WO2007069014A1 - Analyseur de mouvement sportif et dispositif d'entrainement - Google Patents

Analyseur de mouvement sportif et dispositif d'entrainement Download PDF

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Publication number
WO2007069014A1
WO2007069014A1 PCT/IB2006/003483 IB2006003483W WO2007069014A1 WO 2007069014 A1 WO2007069014 A1 WO 2007069014A1 IB 2006003483 W IB2006003483 W IB 2006003483W WO 2007069014 A1 WO2007069014 A1 WO 2007069014A1
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WO
WIPO (PCT)
Prior art keywords
analyzer
user
swing
sport
movement
Prior art date
Application number
PCT/IB2006/003483
Other languages
English (en)
Inventor
Heikki V. Nieminen
Larri Vermola
Henrik HYYPPÄ
Original Assignee
Nokia Corporation
Nokia 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 Nokia Corporation, Nokia Inc. filed Critical Nokia Corporation
Publication of WO2007069014A1 publication Critical patent/WO2007069014A1/fr

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Classifications

    • 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
    • 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
    • A63B24/0003—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
    • A63B2024/0009—Computerised real time comparison with previous movements or motion sequences of the user
    • 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
    • A63B2071/0658—Position or arrangement of display
    • A63B2071/0661—Position or arrangement of display arranged on the user
    • A63B2071/0663—Position or arrangement of display arranged on the user worn on the wrist, e.g. wrist bands
    • 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
    • A63B2071/0675—Input for modifying training controls during workout
    • A63B2071/068—Input by voice recognition
    • 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
    • A63B2220/10—Positions
    • A63B2220/16—Angular positions
    • 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
    • A63B2220/40—Acceleration
    • A63B2220/44—Angular 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
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/801—Contact switches
    • 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
    • A63B2220/805—Optical or opto-electronic sensors
    • 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
    • A63B2220/836—Sensors arranged on the body of the user

