WO2010000369A1 - Device and method for measurement of cycling power output - Google Patents
Device and method for measurement of cycling power output Download PDFInfo
- Publication number
- WO2010000369A1 WO2010000369A1 PCT/EP2009/004095 EP2009004095W WO2010000369A1 WO 2010000369 A1 WO2010000369 A1 WO 2010000369A1 EP 2009004095 W EP2009004095 W EP 2009004095W WO 2010000369 A1 WO2010000369 A1 WO 2010000369A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- cleat
- force
- cyclist
- accelerometer
- measurement device
- Prior art date
Links
- 0 CCC1(C)C2C(*)CC1CCCCC=CCCC(C)CC#CCCCCC2 Chemical compound CCC1(C)C2C(*)CC1CCCCC=CCCC(C)CC#CCCCCC2 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/24—Devices for determining the value of power, e.g. by measuring and simultaneously multiplying the values of torque and revolutions per unit of time, by multiplying the values of tractive or propulsive force and velocity
- G01L3/247—Devices for determining the value of power, e.g. by measuring and simultaneously multiplying the values of torque and revolutions per unit of time, by multiplying the values of tractive or propulsive force and velocity by measuring and simultaneously multiplying tractive or propulsive force and velocity
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
- A43B3/00—Footwear characterised by the shape or the use
- A43B3/0031—Footwear characterised by the shape or the use provided with a pocket, e.g. for keys or a card
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
- A43B3/00—Footwear characterised by the shape or the use
- A43B3/34—Footwear characterised by the shape or the use with electrical or electronic arrangements
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
- A43B3/00—Footwear characterised by the shape or the use
- A43B3/34—Footwear characterised by the shape or the use with electrical or electronic arrangements
- A43B3/44—Footwear characterised by the shape or the use with electrical or electronic arrangements with sensors, e.g. for detecting contact or position
-
- A—HUMAN NECESSITIES
- A43—FOOTWEAR
- A43B—CHARACTERISTIC FEATURES OF FOOTWEAR; PARTS OF FOOTWEAR
- A43B5/00—Footwear for sporting purposes
- A43B5/14—Shoes for cyclists
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/221—Ergometry, e.g. by using bicycle type apparatus
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
- G01L5/225—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to foot actuated controls, e.g. brake pedals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/02—Devices characterised by the use of mechanical means
- G01P3/16—Devices characterised by the use of mechanical means by using centrifugal forces of solid masses
- G01P3/22—Devices characterised by the use of mechanical means by using centrifugal forces of solid masses transferred to the indicator by electric or magnetic means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/22—Ergometry; Measuring muscular strength or the force of a muscular blow
- A61B5/221—Ergometry, e.g. by using bicycle type apparatus
- A61B5/222—Ergometry, e.g. by using bicycle type apparatus combined with detection or measurement of physiological parameters, e.g. heart rate
-
- 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
- A63B2220/13—Relative 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
- A63B2220/40—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
-
- 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
- A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/21—Elements
- Y10T74/2164—Cranks and pedals
- Y10T74/2168—Pedals
- Y10T74/217—Pedals with toe or shoe clips
Definitions
- the invention relates to the continuous measurement of a cyclist's power output, and in particular by utilising sensors and appropriate electronics in conjunction with a bicycle.
- the four existing power measurement systems each insert a sensor at a different point in the power transmission path between the cyclist's feet and the tyre contact with the road, as described below.
- the first known system is "PowerTap" which uses strain gauges embedded in the hub of the rear wheel of the bicycle. This measures the mechanical strain as the rotational power is transferred from the rear gear cogs through the hub mechanism into the wheel itself.
- This system requires the use of a special rear wheel, built with the PowerTap hub at its centre. The use of a special wheel is a serious disadvantage, as competitive cyclists change wheels frequently. This system is described in US Patent Number 6,418,797.
- SRM strain gauges embedded in the right hand pedal crank that drives the chain. This measures the strain as the rotational power is transferred from the crank to the large gear ring driving the chain.
- This system requires the use of a special crank set containing the measurement sensors. The operation of this system is further described in http://www.srm.de/englisch/index.html.
- the third system known in the industry as "Ergomo” uses strain gauges embedded in the axle that joins the two pedal cranks together through the bottom of the bicycle frame. It measures the strain as the axle twists slightly when the pedals are pressed by the cyclist. It measures the power from the left pedal only, and assumes that the power from the right pedal is exactly the same (which is hardly ever the case in practice).
- This system requires the use of a special axle and bearing assembly between the cranks.
- the Ergomo system is described in US Patent Number US6,356,847.
- the "Polar" system is the only existing power measurement system that does not require a part of the bicycle to be replaced. It works by using sensors to monitor the tension in the chain, as disclosed in US Patent Number US6,356,848 The sensors are fitted close to the chain to monitor its speed and vibration. Installation requires measurement of the length and weight of the chain. It has a reputation for being difficult to install and calibrate, and for being less reliable than other systems.
- PCT patent publication number WO2006121714 "Systems and methods of power output measurement” attempts to overcome the above mentioned problems.
- This PCT publication discloses a system for measuring the power output of a cyclist by placing sensors underneath the cyclist's shoe.
- a number of problems associated with this system include fitting the sensor between the cleat and shoe increases the distance from the cylist's foot to the axle of the pedal, which reduces cycling efficiency. Variations in the force used to screw the cleat to the shoe will cause unknown force on the sensor, leading to an unknown "zero" point and calibration errors.
