled “METHOD AND SYSTEM FOR CALIBRATING SPORTS INSTRUMENT INERTIAL MOTION SENSING SIGNALS, by Eric A. Cassady, et al. and commonly assigned with the present disclosure.

Abstract

La présente invention concerne des techniques permettant de mesurer et de modéliser des signaux de détection de mouvement inertiel d'un instrument pour des sports utilisant des clubs. Le système et le procédé décrit dans cette invention consistent à générer une sortie rectifiée d'un circuit de détection de mouvement, lequel circuit comprend une unité de mesure inertielle et il est associé à un instrument pour un sport utilisant des putters. Un aspect de cette invention concerne un procédé et un système permettant d'isoler des positions d'analyse d'un swing, lesquelles positions facilitent la mesure et la modélisation du mouvement du swing. Un autre aspect de cette invention concerne un procédé et un système permettant de rectifier les erreurs de mesure du swing afin d'obtenir une mesure et une modélisation plus précises du mouvement du swing. Un troisième aspect de cette invention concerne un procédé et un système permettant de déterminer la position de l'impact d'un instrument de swing.
PCT/US2005/023892 2004-07-02 2005-07-05 Procede et systeme d'analyse du swing et d'entrainement au swing pour des putters WO2006014459A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/US2005/023892 WO2006014459A2 (fr) 2004-07-02 2005-07-05 Procede et systeme d'analyse du swing et d'entrainement au swing pour des putters

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US58546104P 2004-07-02 2004-07-02
US60/585,461 2004-07-02
US11/XXX,XXXBYERIC 2005-06-24
PCT/US2005/023892 WO2006014459A2 (fr) 2004-07-02 2005-07-05 Procede et systeme d'analyse du swing et d'entrainement au swing pour des putters

Publications (2)

Publication Number Publication Date
WO2006014459A2 true WO2006014459A2 (fr) 2006-02-09
WO2006014459A3 WO2006014459A3 (fr) 2006-05-18

Family

ID=35787609

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2005/023892 WO2006014459A2 (fr) 2004-07-02 2005-07-05 Procede et systeme d'analyse du swing et d'entrainement au swing pour des putters

Country Status (1)

Country Link
WO (1) WO2006014459A2 (fr)

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007125344A1 (fr) * 2006-04-28 2007-11-08 Berlin-Armstrong Locatives Ltd Système et procédé de surveillance d'exercices
WO2009034189A1 (fr) * 2007-09-14 2009-03-19 Technologies88 B.V. Appareil d'entraînement
RU2475624C2 (ru) * 2008-03-11 2013-02-20 Хэллибертон Энерджи Сервисиз, Инк. Улучшенные изолирующие жидкости на водной основе и связанные с ними способы
WO2012138605A3 (fr) * 2011-04-05 2013-03-21 Nike International Ltd. Systèmes et procédés pour stocker et analyser des balles de golf, comprenant une collecte et un stockage de données de golf de communauté et individuelles à un concentrateur central
WO2013039959A1 (fr) 2011-09-14 2013-03-21 Skyhawke Technologies, Llc Appareil permettant d'héberger des composants de télémétrie, de détection, de traitement et d'autres composants électroniques, et de fixer un tel appareil à un club de golf
US9375624B2 (en) 2011-04-28 2016-06-28 Nike, Inc. Golf clubs and golf club heads
US9393478B2 (en) 2008-02-20 2016-07-19 Nike, Inc. System and method for tracking one or more rounds of golf
US9409076B2 (en) 2011-04-28 2016-08-09 Nike, Inc. Golf clubs and golf club heads
US9409073B2 (en) 2011-04-28 2016-08-09 Nike, Inc. Golf clubs and golf club heads
US9427639B2 (en) 2011-04-05 2016-08-30 Nike, Inc. Automatic club setting and ball flight optimization
US9433845B2 (en) 2011-04-28 2016-09-06 Nike, Inc. Golf clubs and golf club heads
US9433844B2 (en) 2011-04-28 2016-09-06 Nike, Inc. Golf clubs and golf club heads
US9446294B2 (en) 2009-01-20 2016-09-20 Nike, Inc. Golf club and golf club head structures
US9486669B2 (en) 2008-02-20 2016-11-08 Nike, Inc. Systems and methods for storing and analyzing golf data, including community and individual golf data collection and storage at a central hub
US9616299B2 (en) 2014-06-20 2017-04-11 Nike, Inc. Golf club head or other ball striking device having impact-influencing body features
US9661894B2 (en) 2008-02-20 2017-05-30 Nike, Inc. Systems and methods for storing and analyzing golf data, including community and individual golf data collection and storage at a central hub
US9662551B2 (en) 2010-11-30 2017-05-30 Nike, Inc. Golf club head or other ball striking device having impact-influencing body features
US9925433B2 (en) 2011-04-28 2018-03-27 Nike, Inc. Golf clubs and golf club heads
US10137347B2 (en) 2016-05-02 2018-11-27 Nike, Inc. Golf clubs and golf club heads having a sensor
US10159885B2 (en) 2016-05-02 2018-12-25 Nike, Inc. Swing analysis system using angular rate and linear acceleration sensors
US10220285B2 (en) 2016-05-02 2019-03-05 Nike, Inc. Golf clubs and golf club heads having a sensor
US10226681B2 (en) 2016-05-02 2019-03-12 Nike, Inc. Golf clubs and golf club heads having a plurality of sensors for detecting one or more swing parameters