Definitions

  • a problem in sport movement analysis and training involves storing sensor parameters at certain (static) points in the movement without interfering with (touching) a measuring device that is attached to the trainer.
  • the storing could be done remotely by using an external device, e.g. IrDA, remote control in a phone, camera, or as a separate remote control unit; Radio remote controller; Bluetooth remote control in a phone, camera, or as a separate remote control unit, and Voice commands, for example voice recognition system in user's sensor device.
  • the external device adds another unit to implement the storing of the parameters.
  • Another aspect is swing detection and measuring process for establishing swing positions and events to be detected along a swing path for measurement and analysis.
  • FIG. 1C is a representation of internal devices and circuitry in the analyzer of
  • FIG. 2A shows rotation of a sensor box in the analyzer of FIG. 1 ;
  • FIG. 2B shows sensor data from the sensor box of FIG. 2A
  • FIG. 4A is a representation of a swing detection block diagram for the analyzer of FIG. 1;
  • FIG. 4B is a graphical representation of detecting a down swing of the user using threshold values with angular velocities along the y axis versus time along the x axis;
  • FIG. 4C is a graphical representation of detecting address position measuring direction of gravity at start of swing with distance in inches along the y axis and time in seconds along the x axis.
  • FIG. 4D is a graphical representation of determining the angular velocity threshold in detecting the address position measuring gravity with angular velocity along the y axis and time along the x axis
  • FIG. 5B is a down the line view of a user's swing in calculating the user's swing width
  • FIG. 6 is a flow diagram describing the operation of the sport analyzer and training device of FIG. 1 in setting the swing positions or events along the swing path for detection and measurement;
  • FIG. 7A is a pictorial representation of different swing positions or events along the swing path of the user viewed from the position of the user as determined by the analyzer of FIG. 1;
  • FIG. 7D is a pictorial representation of a user's swing tempo and speed, as determined by the swing detection algorithm
  • a bottom member 140 is secured to the cover member 132 and completes the package 126.
  • the bottom member includes a micro control unit or processor 142 for controlling and managing the analyzer according to stored programs to be described hereinafter in conjunction with a description of Fig. ID.
  • the processor 142 is connected to a bus 144 serving a ROM 146 containing the stored programs for operating the analyzer; a RAM 148 services the processor operations, a voice recognition unit 150 supports oral communications by the user to the analyzer, and a timing generator 152 provides timing signals for measurement purposes in determining the parameter values at the various swing positions of the backswing and downswing as the club travels along the swing path.
  • a sensor box 154 is coupled to the bus and includes devices sensing the movement of the club.
  • the processor 142 is also coupled to an input/output device 156 serving the display 134 and a transducer 158 responsive to the processor.
  • the transducer provides the user with sounds or vibrations when a user's performance along the swing path does not match a target performance stored in the ROM or elsewhere.
  • the I/O 156 is also coupled to a transceiver 160 for transmitting sensor signals and data to a server 164, either directly or via an Access Point 166 coupled to a network 168 serving the server, as shown in Fig. 1.
  • the server is coupled to a storage device 170 including a database (not shown, but to be described hereinafter) for storing user performance data.
  • target performance is organized in the database in a timely calendar or other easily re- discoverable format.
  • a user may download target performance data from the storage device 170 to the analyzer, via the keyboard 136 for display in the display 134.
  • the user's current performance as captured by the analyzer may be shown in the display 134, along with the target performance data for comparison and teaching purposes.
  • the current performance data may be uploaded to the storage unit 170 for subsequent recall in learning and teaching.
  • a cellular communication protocol may be substituted for the Bluetooth protocol in the event the analyzer and server or Access Point is more than 100 meters apart.
  • Global System Mobile is described in the text An Introduction To GSM, by S. M. Redl, et al, published by Artech Publishers, Boston, Mass, 1995, Chapter Three.
  • a swing movement algorithm 149 is included in the stored programs for generating and processing sensor signals received from the sensors during a swing movement 106 along the swing path.
  • the sensor signals are provided for various parameters at various swing points or events of the club along the swing path.
  • Fig. 2A shows how the sensor box 154 (see Fig. 1C) is rotated when acceleration from y' 'axis sensor is measured.
  • Fig. 2C shows how the sensor co-ordinate system is oriented on the wrist of the player 102.
  • reference co-ordinate system is the ⁇ onmoving co-ordinate system that is aligned vertically (y-axis) with gravity and laterally (x-axis) along the target line.
  • target line means the direction towards the target thee player is aiming.
  • Second during calculations there is a co-ordinate system that is aligned to the sensor box orientation at the player's address position with respect to the ball. This coordinate system is not moving relative to the reference co-ordinate system.
  • This address position co-ordinate system is defined by x ', y ', and z ' axis.
  • Fig. 3A describes a process 300 implementing an analysis of the categories of user movements for swing detection; putt detection and short game detection .
  • a movement category 302 is selected for analysis.
  • a movement performance is conducted for a selected period of time (x).
  • the acceleration and angular rotation data 304 is collected by the analyzer for an analysis using an appropriate algorithm for the selected movement. The results are displayed to the user by the analyzer.
  • Fig. 4A shows a block diagram 400 for a swing detection algorithm responsive to acceleration and angular rotation data. While the player is in a nonmoving state 404; addressing the ball 406; starting a swing 408; detecting the down swing t2 for a period of time 412 (x sec.).Blocks are explained as follows:.
  • Downswing is the fastest part of the movement, which makes it the easiest to detect. Downswing can be detected simply with thresholds for angular velocities and accelerations.
  • Fig. 4B shows the typical angular velocities during the down swing.
  • End of the backswing is detected (for right handed player) when
  • the orientation change from the start position is calculated multiplying the temporal rotation matrix with previous rotation matrix after each time step.
  • This acceleration contains naturally earth gravitation, which has to be removed. The gravitation is measured at the beginning of the swing when we detected that the device is not moving.
  • the swing angle is calculated from the projection of the wrist direction (x-axis of measurement co-ordinate system) into the xy-plane of the reference co-ordinate system.