- the system takes no account of the need to measure the pedalling rate ("cadence") and the angular position of the crank at each instant. Rotational power at any instant cannot be calculated without knowing the applied force, the speed of rotation and the angular position of the crank thus leading to inaccurate data.
- the sensor and its connector are under the shoe, and therefore are exposed to damage during use.
- PCT patent publication number WO2008/058164 assigned to Quarq discloses a system that operates very similarly to the SRM system (described above). The system requires use of a special crank set with strain gauges embedded in the right hand side of the crank. The system also discloses the use of an accelerometer for certain measurements, when mounted on the crank assembly and requires a magnet on the bicycle. The system disclosed in Quarq is is complex to implement as there is different crank sets for different manufacturers.
- US patent publication number US 20070245835, assigned to Microsport describes a system using measurements from a flexible force sensor inside a cyclist's shoe. The system measures only the compression force normal to the plane of the shoe and pedal. The system does not include any means to measure the direction of the force being applied through the pedals to the cranks, and uses pre-calculated estimates of direction based on assumptions of standard cycling styles.
- An object of the invention is to provide a device and method to measure, display and record the power output of a cyclist accurately and more effectively than current solutions on the market.
- a measurement device for measuring a cyclist's power output, in response to an external force provided by said cyclist applied to a bicycle comprising a force sensor, characterised in that said force sensor is embedded in a bicycle cleat.
- the invention provides a constant measurement solution of the power output of a cyclist, with a number of advantages over existing systems that have a number of problems already mentioned in the Background of the Invention.
- the inventive device means that the installation does not need any part of the bicycle to be replaced.
- the present invention does not restrict the type of components that may be used on the bicycle. Because the sensors are embedded in the cleat it is very simple to move the system to another bicycle. The invention allows for detailed analysis of pedalling style, leading to improvements in efficiency.
- the measurement device is provided with an accelerometer.
- accelerometers have not been used for the measurement of power output of a cyclist.
- the present invention found that positioning or embedding an accelerometer in a bicycle cleat allows for accurate measurements that were not measured previously, to aid in increasing the performance of a cyclist.
- the accelerometer can be mounted anywhere in the vicinity of the rotating mechanism, said accelerometer comprises means for measuring cadence or crank position or pedal tilt. It will be appreciated that the invention makes use of measurement of the foot angle, such that a vector is obtained to determine where the pressure is coming from to calculate torque from the foot force. The foot angle provides important data from a biomechanical point of view for the cyclist.
- a measurement device for measuring a cyclist's power output, in response to an external force provided by said cyclist applied to a bicycle comprising an accelerometer.
- an accelerometer Positioning the accelerometer anywhere in the vicinity of the pedal, for example either mounted on the pedal or in the bicycle cleat or bicyclist shoe allows for accurate measurements to measure the cyclist's power output.
- the accelerometer can be mounted on the cleats and/or legs and/or feet and/or shoes and/or pedals for measuring cadence or crank position or pedal tilt.
- the embedded force sensor comprises a first sensor positioned on the inner edge of said cleat and a second sensor positioned on the outer edge of said cleat.
- the force sensor comprises a third sensor positioned on the centre of the cleat.
- the force sensor comprises means for measuring the compression force applied to said bicycle cleat. It will be appreciated that a single sensor can measure both the compression and tension forces.
- the force sensor comprises means for measuring the shear force applied to said cleat.
- the accelerometer comprises means to measure pedalling cadence.
- the accelerometer comprises means to detect the true top of a crank revolution.
- the accelerometer comprises means to detect the true bottom of a crank revolution.
- the accelerometer comprises means to measure the angular position of the crank and means to measure forward/backward tilt of the pedal.
- the present invention measures crank angle and force direction more accurately, thus providing a more accurate power figure.
- Use of the force sensors in combination with an accelerometer provides measurement of forces applied by each or either foot at all points in a revolution, allowing identification of "wasted" power applied downwards during the up stroke.
- the invention provides measurement of forces at more than one point under each foot, allowing identification of inefficiencies caused by leaning to the left or the right on the pedal. Accurate measurement of the forward/backward tilt of the cyclist's foot and shoe, provides extra information about pedalling style.
- the invention provides measurement of the direction of the force applied to the pedal, allowing identification of inefficiencies due to pushing in the wrong direction.
- the invention can provide measurement of the cycling cadence without requiring sensors or components to be attached to the bicycle.
- a method of measuring a cyclist's power output, in response to an external force provided by said cyclist applied to a bicycle comprising the step of using a force sensor embedded in a bicycle cleat to measure the force applied.
- the invention provides the additional step of using an accelerometer.
- Figure 1 illustrates a typical prior art bicycle power train, showing the components used to transmit power from pedal through cranks, chain, sprocket, hub, and rear wheel.
- Figure 2 shows a bottom view of a typical cycling shoe and bicycle cleat.
- Figure 3 shows a side view of a typical cycling shoe and bicycle cleat.
- Figure 4 illustrates required values to calculate the power by using the vertical component F v of the force applied to a pedal and crank.
- Figure 5 illustrates known values required to calculate the power by using the effective component F eff of the force applied to a pedal and crank.
- Figure 6 illustrates of the overall system architecture of the present invention.
- Figure 7 illustrates a bottom view of the force sensors and accelerometer embedded in the cleat according to one aspect of the invention.
- Figure 8 illustrates a side view of Figure 7 of the force sensors and accelerometer embedded in the cleat.
