WO2008018810B1 - Body kinetics monitoring system - Google Patents
Body kinetics monitoring systemInfo
- Publication number
- WO2008018810B1 WO2008018810B1 PCT/PT2007/000034 PT2007000034W WO2008018810B1 WO 2008018810 B1 WO2008018810 B1 WO 2008018810B1 PT 2007000034 W PT2007000034 W PT 2007000034W WO 2008018810 B1 WO2008018810 B1 WO 2008018810B1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- movement
- orientation
- human body
- equation
- communication device
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0002—Remote monitoring of patients using telemetry, e.g. transmission of vital signals via a communication network
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2503/00—Evaluating a particular growth phase or type of persons or animals
- A61B2503/10—Athletes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4528—Joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6823—Trunk, e.g., chest, back, abdomen, hip
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6824—Arm or wrist
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6828—Leg
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- Biomedical Technology (AREA)
- General Health & Medical Sciences (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Physiology (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Computer Networks & Wireless Communication (AREA)
- Measurement Of The Respiration, Hearing Ability, Form, And Blood Characteristics Of Living Organisms (AREA)
Abstract
The present invention relates to a sensing system for the monitoring of posture, orientation and movement of a body in a three dimensional space, differentiating among the various stationary states and transient states in what the user can be. Sensing modules are composed by three-axis accelerometers, three-axis magnetometers and interfacing electronics. The device is encapsulated, enabling its use in adverse and harsh environments. The data monitored by the sensing modules are transmitted in real time, by the local communication device, to the central communication device, using a 2.4 GHz RF transceiver. Generic applications derived from the analysis of the monitored data include not only the rectification of a user's incorrect body posture, thereby avoiding injuries, but also the acceleration of the healing process in therapy or the simple monitoring of a user's physical activity. Being compact and encapsulated, this device can be used to monitor and analyze the movement of athletes in physical activity, e.g. a swimmer.
Claims
1. A system for monitoring posture, orientation and movement of bodies in space and measuring body acceleration comprising sensing modules, processing unit, storage unit and communication unit, comprising a device that applies a method for correction of the vertical component of Earth' s magnetic field and decoupling of linear and gravitational acceleration that comprises the following steps:
previous calculated rotation vector vprev = v pz and the angle between the previous magnetic and gravitational fiels, αprev; calculating the absolute value of the measure gravity field using equation one (XI) ;
checking if \g\ = 1 and jumping to the calculation of the pitch {θ) and roll (φ) in case \g\ = 1 or applying extra intermediate steps otherwise;
calculating the normal of the plane defined by the vectors inprev and mme3S using equation two (XII) ;
n = (JΠX, my, m∑) x (mpx, mpy, mpz) (XIi; calculating the angle β, which corresponds to the angle between the previous and measured magnetic fields using equation (III) ;
β = K=' my> mz) • (mpx' mpy> m (XIII)
rotating the previous computed rotation vector vprev over the rotation matrix (XIV) wherein getting the new rotation vector vnew using equation (XV) ;
n u + c nynxU - nzS n n u + nys
M = nxnyU + n,s nyu + nznyU ~ nxS (XIV) nAu ~ n y s nynzu + n s nlu + c wherein s = sin (β) , c = cos (/3) and u = 1 — cos {β)
vnew = Mvvprev = V. V V (XV)
retrieving the gravitational field by rotating the measured magnetic field data over the rotation matrix (XVI) and using equation (XVII) ;
VnxU + C VnyVn,P ~ ΩzS VnzVnxU + V ' nyS
M = Vn*VnyU + VnzS VnyU + C VnzVnyU ~ V nX S (XVI )
VnX VnzU ~ VnyS VnyVnzU + V nxS wherein s = sin (α ) , c = cos (α ) and u = 1 - cos (α )
-3 new a prev » newx ? newy r newz ' (xvii;
calculating the motion acceleration using equation (XVIII) and assuming as the gravity measure field data the calculated gravity field using equation (XIX) ,
motion = (ax a J - (an i ' new yy r ' nneewwz ' (xviii ;
aj = (a newx t new ryy ' ' newz ' (XIX)
calculating the pitch [Q) and roll [φ) angles using the equation (I) ;
calculating the correction factors by means of the rotation vector (IV) , which corresponds to the vector product of the gravity and magnetic fields, and the rotation angle (V) , which corresponds to the angle between the gravity and magnetic fields;
v = (αx,α αz)x(mx,m mz) (IV) π α = —-arc∞s(α^χiαJt).(mx,my,mz) (V)
applying the correction factors with the rotation matrix (VI) wherein the readings from the magnetic sensors are compensated by equation (VII) ;
VχU + C v y v x u — V z S V2VxU + V yS
Mrot = vxvyu + vzs VyU + c V2VyU - VxS (Vi ;
VxV2U - VyS V^V2W f V/ V2 2U + C wherein s = sin(α) , c = cos(α) and w = l - cos(α) <t = Mrotm (VII )
compensating of the yaw (φ) angle for roll (φ) and pitch (θ) movements using equation (VIII) being its value determined by equation (III) ;
XH = mrot cos θ - mrot sin θ sin φ - mrot sin θ cos φ
(VIII )
YH = mroK COS (p - mrOl ^m ψ
2. A system for monitoring posture, orientation and movement of the human body, according to claim 1, characterized in that one of the sensing modules (reference module) is located in the trunk zone.