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3945646A (en) * 1974-12-23 1976-03-23 Athletic Swing Measurement, Inc. Athletic swing measurement system and method
US5041779A (en) * 1990-08-17 1991-08-20 The United States Of America As Represented By The Secretary Of The Army Nonintrusive electro-optic field sensor
US6402634B2 (en) * 1999-05-12 2002-06-11 Callaway Golf Company Instrumented golf club system and method of use

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3945646A (en) * 1974-12-23 1976-03-23 Athletic Swing Measurement, Inc. Athletic swing measurement system and method
US5041779A (en) * 1990-08-17 1991-08-20 The United States Of America As Represented By The Secretary Of The Army Nonintrusive electro-optic field sensor
US6402634B2 (en) * 1999-05-12 2002-06-11 Callaway Golf Company Instrumented golf club system and method of use

Cited By (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007125344A1 (fr) * 2006-04-28 2007-11-08 Berlin-Armstrong Locatives Ltd Système et procédé de surveillance d'exercices
WO2009034189A1 (fr) * 2007-09-14 2009-03-19 Technologies88 B.V. Appareil d'entraînement
US9623284B2 (en) 2008-02-20 2017-04-18 Karsten Manufacturing Corporation Systems and methods for storing and analyzing golf data, including community and individual golf data collection and storage at a central hub
US9393478B2 (en) 2008-02-20 2016-07-19 Nike, Inc. System and method for tracking one or more rounds of golf
US11857836B2 (en) 2008-02-20 2024-01-02 Karsten Manufacturing Corporation Systems and methods for storing and analyzing golf data, including community and individual golf data collection and storage at a central hub
US10806967B2 (en) 2008-02-20 2020-10-20 Karsten Manufacturing Corporation Systems and methods for storing and analyzing golf data, including community and individual golf data collection and storage at a central hub
US10486022B2 (en) 2008-02-20 2019-11-26 Karsten Manufacturing Corporation Systems and methods for storing and analyzing golf data, including community and individual golf data collection and storage at a central hub
US10350453B2 (en) 2008-02-20 2019-07-16 Karsten Manufacturing Corporation Systems and methods for storing and analyzing golf data, including community and individual golf data collection and storage at a central hub
US9486669B2 (en) 2008-02-20 2016-11-08 Nike, Inc. Systems and methods for storing and analyzing golf data, including community and individual golf data collection and storage at a central hub
US9661894B2 (en) 2008-02-20 2017-05-30 Nike, Inc. Systems and methods for storing and analyzing golf data, including community and individual golf data collection and storage at a central hub
RU2475624C2 (ru) * 2008-03-11 2013-02-20 Хэллибертон Энерджи Сервисиз, Инк. Улучшенные изолирующие жидкости на водной основе и связанные с ними способы
US9446294B2 (en) 2009-01-20 2016-09-20 Nike, Inc. Golf club and golf club head structures
US9662551B2 (en) 2010-11-30 2017-05-30 Nike, Inc. Golf club head or other ball striking device having impact-influencing body features
CN103596625A (zh) * 2011-04-05 2014-02-19 耐克国际有限公司 存储和分析高尔夫数据的系统和方法
US9427639B2 (en) 2011-04-05 2016-08-30 Nike, Inc. Automatic club setting and ball flight optimization
CN105107168A (zh) * 2011-04-05 2015-12-02 耐克创新有限合伙公司 存储和分析高尔夫数据的系统和方法
WO2012138605A3 (fr) * 2011-04-05 2013-03-21 Nike International Ltd. Systèmes et procédés pour stocker et analyser des balles de golf, comprenant une collecte et un stockage de données de golf de communauté et individuelles à un concentrateur central
US9433845B2 (en) 2011-04-28 2016-09-06 Nike, Inc. Golf clubs and golf club heads
US11077343B2 (en) 2011-04-28 2021-08-03 Nike, Inc. Monitoring device for a piece of sports equipment
US9375624B2 (en) 2011-04-28 2016-06-28 Nike, Inc. Golf clubs and golf club heads
US9409073B2 (en) 2011-04-28 2016-08-09 Nike, Inc. Golf clubs and golf club heads
US10500452B2 (en) 2011-04-28 2019-12-10 Nike, Inc. Golf clubs and golf club heads
US9409076B2 (en) 2011-04-28 2016-08-09 Nike, Inc. Golf clubs and golf club heads
US9433844B2 (en) 2011-04-28 2016-09-06 Nike, Inc. Golf clubs and golf club heads
US9925433B2 (en) 2011-04-28 2018-03-27 Nike, Inc. Golf clubs and golf club heads
WO2013039959A1 (fr) 2011-09-14 2013-03-21 Skyhawke Technologies, Llc Appareil permettant d'héberger des composants de télémétrie, de détection, de traitement et d'autres composants électroniques, et de fixer un tel appareil à un club de golf
EP2756419A4 (fr) * 2011-09-14 2015-07-01 Skyhawke Technologies Llc Appareil permettant d'héberger des composants de télémétrie, de détection, de traitement et d'autres composants électroniques, et de fixer un tel appareil à un club de golf
US9789371B2 (en) 2014-06-20 2017-10-17 Karsten Manufacturing Corporation Golf club head or other ball striking device having impact-influencing body features
US9889346B2 (en) 2014-06-20 2018-02-13 Karsten Manufacturing Corporation Golf club head or other ball striking device having impact-influencing body features
US9643064B2 (en) 2014-06-20 2017-05-09 Nike, Inc. Golf club head or other ball striking device having impact-influencing body features
US9616299B2 (en) 2014-06-20 2017-04-11 Nike, Inc. Golf club head or other ball striking device having impact-influencing body features
US9776050B2 (en) 2014-06-20 2017-10-03 Karsten Manufacturing Corporation Golf club head or other ball striking device having impact-influencing body features
US10137347B2 (en) 2016-05-02 2018-11-27 Nike, Inc. Golf clubs and golf club heads having a sensor
US10159885B2 (en) 2016-05-02 2018-12-25 Nike, Inc. Swing analysis system using angular rate and linear acceleration sensors
US10220285B2 (en) 2016-05-02 2019-03-05 Nike, Inc. Golf clubs and golf club heads having a sensor
US10226681B2 (en) 2016-05-02 2019-03-12 Nike, Inc. Golf clubs and golf club heads having a plurality of sensors for detecting one or more swing parameters