- Figure 9 illustrates the directions of the compression, tension and shear forces at the cleat.
- Figure 10 illustrates X and Y axes of an accelerometer with respect to the shoe, cleat, pedal and crank.
- Figure 11 illustrates the centrifugal force F c and gravitational force F g combining to produce total force F t at the end of the crank.
- Figure 12 illustrates the effect of a non-horizontal foot position causing tilting of the accelerometer axes.
- Figure 13 illustrates the effect of gravity on the total force F t at the top of the crank revolution.
- Figure 14 illustrates the effect of gravity on the total force F t at the bottom of the crank revolution.
- Figure 15 illustrates the relationship between the axes of the accelerometer, the force F t resulting from F c and F g , and the calculated angles ⁇ g between gravity and the accelerometer axis and ⁇ p between the pedal and the crank.
- Figure 16 illustrates the relationships between the measured forces F N and Fs resulting from applied force F app , the angle ⁇ p between pedal and crank, the rotational position ⁇ c of the crank, and the calculated force components F v and F ef f.
- Figure 1 shows energy exerted on the pedals of a bicycle that passes through a sequence of mechanical components (the "power train”) before it drives the rear tyre against the road surface, illustrated generally by the reference numeral 1.
- a cyclist presses down on pedals 2 attached to cranks 3, one on each side.
- the cranks 3 rotate on an axle through the bottom of the bicycle frame (known as the “bottom bracket") and drive a chain ring, 4 which drives the chain 5.
- the chain 5 drives a gear (usually selected from one of several) attached to the hub of a back wheel 6.
- the hub of the back wheel 6 rotates on its axle, transmitting torque out through the spokes to rotate the whole wheel and drive the tyre against the road surface.
- cleat 11 is normally made of a hard plastic, and can be tightly bolted to the bottom of the shoe 10.
- the pedals 2 are specially shaped to accept the cleats and are spring loaded to hold them tightly.
- the only way to remove the shoe 10 and cleat 1 1 from the pedal 2 is to rotate them sideways. This arrangement ensures the cyclist's foot does not slip off the pedal 2, and also allows a cyclist to pull up on the shoe to impart force on the upward stroke.
- cleats 11 become worn and typically have to be replaced after six months to a year of use.
- the term 'embedded' can mean that the sensor 13 is partially or wholly within the cleat 11.
- 'P' is the calculated power, in Watts.
- 'T' is the torque, in Newton-metres.
- 'S' is the speed of rotation, in radians/second.
- 'F v ' is the vertical component of the applied force, in Newtons.
- 'L' is the length of the crank from its centre of rotation to the pedal, in metres.
- ' ⁇ c ' is the angle of the crank forwards from the top of its revolution.
- 'F eff ' is the effective component of the applied force, perpendicular to the crank, in Newtons.
- 'L' is the length of the crank from its centre of rotation to the pedal, in metres.
- the cyclist's torque and power output at each of those instants may be calculated, and the average torque and power over a crank revolution or over a specified period of time can be derived and displayed to the cyclist.
- the measurements taken at regular intervals are referred to as samples, and the time interval between samples is referred to as the sampling interval.
- FIG. 6 there is illustrated a system to implement the present invention indicated generally by the reference numeral 20.
- a pair of cleats 11 are indicated by the dotted line and are in communication with a control and display unit 16, for example over a radio link 17.
- Each cleat 1 1 comprises of one or more force sensor(s) 13, an accelerometer 14 and related measurement electronics 15 embedded in each cleat 1 1 and attached to each of the two shoes.
- the display and control unit 16, usually battery powered, can be attached to any convenient place such as the handlebar of the bicycle or the wrist of the cyclist.
- the connection between the sensors and electronics in the cleat and the sensors and electronics elsewhere in or on the shoe may be by wired cables on or integrated into the shoe, or may be by another wireless link such as radio or electromagnetic induction.
- the preferred embodiment of the present invention is that the sensors 13, 14 are wholly embedded in the cleat 11, for example as shown in the side view of Figure 8 such that the sensors are integrally moulded with the cleat during manufacture.
- the measurement electronics 15 can be positioned in the heel of a cyclist shoe. It will be appreciated that the sensors 13 can be partially or wholly embedded in the cleat 11. It is envisaged that the sensors 13 can be replaceable in the cleat depending on the application required.
- each cleat 11 uses the radio to transmit a set of measurement data at one or more fixed points on each revolution of the cranks. In operation each cleat 11 transmits its data in a short burst when the crank reaches a fixed point on its revolution, such as the top or the bottom. Because the two cranks are 180 degrees away from each other this ensures that the transmissions from each cleat 11 assembly will never interfere with each other.
- Each burst of data contains a set of samples or measurements taken at regular intervals during the crank revolution, and may include force, cadence, crank angle and accelerometer information. Each sample has an associated timestamp, which may be explicit or implicit, to specify its time relationship to the other samples in the set and to other sets of samples.
- the electronics in the cleat 11 may include processing of the data before it is transmitted to the control unit 16.
- FIG. 7 and 8 one preferred aspect of the invention is described where force is measured by embedding sensors in the cleats in operation.
- the sensors are embedded and positioned in the cleats 11 so that a known fraction of the total applied force is measured by them, and so that force is sensed at a number of points, including both the left and right side of each cleat.
- the positioning of the force sensors 13 is very advantageous as more accurate force measurements are obtained.
