DE102005038960A1 - Human/animal arm and leg movement e.g. running, recording and qualitative/quantitative interpretation method for medical application, involves using software to interpret signal by parameters in movement type, whose intensity can be varied - Google Patents

Abstract

The device has a single axis acceleration sensor (a) attached to a living body at several positions, and producing analog acceleration values during movement of the body in a demand period and transmitting the values by cable and radio unit. An analog-digital-converter converts the values into digital signals. A software is provided for interpretation of digital signals by a defined control parameters in qualitative movement type, whose intensity can be varied. A memory is provided for storage of the temporal sequence of the signals and for optional controlling of soft and/or hardware. Independent claims are also included for the following: (1) an application of the device for related system-independent recording and qualitative and/or quantitative interpretation of body movements with the option for the controlling of soft and/or hardware (2) a method for related system-independent recording and qualitative and/or quantitative interpretation of body movements with the option for the controlling of soft and/or hardware (3) a method for VR-controlling of the software and/or hardware (4) a method for qualitative movement analysis in long time analysis (5) an application of the method for correct or exact analysis of EEGs, ECGs or blood pressure data or as exclusive analysis and/or control measures during over weight therapy.

Description

• a) eine Vorrichtung und Verfahren zur bezugssystemunabhängigen Erfassung und quantitativen und qualitativen Interpretation von Körperbewegungen mit der Option zur Steuerung von Soft- und/oder Hardware. und/oder
• b) die Verwendung als Langzeitkörperbewegungsanalyse insbesondere in der medizinischen Praxis und Forschung und/oder
• c) die Verwendung als Steuerung für Soft- und Hardware mittels großer virtueller Räume bei gleichzeitig begrenzten realen Platz des Steuernden, optional zur Gesundheitsförderung des Steuernden und/oder
• d) eine mechanische, elektronische und softwaretechnische Lösung für eine immersive Virtual-Reality (VR) Steuerung.

The present invention relates

• a) a device and method for reference system independent detection and quantitative and qualitative interpretation of body movements with the option to control software and / or hardware. and or
• b) the use as a long - term body motion analysis especially in medical practice and research and / or
• c) the use as a controller for software and hardware by means of large virtual spaces at the same time limited real space of the controller, optionally for health promotion of the controller and / or
• d) a mechanical, electronic and software solution for immersive virtual reality (VR) control.

Field of application of the invention

The Invention allows the recording and storage of quantitatively and qualitatively interpreted body movements (such as running vs. crawling at a certain speed) and optionally the control of software and / or hardware based on this Transaction data. The practical application of this device and Procedure can therefore be used for quantitative and qualitative motion analysis and / or for control by body movements be used. Depending on the application, different results Applications.

• a) Langzeit-Monitoring von Blutdruck, Bewegungsverhalten bei Fettleibigkeit, EEGs, EKGs oder anderen physiologischen Merkmalen
• b) bei Diagnose und Therapie von Bewegungsfunktionsstörungen
• c) bei psychotherapeutischen Biofeedbackverfahren und zur Bewegungsvisualisierung.

An accurate, finely resolved, qualitative and quantitative analysis of body movements recommends the apparatus and methods for use in medical, sports science and psychological research and practice. For example, at

• a) Long-term monitoring of blood pressure, motor behavior in obesity, EEGs, ECGs or other physiological features
• b) in diagnosis and therapy of movement disorders
• c) psychotherapeutic biofeedback and motion visualization.

• a) Visualisierung in Maschinenbau, Architektur, Archäologie, Marketing etc.
• b) Training und Personalselektion in Medizin, Psychologie, Militär, Sicherheitsbereich und
• c) als reine Steuerung als Fitnessgerät, für Computerspiele, von Robotern und Fahrzeugen, insbesondere in Kombination mit Verwendung eines Head-Mounted-Display.