3. A system for monitoring posture, orientation and movement of the human body, according to claim 1, characterized in that the sensing modules are located in body areas where the linear acceleration caused by the rotation of the limbs is zero.
4. A system for monitoring posture, orientation and movement of the human body, according to claim 1, characterized in that the sensing modules have power consumption lower to 50 mW, provided by batteries.
5. A system for monitoring posture, orientation and movement of the human body, according to claim 1, characterized in that the sensing modules have compact dimensions and a volume inferior to 5 cm3.
6. A system for monitoring posture, orientation and movement of the human body, according to claim 1, characterized in that the communication unit is composed by a central communication device and one or more local communication devices.
7. A system for monitoring posture, orientation and movement of the human body, according to the preceding claims, characterized in that the sensing modules register their position in relation to Earth' s gravity and magnetic fields and transmit data through the local communication device to the central communication device, providing the posture, orientation and movement of the body.
8. A system for monitoring posture, orientation and movement of the human body, according to claim 6, characterized in that the local communication device sends the monitoring data to the central communication device in real time at a sampling rate between 1 and 50 Hz.
9. A system for monitoring posture, orientation and movement of the human body, according to claim 6, characterized in that the local communication device can be integrated in the sensing modules, allowing direct wireless communication with the central communication device.
10. A system for monitoring posture, orientation and movement of the human body, according to claim 9, characterized in that the wireless communication takes place by radiofrequency (RF) at 2.4 GHz, allowing the connectivity with personal devices (cellular phones, PDAs, laptop computers, etc.).
11. A system for monitoring posture, orientation and movement of the human body, according to claim 1, characterized in that the storage unit stores de monitored data, retransmitting them afterwards to the central communication device in case of transmission failure.
12. A system for monitoring posture, orientation and movement of the human body, according to claim 1, characterized in that the sensing modules and local communication devices are housed in hermetic materials, allowing their operation in adverse or harsh environments.
13. A system for monitoring posture, orientation and movement of the human body, according to the preceding claims, characterized in that the reference module, the sensing modules and the local communication device can be embodied in a textile basis.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PT10355106A PT103551A (en) | 2006-08-07 | 2006-08-07 | SYSTEM FOR KINETIC BODY MONITORING |
PT103551 | 2006-08-07 |
Publications (3)
Publication Number | Publication Date |
---|---|
WO2008018810A2 WO2008018810A2 (en) | 2008-02-14 |
WO2008018810A3 WO2008018810A3 (en) | 2008-06-12 |
WO2008018810B1 true WO2008018810B1 (en) | 2008-08-07 |
Family
ID=39033413
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/PT2007/000034 WO2008018810A2 (en) | 2006-08-07 | 2007-08-07 | Body kinetics monitoring system |
Country Status (2)
Country | Link |
---|---|
PT (1) | PT103551A (en) |
WO (1) | WO2008018810A2 (en) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8884754B2 (en) | 2008-08-20 | 2014-11-11 | Koninklijke Philips N.V. | Monitoring vital parameters of a patient using a body sensor network |
US20100210975A1 (en) * | 2009-01-21 | 2010-08-19 | SwimSense, LLC | Multi-state performance monitoring system |
RU2580893C2 (en) * | 2010-08-04 | 2016-04-10 | Конинклейке Филипс Электроникс Н.В. | Monitoring of vital body signals during movement |
ES2448941B1 (en) * | 2012-09-17 | 2015-02-10 | Mª Del Carmen LOPEZ GONZALEZ | METHOD AND ALARM SYSTEM TO DETECT INCORRECT POSTURES |
WO2014153665A1 (en) * | 2013-03-29 | 2014-10-02 | Engage Biomechanics Inc. | System and method for monitoring a subject |
US20160331280A1 (en) * | 2013-12-19 | 2016-11-17 | Neuromedicine Behavior Lab Scandinavia Ab | A system intended for measuring, evaluating and/or giving feedback on the sitting posture of a user |
US11030918B2 (en) | 2015-09-10 | 2021-06-08 | Kinetic Telemetry, LLC | Identification and analysis of movement using sensor devices |
CN109529295B (en) * | 2018-10-29 | 2021-01-19 | 叶强 | Exercise posture correction trainer and training method |
CN110044352A (en) * | 2019-04-25 | 2019-07-23 | 南京邮电大学 | A kind of inertial navigation system and method with Digital Holography |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6122960A (en) * | 1995-12-12 | 2000-09-26 | Acceleron Technologies, Llc. | System and method for measuring movement of objects |
US6834436B2 (en) * | 2001-02-23 | 2004-12-28 | Microstrain, Inc. | Posture and body movement measuring system |
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2006
- 2006-08-07 PT PT10355106A patent/PT103551A/en not_active Application Discontinuation
-
2007
- 2007-08-07 WO PCT/PT2007/000034 patent/WO2008018810A2/en active Application Filing
Also Published As
Publication number | Publication date |
---|---|
PT103551A (en) | 2008-02-29 |
WO2008018810A3 (en) | 2008-06-12 |
WO2008018810A2 (en) | 2008-02-14 |
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