  • the swing angle is angle between vertical direction and the wrist projection to the xy-plane.
  • swing length is delivered from this calculation. It can be presented to user in many ways: as degrees from address position, as percentage of full swing or as equivalent clock position.
  • the swing length is calculated from the projection of ami ⁇ to the plane formed by x andj ⁇ axis, the z axis component must be zero
  • the arni ⁇ vector is just replaced with unit vector that points from the swing origin to the location of selected swing position. Swing origin is explained in Chapter 5.10.
  • Maximum club head speed is defined as maximum o ⁇ v c ⁇ u bhe ad before the impact. [0109] Chapter 6.0 Analyze swing [0110] 6.1 Swing dynamics [0111] 6.1.1 Temporal Basis
  • Rhythm is the ratio of different parts of the swing. For instance, ration of backswing and downswing times. [00101] 6.1.3 Timing
  • 1 A swing location and/or orientation for reference swing are defined by forearm rotation (described in Chapter 5.7).
  • 1 A swing position the forearm has rotated 90 degrees compared to the start of the swing.
  • the reference swing defines the swing angle ⁇ /4 back - sw i ng ) and the analyzed swing is compared to reference at this swing angle. So the analyzed swing does not have necessarily forearm rotated 90 degrees at this point. Calculation of swing angle is in specification Chapter 5.6
  • 1 A swing location and/or orientation for reference swing are defined by forea ⁇ n rotation (described in Chapter 5.7).
  • the forearm In the 1 A swing position (downswing), the forearm has under rotated 90 degrees compared to the end of the swing.
  • the reference swing defines the swing angle (cciHjownswing) and the analyzed swing is compared to reference at this swing angle. Calculation of swing angle is in specification Chapter 5.6.
  • Hit time, location and/or orientation is defined as the time and angle
  • a process 300 for selecting swing positions for measurement and analysis is described in FIG. 6, as follows: Step 1 : A list of swing positions is developed by the user for measurement and analysis.
  • Step 5 The user takes the position within N seconds, where N can range from 1 to 10 seconds, otherwise the control returns to the initial view.
  • Step 7 The sensors in the analyzer record the position data.
  • Step 8 The analyzer provides an audio or vibration signal to the user that the sensors are recording the position data.
  • FIG. 7A a pictorial representations of a golfer's swing, as viewed by the golfer, shows the measurements made on the left wrist of the golfer relative to a standard golf as swing generated by the swing algorithm described above in Chapter 3.0.
  • FIG. 7B is a pictorial representation of the golfer's swing and measurements made as viewed by a third person from the side of the golfer.
  • FIG. 7C is a pictorial representation of the golfer's swing and measurements made as viewed by a third party from the rear of the golfer.
  • the club movement is represented by the movement of a standard club head on a horizontal and a vertical axis shown in the Figures 7A, B and C.
  • the measurements are displayed at the bottom of each Figure.
  • the left measurement in each Figure describes the rotation of a golfer's left arm in degrees relative to the standard club head rotation at each measuring point in the swing.
  • the center measurement in each Figure describes the vertical position (high or low) of the measured club head in inches from the standard club head position at each measuring point.
  • the right measurement in each Figure describes the distance or width (right, left or neutral) in inches of the measured club from the standard club head at each measuring point.
  • the analyzer facilitates a user practicing his/her swing using a learning process, as follows:
  • Step 1 The user informs the analyzer through the keyboard that it wishes to practice his/her swing.
  • Step 2 The analyzer detects the start position of the swing using the processes previously described in the swing algorithm specification.
  • Step 5 The user starts the swing and goes to the desired swing position.
  • Step 6 If there are other swing positions "en route" and the user goes through them the analyzer device gives feedback of this to the user.
  • Step 7 The user stops the club movement at the desired swing position point and waits for a mark from the analyzer.
  • Step 9 When the user detects the mark he/she may check the position and inform the analyzer if the user wants to save the position.
  • the analyzer also facilitates teaching the user to improve his/her swing using a teaching process, as follows:
  • Step 1 The user informs the analyzer through the keyboard device about his/her intention to practice swing and use the analyzer device to help improve his/her swing.
  • the analyzer informs user that it is ready to analyze the club movement.
  • Step 3 When the swing is started, the analyzer detects the movement and estimates the hand positions as described in the Algorithm specification at Chapters 3-6.9.
  • Step 5 If user fails to go through the swing point with an improper movement the analyzer will inform the user about this mistake by, for example, a message on the display, or by a sound or vibration.
  • the analyzer may be re-programmed from new swing data provided by the user or from swing data stored in a database 170 (See Fig. 1) of the user or another player.
  • This database can be on web server, webpage, user device, user computer or any such similar place where it can be reached and accessed, also the swing data can be modified or even made manually.
  • a representative process for re-programming the analyzer 124 of Fig. 1 is as follows:
  • Step 3 After the round, the shot is reviewed through the display in the user interface 132 and the data is a) saved as a target performance in the analyzer; or b) transferred to external storage for later utilization;
  • Step 4 Later the user loses his good performances and cannot find the perfect swing anymore
  • the individual best performance or other target performance is stored as raw motion sensor data or as an interpretation of that data, organized to be re-discoverable and usable form, stored for any period of time. After the desired performance is lost, the stored performance can be uploaded to the analyzer to be recreated in full detail, body positions, movements, timings, orientations, accelerations, all measured factors can be recreated with unequalled precision.
  • the target values are utilized as training goals that are provided to the user through the user interface that can contain feedback methods for any senses, e.g. vibrations for sense of touch, sounds for hearing, lights or other visual elements etc.
  • Figure 8 shows the analyzer as a trainer in a process 600 for a user 602 to improve his/her tennis performance, as follows:
  • Step 1 The user is in a setup position.
  • the analyzer is active.
  • Step 2 The racket is moving.
  • the analyzer is active. The user tries to find an optimal position to train.
  • Step 3 Step 2 is repeated.
  • Step 4 Step 2 is repeated.
  • Step 5 The user finds an optimal position (XY) to train and stops hand movement.
  • the analyzer detects the optimal position and a timer is triggered.
  • Step 6 The racket/hand has been static for a defined number of seconds.
  • the analyzer via the sensors record the sensor parameter.
  • Step 7 The user continues training.
  • the analyzer is active.