The control for software and hardware by means of large virtual spaces with simultaneously limited real space of the controller, optionally to the health promotion of the controller, recommends the device and method for use in virtual realities. For example

• a) Visualization in mechanical engineering, architecture, archeology, marketing etc.
• b) Training and personnel selection in medicine, psychology, military, security and security
• c) as pure control as fitness equipment, for computer games, robots and vehicles, especially in combination with the use of a head-mounted display.

It is known that optical, magnetic, ultrasound-based or other types of motion analysis apparatus and methods (eg DE 69810264 T2 . US 5,744,953 ) always use the relation to the physical space of the analyzed object. This is done at least by the reference of the position of the sensors on the body of the object analyzed to a camera or otherwise a pickup.

Capacitive motion sensors have long been used to detect the movement of a person. In particular, for devices and methods for determining the position according to the principle of inertia known (often referred to as a "head tracker", eg US 5,645,077 , eg US 6,681,629 )). These three-axis systems capture only one orientation in space but no movement.

moreover are combinations of these motion analysis devices and methods with devices and methods for determining the position for analyzing a Space movement with orientation of the body known to the room. These so-called tracking systems using six axes (e.g., IS-1200 from the company InterSense, see also Foxlin, 2002) for the three spatial coordinates that analyze the movement relational to space one of the items listed in paragraph 1 Technologies and are therefore reference system dependent measurements. Here is crucial that these devices and procedures are always the absolute Use spatial orientation of at least two components or at least their relation to each other (e.g., a camera anchored in space and one on the body fixed luminous point).

To detect the frequency of body movements, devices and methods are known which use acceleration sensors, for example in long-term ECG measurement. These acceleration measurements make no qualitative statements about the movement types (eg US 5,080,105 ).

conventional immersive VR control solutions need usually a big one Hall where the person can move freely. The registered Movement in real space becomes an identical movement in the virtual Space implemented.

In order to reduce this space requirement devices and methods are known, the movements on a treadmill, or treadmills, gyroscope, mobile disks, partly combined with described under "state of the art motion analysis" methods (eg DE 19713805 A1 ).

Furthermore, devices and methods are known in which the operator moves in or on a large ball which controls the computer log (eg DE 10361417 B3 , eg the product VirtuSphere).

For controlling hardware and software by body movements in a limited physical space, devices and methods are known which generate control signals by touching sensors on a ground device (eg US 6,410,835 ).

moreover Devices and methods are known in which movements exemplary on arm and leg movement with binary Pressure switches are removed (e.g., WO 33168).

disadvantage of the prior art

Of the Main deficiency of previous devices and methods for motion analysis is the necessary reference to a real space. For this lack arise different sources of error.

Of the necessary reference to a pickup makes a mobile measurement, such as e.g. For the medical long-term movement analysis, impossible.

Especially in use as a control device, leads the Spatial reference to a very large Space requirements of these devices and methods, since the executed movement (in the virtual environment or e.g., the robot) equal to the real, controlling movement is.

Of the Spatial reference of the sensors to the transducer has to be prepared for every measurement by complex calibration become. The sensors can on the body slip, etc. and need so more corrective calibrations during operation.

One Another shortcoming is the high cost of previous devices and Procedures that derive from the more complex data interpretations the amount of components used or from the structures for Reduction of space requirements results.

Thereby that the movements are captured relational to space, but many Applications only the quantitative and qualitative interpretation need the movement as a result, last one has to be generated by high computing power.

moreover need Previous devices and methods for detecting a three-dimensional Moving at least one pickup resulting in high material costs brings.

Especially the price for the solutions with moving floor elements are very high (e.g., product VirtuSphere between $ 50,000 and $ 100,000).

at the direct interpretation of acceleration data for medical Long-term applications are previous devices and methods too inaccurate and error prone. For example, in blood pressure measurement, it is important to know as at a certain time of measurement e.g. the measured arm was held and to differentiate whether the patient ran fast or through a means of transport has been moved.