- the sensors can be any force measurement sensors of appropriate size and measurement range. It will be appreciated that the positioning of the sensors depends on the shape or design of the cleat. Ideally the sensors 13 accurately measure the force applied by positioning a sensor in the centre line of the shaft. It is envisaged that the invention can provide three force sensors to provide accurate measurement of force applied.
- the cleats 11 include separate force sensors positioned to measure any upward tension (pull up) force, in addition to those positioned to measure the downward compression (press down) force.
- pull up forces may occur on the upward pedal stroke, contributing to the total power applied to the pedals. Detection and measurement of any pull up force allows a more complete measurement of the applied power, and a more detailed analysis of the cyclist's pedalling style.
- Separate sensors positioned in different parts of the cleat are needed for compression and tension forces because typically these two forces pass through different parts of the cleat.
- Figure 9 shows another aspect of the present invention cleat where sensors 13 are positioned to measure shear force between the cleat and the pedal, at right angles to the force measured by the compression and tension force sensors. Combining measurement information from the shear, compression and tension force sensors allows calculation of the direction of the total force applied to the cleat 11.
- the invention provides for the accurate measurement of cadence and crank angle by using one or more accelerometers 14 attached to or embedded in the cleat 1 1, illustrated in Figure 10.
- the accelerometer 14 can measure acceleration in at least two axes, perpendicular to each other, and typically this is done using a single accelerometer device that measures in two or more axes.
- Such accelerometers 14 are commercially available and usually provide one electrical output signal for each axis.
- the accelerometer is mounted so that both axes are in the same plane as the plane of rotation of the cranks.
- one axis is vertical (the Y axis) and the other is horizontal (the X axis) from front to back of the bicycle when the cleat 11 and shoe 10 are horizontal, although any orientation of the axes in the plane of rotation of the cranks may be used.
- the accelerometer 14 should be mounted as close as possible to the axle of the pedal 2, to provide accurate measurement of acceleration forces at the end of the crank 3 without introducing a requirement to compensate in the mathematical processing for a physical offset from the end of the crank.
- the accelerometer 14 attached to cleat 11 will register the centrifugal force F c generated by the rotation, as shown in Figure 11.
- the direction of the centrifugal force on the accelerometer will always be away from the centre of rotation of the crank, so that as the shoe/cleat assembly containing the accelerometer 14 moves around at the end of the crank the direction of the centrifugal force acting on the accelerometer will rotate.
- Gravity is a constant acceleration acting vertically downwards, and it affects the force that is measured by the accelerometer.
- the total force F t measured by the accelerometer will be the combination of gravitational force F g (constant in direction and magnitude) and centrifugal force F c (its direction rotates, and its magnitude varies as cadence varies).
- the top and the bottom of the crank revolution is calculated by noting that when the crank is at the top of its revolution the acceleration due to centrifugal force and the acceleration due to gravity are in opposite directions, so the magnitude of the acceleration measured at the end of the crank 3 is the difference between them, F c -F g , as illustrated in Figure 13. Conversely, when the accelerometer 14 is at the bottom of the crank revolution the centrifugal acceleration and gravity's acceleration are both downwards, so the magnitude of the measured acceleration is the sum of the two of them, F c +F g , as illustrated in Figure 14. Thus, the magnitude of the measured acceleration will be a minimum at the top of the revolution and a maximum at the bottom.
- the invention found that finding the minimum and the maximum magnitude in a series of acceleration measurements allows accurate identification of the top dead centre (TDC) and bottom dead centre (BDC) of the revolution independently of the orientation of the accelerometer 14 with respect to the horizontal. This provides two absolute reference points for the angular position of the crank.
- the absolute angular position of the crank 3 at all measurement points between these two reference points is determined by using time.
- the angular position of the crank 3 at a specified time can be calculated.
- the magnitude of F app and the direction of F app with respect to the axes of the accelerometer 14 can be calculated from the normal force F N and the shear force Fs measured by the embedded force sensors 13.
- the angle of the accelerometer axes with respect to the crank at the time of the sample can be calculated using the measurements from the accelerometer 14, which is attached to the cleat and shoe assembly.
- the total force F t acting on the accelerometer 14 is a combination of centrifugal force F c and gravitational force F g .
- the direction and magnitude of F t is provided by the values from the accelerometer, the magnitude of F c can be calculated using the cadence and the length of the crank, and the magnitude of F g is a known constant whose variations due to location and altitude are negligible for these calculations.
- This allows calculation of the direction of both F c and F g with respect to the axes of the accelerometer.
- the direction of F c is directly outwards from the line of the crank, and the direction of F g is always vertically downwards, this allows calculation of the angle ⁇ p between the crank and the plane of the cleat and pedal, as illustrated in Figure 15. It also gives the angle of tilt of the cyclist's shoe and foot forwards or backwards from the true horizontal at the instant of the sample.
- crank angle ⁇ c In order to calculate torque and power the crank angle ⁇ c , the pedal to crank angle ⁇ p , and the magnitudes of the normal and shear forces F N and Fs allow calculation of both Fv the vertical component of the applied force, and F eff the effective component perpendicular to the crank, as illustrated in Figure 16. Either of these forces can be used to calculate the torque at the crank 3, and by combining this with the speed of crank rotation, the power may be calculated.
- Fx and Fy the components of the force due to acceleration along the X and Y axes of the accelerometer, representing the combined acceleration forces F c and F g .
- F N and Fs the normal and shear forces in the plane of the pedal and cleat, representing the applied force F app .
- F N may be positive (compression) or negative (tension).