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)

Abstract

Analyseur de mouvement sportif, dispositif d'entraînement et procédé correspondant, qui en temps réel, détectent, analysent, corrigent, et reproduisent les mouvements sportifs d'un utilisateur. L'analyseur est fixé au poignet d'un utilisateur alors qu'il effectue des mouvements sportifs. Une unité de détection dans l'analyseur fournit des signaux représentatifs du mouvement du poignet à différentes positions d'oscillation le long d'une trajectoire d'oscillation au cours d'un mouvement sportif. Un processeur dans l'analyseur traite les signaux pour mesurer différents paramètres indicatifs d'une performance sportive de l'utilisateur aux positions d'oscillation le long de la trajectoire d'oscillation. Des programmes stockés dans l'analyseur assistent le processeur dans le traitement des signaux représentatifs de la performance sportive pour affichage à l'utilisateur. Un historique des performances sportives passées de l'utilisateur est stocké pour les comparer aux performances sportives actuelles.
PCT/IB2006/003483 2005-12-12 2006-12-05 Analyseur de mouvement sportif et dispositif d'entrainement WO2007069014A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/298,824 US20070135225A1 (en) 2005-12-12 2005-12-12 Sport movement analyzer and training device
US11/298,824 2005-12-12

Publications (1)

Publication Number Publication Date
WO2007069014A1 true WO2007069014A1 (fr) 2007-06-21

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