Of the Main lack of previous devices and methods for VR control is the highly artificial form of movement needed to control it.

The Control devices with binary pushbuttons or through the touch to work from sensors on a ground device require the driver unnatural Movements, e.g. the hopping on a forward arrow on a floor mat for a move forward in the VR.

moreover is the control in control processes by a ground device reduced to a maximum of two dimensions, i. it can only Movement directions and no movement qualities are differentiated (e.g. do not jump or kneel down).

moreover the controller has various restrictions (speed limits, Visual contact with the control mat).

Thereby that the movements seen do not agree with the perceived ones These systems often become a type of motion sickness (so-called cyber Sickness).

All in all So they are solutions in the prior art consuming in practical handling, need huge physical space, are very expensive or / and offer only an artificial one Control by body movements and cause cyber sickness.

Task of invention

The The object of the invention is the development of a robust, lightweight manageable and cost effective Device and method for signal extraction from intuitive movements by means of acceleration sensors and their further processing in this way, that a statement about the quantitative and qualitative nature of the movement is possible. Furthermore, it is the object of the present invention, a new To develop apparatus and methods which without the side effect Cyber sickness can be used by the user.

Solution of the task, advantages the invention

The Invented device and method for signal extraction from intuitive Movements by means of acceleration sensors and their further processing solve these Task through measurement and quantitative and qualitative interpretation of one or more body movements without a reference to known spatial Coordinates.

optional includes the solution by this device and method also, these resulting quantitative and qualitative motion data in signals for controlling software and / or hardware.

The claimed device consists of at least one acceleration sensor (a) with at least one measuring axis at one or several parts of the body are attached, which / which then wired or wireless transmit their measured values to a measuring or control device (b). This measuring or control apparatus interprets by means of special Algorithms the incoming acceleration signals in quantitative and qualitative movement data. These are then separated from the measuring or control device itself stored (or for further processing to a computer (c)) and / or as control signals for soft- or hardware (see drawing 1).

in the Unlike previous devices and procedures, the movements based on position changes of sensors in a frame of reference determines this device the quantity and quality of Movements solely from the interpretation of the measured acceleration values and needed thus no external frame of reference.

By the elimination of a necessary reference system creates various advantages.

These Device is mobile, since it does not need a pickup or receiver, the make the connection to the real space.

By Elimination of the infrastructure of a reference system (room rental, material costs) the device is very space-saving and significantly cheaper.

The elimination of steps for calibration and the reduced technical requirements in the generation of control signals, the practical effort in the operation is significantly reduced, so that the pros direction can be used eg by a single person.

In the use as VR control on limited physical space the only artificial restriction that regulates body movement in one place accomplished must become. With optional use of a holding device must this restriction is not consciously respected by the controller. Especially in combination with the use of immersive VR technology subjectively nevertheless generates an unrestricted feeling of movement. Otherwise you can all Körber movements perfectly natural accomplished become.

By this natural kinaesthesia It also avoids the emergence of cyber sickness.

by virtue of these benefits arise for the claimed device and method are suitable for application fields, which could not be tapped with previous realizations, for example, in private entertainment technology or for areas of medicine, as well as a supplementary or superior Fitness for Areas of application in which devices and methods according to the state the technique were used.

The Device is dependent on the use of devices in all versions for acceleration measurement and devices for analog-to-digital signal conversion.

description the invention and embodiments

In In the developed device the sensors detect (A) acceleration (and therefore body movement) and deliver signals wirelessly to a measuring and control device (B), there The signals are converted digitally and by means of special software (C) interprets and sends control signals and / or measurement signals to one Output computer (see drawing 2).

The Device is here for VR control on limited physical Space is used and is part of a larger construction to generation virtual reality. Part of the claim to the device are only the sensors (or at least one sensor), the measuring and control unit and its software. Optionally, the device can be replaced by further hardware. and / or software used in this configuration, such as e.g. the HMD (D), the headphones (E), the fuse holder (F), the computer for generating the VR (G) and the used 3D engine software (H) (see drawing 2).