Also Published As

Publication number Publication date
WO2006014459A3 (fr) 2006-05-18

Similar Documents

Publication Publication Date Title
US20060166738A1 (en) Method and system for golf swing analysis and training for putters
WO2006014459A2 (fr) Procede et systeme d'analyse du swing et d'entrainement au swing pour des putters
US20050261073A1 (en) Method and system for accurately measuring and modeling a sports instrument swinging motion
JP6720594B2 (ja) スポーツ器具及びそのユーザーを監視するシステム、方法、及び装置
US9375624B2 (en) Golf clubs and golf club heads
US7509843B2 (en) Waggle weight
US9409073B2 (en) Golf clubs and golf club heads
US20060084516A1 (en) Method and system for defining and using a reference swing for a sports training system
US8074495B2 (en) Waggle weight and other preparatory period equipment measurements
US20050054457A1 (en) Method and system for golf swing analysis and training
US8668595B2 (en) Golf clubs and golf club heads
US20030207718A1 (en) Methods and systems for analyzing the motion of sporting equipment
US10080941B2 (en) Method, system, and apparatus for analyzing a sporting apparatus
US8409024B2 (en) Trajectory detection and feedback system for golf
US9433845B2 (en) Golf clubs and golf club heads
US9409076B2 (en) Golf clubs and golf club heads
KR101166490B1 (ko) 골프클럽용 스윙연습기를 이용한 학습용 스윙정보 제공시스템
US9433844B2 (en) Golf clubs and golf club heads
EP2858726B1 (fr) Bâtons de golf et têtes de bâtons de golf
US20050239583A1 (en) Method for measuring parameters and a striking device
WO2006010934A2 (fr) Dispositifs mobiles
KR20170114452A (ko) 스마트 밴드 및 스마트 공을 이용한 스포츠 트레이닝 시스템
US20040014531A1 (en) Device for training the correct swing for a club
WO2005039703A2 (fr) Procede et systeme d'analyse et d'apprentissage de l'elan dans le golf
WO2006110543A2 (fr) Procede et systeme permettant de creer un programme d'entrainement sportif par analyse electronique du swing d'un utilisateur

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A2

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KM KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NG NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SM SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A2

Designated state(s): GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LT LU LV MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

121 Ep: the epo has been informed by wipo that ep was designated in this application
NENP Non-entry into the national phase

Ref country code: DE

WWW Wipo information: withdrawn in national office

Country of ref document: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 69(1) EPC EPO FORM 1205A DATED 01-08-07

122 Ep: pct application non-entry in european phase

Ref document number: 05769588

Country of ref document: EP

Kind code of ref document: A2