- the calculations for the left and right crank will produce the same value for cadence, but may produce different values for torque and power depending on the power balance between the left and right feet of the cyclist.
- the total torque and total power output of the cyclist at any instant is the sum of the torque and the sum of the power from the left and right sides.
- F x and F ⁇ allow calculation of the angle and magnitude of the total force F t acting at the end of the rotating crank at the time of the sample.
- the angle of F 1 is with respect to the axes of the accelerometer.
- F t is the result of centrifugal force F c and gravitational force F g .
- TDC top dead centre
- BDC bottom dead centre
- the cadence and the time since the most recent TDC or BDC allows calculation of the angle ⁇ c of the crank forward from TDC at the time of the sample. 5.
- the cadence and the length of the crank allows calculation of the magnitude of the centrifugal force F c at the time of any sample.
- ⁇ p and the normal and shear forces FN and Fs measured by the sensors allows calculation of the effective force F eff perpendicular to the crank and vertical force F v at the time of the sample.
- FN and Fs are derived from the multiple force sensors in the cleat and must be multiplied by calibration constants before use.
- the torque T at the time of the sample is calculated from F eff , and the length L of the crank. Alternatively, the torque T can be calculated from the vertical force F v , the crank angle ⁇ c and the length L of the crank.
- the power P at the time of the sample is calculated from the torque T and the cadence S.
- the display and control unit 16 receives the data at regular intervals from both left and right cleats, and continuously processes the data to produce figures for torque and power output, power balance between left and right feet, and cadence.
- the unit 16 displays these figures to the cyclist, as they are of immediate interest during training and competition.
- the unit 16 records the figures at regular intervals for later analysis.
- the unit 16 can also record other information for later analysis. Specifically, it can record the values measured from each force sensor and from each accelerometer at various points on each revolution of the cranks. This allows detailed analysis of pedalling style by examining how the cyclist applies force to the pedals, including variation in total applied force as the cranks rotate, variation in the side-to-side forces from each foot, and variations in the front-to-back angle of each foot. This information can help a cyclist identify areas where improvements in pedalling efficiency can be achieved.
- the system can be used with an enhanced display and control unit 16 intended for use in a laboratory or static test environment.
- the enhanced unit supports display and real-time analysis of all of the values being measured by the system. This is designed for use by coaches and trainers to observe a cyclist in action so that they can provide feedback on possible improvements to pedalling technique.
- the system may be integrated with other measurement and monitoring systems, to include quantities such as speed, heart rate, air temperature, altitude and geographical location.
- the embodiments in the invention described with reference to the drawings comprise a computer apparatus and/or processes performed in a computer apparatus.
- the invention also extends to computer programs, particularly computer programs stored on or in a carrier adapted to bring the invention into practice.
- the program may be in the form of source code, object code, or a code intermediate source and object code, such as in partially compiled form or in any other form suitable for use in the implementation of the method according to the invention.
- the carrier may comprise a storage medium such as ROM, e.g. CD ROM, or magnetic recording medium, e.g. a floppy disk or hard disk.
- the carrier may be an electrical or optical signal which may be transmitted via an electrical or an optical cable or by radio or other means.
Landscapes
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Pathology (AREA)
- Biophysics (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CA2727052A CA2727052C (en) | 2008-06-09 | 2009-06-08 | Device and method for measurement of cycling power output |
US12/996,903 US8762077B2 (en) | 2008-06-09 | 2009-06-08 | Device and method for measurement of cycling power output |
AU2009266095A AU2009266095B2 (en) | 2008-06-09 | 2009-06-08 | Device and method for measurement of cycling power output |
EP09772069.2A EP2300796B1 (en) | 2008-06-09 | 2009-06-08 | Device and method for measurement of cycling power output |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
IE20080470A IES20080470A2 (en) | 2008-06-09 | 2008-06-09 | Device and method for measurement of cycling power output |
IES2008/0470 | 2008-06-09 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2010000369A1 true WO2010000369A1 (en) | 2010-01-07 |
Family
ID=41078093
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2009/004095 WO2010000369A1 (en) | 2008-06-09 | 2009-06-08 | Device and method for measurement of cycling power output |