The Sensors (as exemplified in drawing 2 and labeled "A") detect at different points of the body Acceleration sensors body movement exemplary of the legs, the opera body and the arms.

When Acceleration sensors become exemplary ADXL103 (uniaxial) and / or ADXL203 (biaxial) used by the manufacturer Analog Devices, They work according to the bending beam principle and are read capacitively.

At least an at least uniaxial sensor on one leg (= leg sensor) detected Walking and running movements, or kneeling, crawling and other qualitative Leg movements.

At least an at least uniaxial sensor detected on example breast or back the inclination of the body. In this case, the Köperneigung from the position according to the invention of the acceleration sensor read to the gravitational acceleration, which is a different base level (= inclination sensor).

Further Sensors on exemplary forearms and hands capture various arm and hand movements.

The control unit (as shown in drawing 2 according to the invention and denoted by "B") receives the analog, capacitive acceleration data from the sensors and converts them into digital signals, which are then quantified by the software and interpreted qualitatively and thus made usable. These Signals then become dependent from the target application using the software in continuous Control signals translated.

Optionally, the output is as normal keyboard signals. The output of the tester signals takes place in Form of configurable key codes exemplarily over the PS / 2 bus or USB bus. Thus, any software that can be operated with the keyboard (this is therefore a standard solution, which is therefore universally applicable) can be used. In this specific case, a program for creating virtual worlds, "Cryengine" from Crytek, is used by way of example.

The Measurement and control software (as shown in drawing 2 according to the invention and labeled "C") the quality the movement and its intensity. For this purpose, the software evaluates the input data from the acceleration sensors dependent from set control parameters and generates an appropriate one Sequence of control signals, optionally in the form of keyboard outputs.

The Program thus converts several analog, continuous measured values in values from a number of discrete movement types with different ones Speed (for example, sneaking, walking, running, as well as kneeling Position and in it creeping movements, as well as jumps and sideways movements and various arm or hand movements).

The Control parameters can exemplarily over a software interface can be set manually and / or by set a once-running, self-learning calibration program become. For most people provide a general preset of this Parameters already very good results.

Further below (see heading "Detailed Description of the in the measuring and control software ... ") is detailed shown as the measurement and control software from the raw acceleration values Movement type by means of the settings of the control parameters and cadence can differentiate.

simplistically In summary, the advantage of this calculation method is that that from the incoming raw values several independent values for different movement intensities be formed. Thus, with the same frequency of movement easily between different Movement types are distinguished. In addition, individual erroneous measured values solve no disturbing Control signals off.

In addition is this measurement and control software also capable of doing both the raw values as well as the output control signals in one Save file, in this case up to 100 Hz.

additional facilities

In addition will an at least 2-axle head tracker is used throughout the body the via mouse motion signals directing the line of sight in virtual reality and so on the one hand realistic perception illusion in the head-mounted display (HMD) on the other hand determines the direction of movement.

This HMD makes the artificial reality created by the graphics engine three-dimensional, stereoscopic and therefore immersive.

One Dolby Surround Headphone System is for used the sound output.

By a harness is the driver over a rope hung on the ceiling, that he is standing on the ground with his legs and still is in a squatting / four-legged position can go.

The Use of this device is not to this environment hardware bound. For example, could the apparatus also used only for the measurement of motion signals Be, exclusively to control a virtual world that exemplifies one Monitor or a video beamer or for remote control a robot.