Country Status (6)
Country | Link |
---|---|
US (1) | US8762077B2 (en) |
EP (1) | EP2300796B1 (en) |
AU (1) | AU2009266095B2 (en) |
CA (1) | CA2727052C (en) |
IE (1) | IES20080470A2 (en) |
WO (1) | WO2010000369A1 (en) |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012019654A1 (en) | 2010-10-15 | 2012-02-16 | Ar Innovation Ag | Sensor apparatus and method for determining pedalling cadence and travelling speed of a bicycle |
WO2012052070A1 (en) | 2010-12-30 | 2012-04-26 | Arinnovation Ag | Method for configuring a motion sensor as well as a configurable motion sensor and a system for configuring such a motion sensor |
WO2013012870A1 (en) | 2011-07-18 | 2013-01-24 | Grassi Michael J | Torque sensor |
WO2014009503A1 (en) * | 2012-07-11 | 2014-01-16 | Brim Brothers Limited | Device and method for measuring forces applied to a cycling shoe |
DE102012022447A1 (en) | 2012-11-16 | 2014-05-22 | Storck Bicycle Gmbh | Crank arm, crankset and power measuring device for an at least partially muscle-driven vehicle or exercise machine with a crank drive |
EP2806256A1 (en) * | 2013-04-01 | 2014-11-26 | Saris Cycling Group, Inc. | System for speed-based power calculation |
US9188496B2 (en) | 2010-05-05 | 2015-11-17 | Eric DeGolier | Real-time calculation of total longitudinal force and aerodynamic drag acting on a rider on a vehicle |
CN105136162A (en) * | 2015-07-22 | 2015-12-09 | 广西大学 | Vehicle travelling mileage calculation system and vehicle travelling mileage calculation method |
WO2019215418A1 (en) | 2018-05-11 | 2019-11-14 | Zhor Tech | System for analyzing a pedalling technique of a cyclist and associated methods |
TWI681178B (en) * | 2019-01-11 | 2020-01-01 | 國立臺灣師範大學 | Left and right foot treading analysis system |
US11511826B2 (en) | 2019-12-09 | 2022-11-29 | Sram, Llc | Bicycle axle assembly including a power meter |
Families Citing this family (54)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8986177B2 (en) | 2009-06-19 | 2015-03-24 | Tau Orthopedics, Llc | Low profile passive exercise garment |
US10124205B2 (en) | 2016-03-14 | 2018-11-13 | Tau Orthopedics, Llc | Toning garment with modular resistance unit docking platforms |
US10004937B2 (en) | 2009-06-19 | 2018-06-26 | Tau Orthopedics Llc | Wearable modular resistance unit |
US9656117B2 (en) | 2009-06-19 | 2017-05-23 | Tau Orthopedics, Llc | Wearable resistance garment with power measurement |
US10004946B2 (en) | 2011-03-24 | 2018-06-26 | MedHab, LLC | System and method for monitoring power applied to a bicycle |
US9993181B2 (en) * | 2011-03-24 | 2018-06-12 | Med Hab, LLC | System and method for monitoring a runner'S gait |
DE102011077181A1 (en) * | 2011-06-08 | 2012-12-13 | Robert Bosch Gmbh | Method and device for detecting wear on an electric bicycle |
EP2788093A4 (en) | 2011-12-05 | 2015-08-19 | Eyal Postelnik | Paddle link - real time paddling performance |
US9339691B2 (en) | 2012-01-05 | 2016-05-17 | Icon Health & Fitness, Inc. | System and method for controlling an exercise device |
EP2631621B1 (en) * | 2012-01-27 | 2020-04-15 | Polar Electro Oy | Pedalling data transfer |
WO2013132581A1 (en) * | 2012-03-05 | 2013-09-12 | パイオニア株式会社 | Measurement device, measurement method, measurement program and recording medium capable of recording measurement program |
US9254409B2 (en) | 2013-03-14 | 2016-02-09 | Icon Health & Fitness, Inc. | Strength training apparatus with flywheel and related methods |
ES2523797B1 (en) * | 2013-05-31 | 2015-09-29 | Luck Cycling Shoes, S.L. | Cyclist's footwear with cyclist performance monitoring system |
WO2015026744A1 (en) * | 2013-08-17 | 2015-02-26 | MedHab, LLC | System and method for monitoring power applied to a bicycle |
EP3623020B1 (en) | 2013-12-26 | 2024-05-01 | iFIT Inc. | Magnetic resistance mechanism in a cable machine |
US10433612B2 (en) * | 2014-03-10 | 2019-10-08 | Icon Health & Fitness, Inc. | Pressure sensor to quantify work |
CN106470739B (en) | 2014-06-09 | 2019-06-21 | 爱康保健健身有限公司 | It is incorporated to the funicular system of treadmill |
WO2015195965A1 (en) | 2014-06-20 | 2015-12-23 | Icon Health & Fitness, Inc. | Post workout massage device |
US9964456B2 (en) * | 2014-11-18 | 2018-05-08 | Saris Cycling Group, Inc. | System for estimating total power input by a bicyclist using a single sided power meter system |
US10258828B2 (en) | 2015-01-16 | 2019-04-16 | Icon Health & Fitness, Inc. | Controls for an exercise device |
US10391361B2 (en) | 2015-02-27 | 2019-08-27 | Icon Health & Fitness, Inc. | Simulating real-world terrain on an exercise device |
WO2016154287A1 (en) | 2015-03-23 | 2016-09-29 | Tau Orthopedics, Llc | Toning garment with modular resistance unit docking platforms |
US10561881B2 (en) | 2015-03-23 | 2020-02-18 | Tau Orthopedics, Inc. | Dynamic proprioception |
US20170003311A1 (en) * | 2015-07-01 | 2017-01-05 | Sheng-Chia Optical Co., Ltd. | Method for Detecting Bicycle Pedaling Frequencies |
EP3136069B1 (en) | 2015-08-24 | 2019-10-09 | Magnes Ltd. | A force sensor |
US10953305B2 (en) | 2015-08-26 | 2021-03-23 | Icon Health & Fitness, Inc. | Strength exercise mechanisms |