Detailed description of the algorithm used in the measurement and control software for converting acceleration data into control signals

input data

• • a_l: Beschleunigungskomponente parallel zum linken Unterschenkel (valk1)
• • a_r: Beschleunigungskomponente parallel zum rechten Unterschenkel (valk3)
• • b_l: Beschleunigungskomponente senkrecht zum linken Unterschenkel (valk2)
• • b_r: Beschleunigungskomponente senkrecht zum rechten Unterschenkel (valk4)
• • c: Beschleunigung senkrecht zur Körperachse auf Brusthöhe

The following sensor readings are available to the software, in brackets the equivalent in the source code:

• • a _l : acceleration component parallel to the left lower leg (valk1)
• • a _r : acceleration component parallel to the right lower leg (valk3)
• • b _l : acceleration component perpendicular to the left lower leg (valk2)
• • b _r : acceleration component perpendicular to the right lower leg (valk4)
• • c: acceleration perpendicular to the body axis at chest level

All these values are digitized voltage values of the acceleration sensors

speed

To determine the speed, the input data a _l and a _r are used.

im Quellcode wird das durch die Bildung des Betrags der Differenz der letzten beiden Messwerte realisiert:

First of all, acceleration changes are determined from the incoming acceleration values, and the amount of the derivative of the two values is formed for this purpose:

in the source code this is realized by the formation of the amount of the difference of the last two measured values:

im Code:

vor jedem Messdurchgang werden die Werte in der Liste auf den nächsten Platz verschoben:

These acceleration changes are compared with different thresholds and the result is included in three different lists. The intensity of the movement thus determines in which lists "1" elements are set, the frequency of movement determines how many.

in the code:

before each measurement, the values in the list are moved to the next place:

im Code:

These three lists are now summed up to a length parameter and multiplied by a weighting parameter and yield three summation values.

in the code:

Originally was planned, in each case a totals value for the movement types creep, Walking or running to use, however, this proved during the Testing phase as impractical.

Finally, these three totals are added to a totals value: sum1 = bin1sum + bin2sum + bin3sum

These sum1 can be adjusted by adjusting the parameters bin1factor to bin3factor as well as threshold1 to threshold3 are set to be proportional to the running speed. For further refinement could more Added thresholds and parameters become.

Of the Advantage of this calculation method is that from the incoming Signals several independent Values for different movement intensities be formed. Thus, with the same frequency of movement easily between different Movement types are distinguished. In addition, individual erroneous measured values solve not disturbing Control signals off.

Movement type "Go"

During testing, it has been shown that the output of the control signal for the movement type "walking" can not be determined as planned from bin2sum, but has to be determined differently in order to obtain an ei NEN fluid motion impression in the connected 3-D software.

In sum2, the current values of bin1 _{l / r} , bin2 _{l / r} , bin3 _{l / r} are multiplied by the weighting factor and added up: sum2 (t) = sum2 (t -1 ) + (bin1 l (t) + bin1 r (t)) · bin1factor + (bin2 l (t) + bin2 r (t)) · bin2factor + (bin3 l (t) + bin3 r (T)) · bin3factor

If there is no movement for a certain time (if in the bin1 list less than (here) 3 * weighting factor elements have been set to "1") the sum2 is set to 0:

The sum2 can not exceed a maximum value, here is this Maximum value 2 * threshold4.

exceeds sum2 the parameter value threshold4, the output of the control signal "Go" is activated.

simultaneously sum2 is reduced by threshold4 and the count variable countw is reduced by threshold5 elevated. Schwelle5 is the duration of activation.

The count variable countw is used to set the time to disable the output of the Control signal to determine.

Movement type "Running"

The Movement type "Running" is activated, if bin3sum exceeds the parameter value threshold6. The control signal for "running" is issued.

Movement type "Sneaking"

The output of the control signal "creep" is active until bin2sum is the parameter value threshold exceeds 10.

Movement type "Creep"

To determine the "creep" movement type, b _l and b _{r are} checked, and if both exceed the parameter value threshold 7, the "creep" movement type is activated. The b _{l / r} values correspond to the acceleration component perpendicular to the lower leg. So standing they have values against 0, crawling due to the weight force against 1.