DE102016104252A1 (en) * | 2016-03-09 | 2017-09-14 | medica - Medizintechnik GmbH | Foot shell for a movement therapy device and exercise therapy device |
US10293211B2 (en) | 2016-03-18 | 2019-05-21 | Icon Health & Fitness, Inc. | Coordinated weight selection |
US10493349B2 (en) | 2016-03-18 | 2019-12-03 | Icon Health & Fitness, Inc. | Display on exercise device |
US10625137B2 (en) | 2016-03-18 | 2020-04-21 | Icon Health & Fitness, Inc. | Coordinated displays in an exercise device |
US10272317B2 (en) | 2016-03-18 | 2019-04-30 | Icon Health & Fitness, Inc. | Lighted pace feature in a treadmill |
US10561894B2 (en) | 2016-03-18 | 2020-02-18 | Icon Health & Fitness, Inc. | Treadmill with removable supports |
US10252109B2 (en) | 2016-05-13 | 2019-04-09 | Icon Health & Fitness, Inc. | Weight platform treadmill |
US10881936B2 (en) | 2016-06-20 | 2021-01-05 | Coreyak Llc | Exercise assembly for performing different rowing routines |
US10155131B2 (en) | 2016-06-20 | 2018-12-18 | Coreyak Llc | Exercise assembly for performing different rowing routines |
US10556167B1 (en) | 2016-06-20 | 2020-02-11 | Coreyak Llc | Exercise assembly for performing different rowing routines |
US10441844B2 (en) | 2016-07-01 | 2019-10-15 | Icon Health & Fitness, Inc. | Cooling systems and methods for exercise equipment |
US10471299B2 (en) | 2016-07-01 | 2019-11-12 | Icon Health & Fitness, Inc. | Systems and methods for cooling internal exercise equipment components |
US10671705B2 (en) | 2016-09-28 | 2020-06-02 | Icon Health & Fitness, Inc. | Customizing recipe recommendations |
US10500473B2 (en) | 2016-10-10 | 2019-12-10 | Icon Health & Fitness, Inc. | Console positioning |
US10376736B2 (en) | 2016-10-12 | 2019-08-13 | Icon Health & Fitness, Inc. | Cooling an exercise device during a dive motor runway condition |
US10207148B2 (en) | 2016-10-12 | 2019-02-19 | Icon Health & Fitness, Inc. | Systems and methods for reducing runaway resistance on an exercise device |
US10661114B2 (en) | 2016-11-01 | 2020-05-26 | Icon Health & Fitness, Inc. | Body weight lift mechanism on treadmill |
TWI646997B (en) | 2016-11-01 | 2019-01-11 | 美商愛康運動與健康公司 | Distance sensor for console positioning |
US10569123B2 (en) | 2016-12-05 | 2020-02-25 | Icon Health & Fitness, Inc. | Deck adjustment interface |
TWI680782B (en) | 2016-12-05 | 2020-01-01 | 美商愛康運動與健康公司 | Offsetting treadmill deck weight during operation |
WO2018164910A1 (en) * | 2017-03-06 | 2018-09-13 | Degodoi Josef Kevin Lucero | Bicycle shoe base and cleat positioning devices, systems, and methods for use |
US20180321096A1 (en) * | 2017-05-08 | 2018-11-08 | Franklin J. Day | Evaluating pedaling efficiency |
WO2018209144A1 (en) | 2017-05-11 | 2018-11-15 | Tau Orthopedics, Llc | Wearable resistance device with power monitoring |
US10106222B1 (en) * | 2017-06-06 | 2018-10-23 | Jakob Kai Teksler | Pedal apparatus with actuator configured to apply variable pressures |
TWI722450B (en) | 2017-08-16 | 2021-03-21 | 美商愛康運動與健康公司 | System for opposing axial impact loading in a motor |
US10729965B2 (en) | 2017-12-22 | 2020-08-04 | Icon Health & Fitness, Inc. | Audible belt guide in a treadmill |
US10908632B2 (en) * | 2018-04-09 | 2021-02-02 | Marcin GOLEC | Device and method for use in cycling |
TWI721460B (en) * | 2018-07-13 | 2021-03-11 | 美商愛康運動與健康公司 | Cycling shoe power sensors |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040225467A1 (en) * | 1994-11-21 | 2004-11-11 | Vock Curtis A. | Systems for assessing athletic performance |
US20060248965A1 (en) * | 2005-05-06 | 2006-11-09 | Wyatt Roland J | Systems and methods of power output measurement |
US20070245835A1 (en) * | 2006-03-17 | 2007-10-25 | Gunter Hauschildt | Portable power meter for calculating power applied to a pedal and crank arm based drive mechanism and a method of calculating the power |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7257468B1 (en) * | 2005-03-04 | 2007-08-14 | George Costa | Apparatus and method for measuring dynamic parameters for a driven wheel |
-
2008
- 2008-06-09 IE IE20080470A patent/IES20080470A2/en not_active IP Right Cessation
-
2009
- 2009-06-08 EP EP09772069.2A patent/EP2300796B1/en active Active
- 2009-06-08 AU AU2009266095A patent/AU2009266095B2/en not_active Ceased
- 2009-06-08 WO PCT/EP2009/004095 patent/WO2010000369A1/en active Application Filing
- 2009-06-08 US US12/996,903 patent/US8762077B2/en active Active
- 2009-06-08 CA CA2727052A patent/CA2727052C/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20040225467A1 (en) * | 1994-11-21 | 2004-11-11 | Vock Curtis A. | Systems for assessing athletic performance |
US20060248965A1 (en) * | 2005-05-06 | 2006-11-09 | Wyatt Roland J | Systems and methods of power output measurement |
US20070245835A1 (en) * | 2006-03-17 | 2007-10-25 | Gunter Hauschildt | Portable power meter for calculating power applied to a pedal and crank arm based drive mechanism and a method of calculating the power |
Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9188496B2 (en) | 2010-05-05 | 2015-11-17 | Eric DeGolier | Real-time calculation of total longitudinal force and aerodynamic drag acting on a rider on a vehicle |