Movement type "Forward", "Backward", and "None Move"

to Distinction of the direction of movement, the measured value c is used.

falls below c a window around parameter value threshold8 with width threshold9, If the movement type "Reverse" is activated, exceeds If it is, then Forward is activated. If the value is within the window, "no movement" is activated.

Claims (20)

Apparatus for reference system-independent detection and qualitative and / or quantitative interpretation of body movements with the option to control software and / or hardware containing a) at least one at least uniaxial acceleration sensor, the / on a living body is attached to one or more places / and which / which on movement of the body produce analog acceleration values in fine time resolution and by cable or radio can forward and can b) an analog-digital walker for converting these acceleration values into digital signals and c) a software for the interpretation of these digital signals by means of the control parameters defined there in qualitative movement types, in their intensity can vary and for storing the time sequence of these signals and the optional steering of soft and / or Hardware. Apparatus according to claim 1, containing biaxial Acceleration sensors. Apparatus according to claim 1, containing triaxial Acceleration sensors. Apparatus according to claim 1, comprising radio elements in the form of Bluetooth technology. Use of the device according to claim 1 for reference system independent detection and qualitative and / or quantitative interpretation of body movements with the option to control software and / or hardware. Reference system independent detection and qualitative and / or quantitative interpretation of body movements with the option for controlling software and / or hardware, characterized that a) acceleration sensors on a living body one or more places and b) these Sensors during movement of the body produce analog acceleration values in fine time resolution, and c) these acceleration values from an analog-to-digital converter into digital Signals are transformed and d) the digital signals again by a special software by means of the defined there Control parameters interpreted in qualitative movement types be that in their intensity can vary and e) these movement types are optionally stored in their time sequence can be and or f) used to control software and / or hardware. Method according to Claim 6, characterized that the movement types are stored relative to a time index become. Method according to Claim 6, characterized that it is an animal or human body. Method according to Claim 6, characterized that the acceleration sensors at one or more extremities, the Head, torso, neck or one or more joints can. Method according to Claim 6, characterized that the fine time resolution in the range of 10-1000 Hz, preferably in the range of 100 Hz. Method according to Claim 6, characterized that the qualitative movement types jump, go slow, walking normally, walking fast, running, sneaking, crawling, walking sideways, walking backwards, swimming and various arm and / or hand and / or finger movements as well as various leg and / or foot movements and movements of the neck, the head and / or the trunk, in particular the hips, could be. Method according to Claim 6, characterized that controlled qualitatively different means of transportation can be like driving a vehicle, controlling a boat, controlling a car Plane, controlling a dragon flyer. Method according to Claim 6, characterized that from the inclination of the body the direction of movement is determined. Use of the device according to claim 1 for the qualitative Motion analysis in long-term analyzes (monitoring). Method for qualitative motion analysis Long-term analyzes (monitoring) characterized in that a) the stored according to claim 1, time-defined, qualitative Movement data optionally combined with other data of the measured body become and b) this further data with the claim 7 time index are stored and c) finally in a later one Analysis optionally exploited with the data described in claim 1 become, Method according to claim 15, characterized in that that the other data come from EEGs, ECGs or blood pressure data can act. Use of the method according to claim 15 for correction or more detailed analysis of EEGs, ECGs or blood pressure data, or as sole analysis or control measure, for example in overweight therapy. Use of the device according to claim 1 for VR control of software and / or hardware. Method for VR control of software and / or hardware, characterized in that a) the stored according to claim 6.e), timed, qualitative motion data for control by size virtual spaces optionally also for execution from other acts while limiting real space used by the controlling in which b) optional for spatial orientation and determining the steering direction, a device for positional orientation (so-called head tracker) can be used and c) Optionally, the person be protected by a security device can and d) Optionally, the real movement of health promotion of the controlling serves. Method according to claim 19, characterized that the other actions involve the seizure of one or more objects and / or the firing of one or more weapons and / or using mobile lamps and / or using special ones Viewing devices and / or the throwing of weapons can be.