AU2010358895B2 (en) * | 2010-10-15 | 2015-02-19 | Ar Innovation Ag | Sensor apparatus and method for determining pedalling cadence and travelling speed of a bicycle |
WO2012019654A1 (en) | 2010-10-15 | 2012-02-16 | Ar Innovation Ag | Sensor apparatus and method for determining pedalling cadence and travelling speed of a bicycle |
CN103429992A (en) * | 2010-10-15 | 2013-12-04 | 阿尔创新股份公司 | Sensor apparatus and method for determining pedalling cadence and travelling speed of bicycle |
CN103429992B (en) * | 2010-10-15 | 2016-08-10 | 阿尔创新股份公司 | For measuring bicycle rhythm to pedal and the sensor device of gait of march and method |
US9075076B2 (en) | 2010-10-15 | 2015-07-07 | Ar Innovation Ag | Sensor apparatus and method for determining pedalling cadence and travelling speed of a bicycle |
WO2012052070A1 (en) | 2010-12-30 | 2012-04-26 | Arinnovation Ag | Method for configuring a motion sensor as well as a configurable motion sensor and a system for configuring such a motion sensor |
EP3364164A1 (en) | 2011-07-18 | 2018-08-22 | Michael J. Grassi | Torque sensor |
US9097598B2 (en) | 2011-07-18 | 2015-08-04 | Michael J. Grassi | Torque sensor |
WO2013012870A1 (en) | 2011-07-18 | 2013-01-24 | Grassi Michael J | Torque sensor |
WO2014009503A1 (en) * | 2012-07-11 | 2014-01-16 | Brim Brothers Limited | Device and method for measuring forces applied to a cycling shoe |
DE102012022447A1 (en) | 2012-11-16 | 2014-05-22 | Storck Bicycle Gmbh | Crank arm, crankset and power measuring device for an at least partially muscle-driven vehicle or exercise machine with a crank drive |
US9459167B2 (en) | 2012-11-16 | 2016-10-04 | Storck Bicycle Gmbh | Crank arm, crankset, and power measuring device for an at least partially human powered vehicle or training device with a crank drive |
EP2806256A1 (en) * | 2013-04-01 | 2014-11-26 | Saris Cycling Group, Inc. | System for speed-based power calculation |
US9341526B2 (en) | 2013-04-01 | 2016-05-17 | Saris Cycling Group, Inc. | System for speed-based power calculation |
CN105136162A (en) * | 2015-07-22 | 2015-12-09 | 广西大学 | Vehicle travelling mileage calculation system and vehicle travelling mileage calculation method |
WO2019215418A1 (en) | 2018-05-11 | 2019-11-14 | Zhor Tech | System for analyzing a pedalling technique of a cyclist and associated methods |
TWI681178B (en) * | 2019-01-11 | 2020-01-01 | 國立臺灣師範大學 | Left and right foot treading analysis system |
US11511826B2 (en) | 2019-12-09 | 2022-11-29 | Sram, Llc | Bicycle axle assembly including a power meter |
US11787503B2 (en) | 2019-12-09 | 2023-10-17 | Sram, Llc | Bicycle axle assembly including a power meter |
Also Published As
Publication number | Publication date |
---|---|
US8762077B2 (en) | 2014-06-24 |
AU2009266095B2 (en) | 2014-12-11 |
CA2727052A1 (en) | 2010-01-07 |
EP2300796A1 (en) | 2011-03-30 |
US20110087446A1 (en) | 2011-04-14 |
CA2727052C (en) | 2020-01-14 |
AU2009266095A1 (en) | 2010-01-07 |
IES20080470A2 (en) | 2009-10-28 |
EP2300796B1 (en) | 2018-08-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
AU2009266095B2 (en) | Device and method for measurement of cycling power output | |
US9810593B2 (en) | Pedaling torque and power measuring device for a bicycle | |
US7806006B2 (en) | Bicycle torque measuring system | |
US9341526B2 (en) | System for speed-based power calculation | |
EP2474343B1 (en) | Crankset based bicycle power measurement | |
US9188496B2 (en) | Real-time calculation of total longitudinal force and aerodynamic drag acting on a rider on a vehicle | |
EP2304403B1 (en) | System and device for measuring and analyzing forces applied by a cyclist on a pedal of a bicycle | |
JP5922105B2 (en) | System and apparatus for correlating heart rate with exercise parameters | |
US20110288381A1 (en) | System And Apparatus For Correlating Heart Rate To Exercise Parameters | |
WO2014009503A1 (en) | Device and method for measuring forces applied to a cycling shoe | |
EP2072387A1 (en) | A cycling arrangement | |
US9964456B2 (en) | System for estimating total power input by a bicyclist using a single sided power meter system | |
WO2018098655A1 (en) | Power sensing system for bicycle | |
US20170197112A1 (en) | Dynamic tire pressure sensor system for a bike | |
NL2020897B1 (en) | Apparatus and methods for recording power output during an activity. | |
Dhinesh et al. | Ride Profiling for a Single Speed Bicycle Using an Inertial Sensor | |
KR20180081280A (en) | A dynamic tire pressure sensor system for a bike | |
KR20110109153A (en) | Device for measuring pedaling force of bicycle |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 09772069 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2727052 Country of ref document: CA |
|
WWE | Wipo information: entry into national phase |
Ref document number: 12996903 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2009266095 Country of ref document: AU |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2009772069 Country of ref document: EP |
|
ENP | Entry into the national phase |
Ref document number: 2009266095 Country of ref document: AU Date of ref document: 20090608 Kind code of ref document: A |