Abstract

A method of location of a device includes a displacement law containing a corrective factor of a bias combined by an arithmetical operation with a measured variable, and particles, each particle being associated with a current value of the corrective factor. The current value of the corrective factor being constructed at each iteration on the basis of a previous current value of the corrective factor, computed during a previous iteration, to which is added a random variable drawn according to a predefined probability law. The current values of various particles are initialized, before the first iteration, to various initial values, and during each iteration, for each particle whose coordinates are updated with the aid of this displacement law, the value of the corrective factor in the displacement law is taken equal to this corrective factor's current value associated with the particle.

IPC Classes  ?

• G01V 9/00 - Prospecting or detecting by methods not provided for in groups
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 21/20 - Instruments for performing navigational calculations
• G01B 21/16 - Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring distance or clearance between spaced objects

Abstract

A remote control, such as a 3D air mouse, includes motion sensors used to measure position/orientation in space to alternatively control a cursor on a display, recognize gestures by the user so that data/commands can be entered into an electronic system being controlled or the like. Timed sequences of pressing a single trigger button and the quantity of motion during said sequences are both timed in relation to thresholds to switch between modes.

IPC Classes  ?

• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer

Abstract

A measurement processing method, wherein: during an operational phase, a second computer executes a first algorithm for estimating a new value of a datum; during a phase when the second computer is unavailable, a first computer determines and records characteristics of a signal measured by a sensor, the number of characteristics determined during the phase being strictly less than the number of intermediate measurements that the first computer establishes during the operational phase; the unavailability phase is stopped at a time t2 and the method proceeds to an active recovery phase, during which the second computer executes a second algorithm for estimating a value of the datum at a time within the interval [t1; t2] based on the characteristics determined and recorded during the unavailability phase; then the active recovery phase is stopped and the method returns to the operational phase.

IPC Classes  ?

• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 21/20 - Instruments for performing navigational calculations
• G06F 1/3293 - Power saving characterised by the action undertaken by switching to a less power-consuming processor, e.g. sub-CPU
• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

The invention relates to a portable device with improved sensor position change detection. It aims at detecting a change of position of a mobile device relative to a user and, based on this change of position, a change of orientation of the mobile device relative to the user. This allows, when the orientation of the mobile device suddenly changes relative to a user, to keep track of this change. This is particularly useful for position tracking techniques such as Pedestrian Dead Recognition (PDR), which rely on an iterative determination of the orientation of a mobile device relative to the user, and may be affected by a sudden and important change of this relative orientation.

IPC Classes  ?

• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 21/20 - Instruments for performing navigational calculations

Abstract

−1(t)) by rotation between the pseudo reference frame and the moving frame, the inverse of said first operator (R(t)).

IPC Classes  ?

• G01C 19/5776 - Signal processing not specific to any of the devices covered by groups
• G01C 17/38 - Testing, calibrating, or compensating of compasses
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 21/08 - NavigationNavigational instruments not provided for in groups by terrestrial means involving use of the magnetic field of the earth

Abstract

The invention relates to a processing logic for determining a position of a virtual object on a display configured to: receive from one or more motion sensors motion signals representative of an orientation of a first device and/or a derivative thereof; obtain a first set of data representative of the orientation of the first device based on the motion signals; obtain a second set of data representative of the orientation of the first device based on the motion signals, said second set of data being different from the first set of data; calculate a first candidate position of the virtual object on a display based on the first set of data; calculate a second candidate position of the virtual object on the display based on the second set of data; select one of the first candidate position and the second candidate position as a position of the virtual object on the display.

IPC Classes  ?

• G06F 3/038 - Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

A method for detecting a manipulation of a mobile device, comprises the following steps: a) determining, by means of a sensor, the orientation of the vertical direction in a reference frame tied to the mobile device at a plurality of successive instants; b) calculating, for each instant, the angle formed by the orientation of the vertical direction in the reference frame and a reference orientation, and c) detecting a manipulation when the angle exceeds a first threshold. An apparatus for detecting a manipulation of a mobile device comprises: a sensor for measuring the orientation of a vertical direction in a reference frame tied to the mobile device, and a processor connected to the sensor configured or programmed to implement such a method. A mobile phone comprising such an apparatus is also provided.

IPC Classes  ?

• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
• G06F 1/32 - Means for saving power

Abstract

A step detection method comprises the following steps: a) based on at least one signal coming from at least one motion sensor rigidly attached to a portable device, detect events suitable to correspond to steps of a user carrying the portable device; b) based on at least one signal, or on at least one signal coming from another sensor also rigidly attached to the portable device, identify intervals of time during which the device is being manipulated; and c) identify as steps those, from amongst the events detected, which do not coincide with the intervals of time. A device for the implementing such a method, a mobile telephone and touchscreen tablet comprising such a device are also provided.

IPC Classes  ?

• G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
• G01C 21/14 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by recording the course traversed by the object
• G01C 21/20 - Instruments for performing navigational calculations

Abstract

The invention relates to a measurement processing method, wherein: during an operational phase, a second computer executes (122) a first algorithm for estimating a new value Pik of a datum; during a phase when the second computer is unavailable, a first computer determines and records (114) characteristics of a signal measured by a sensor, the number of characteristics determined during said phase being strictly less than the number of intermediate measurements that the first computer establishes during the operational phase; the unavailability phase is stopped at a time t2 and the method proceeds to an active recovery phase, during which the second computer executes (148) a second algorithm for estimating a value Piw of the datum at a time tw within the interval [t1; t2] on the basis of the characteristics determined and recorded during the unavailability phase; then the active recovery phase is stopped and the method returns to the operational phase.

IPC Classes  ?

• G01C 21/20 - Instruments for performing navigational calculations
• G06F 1/32 - Means for saving power
• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

Method for determining the orientation of the trajectory followed by a pedestrian, associated with a trajectory frame, with respect to a reference frame is provided. At least one motion sensor associated with the pedestrian generates data representative of the motion of the sensor housing on the basis of said sensor assembly in the reference frame. A first rotation transformation operator representative of the orientation of the reference frame with respect to the trajectory frame is calculated. The data representative of the motion after transformation by said first operator exhibits at least one characteristic of a set of characteristics which are representative of signals of walking or running motion of a pedestrian and are expressed in the pedestrian frame.

IPC Classes  ?

• G01C 21/20 - Instruments for performing navigational calculations
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01P 13/00 - Indicating or recording presence or absence of movementIndicating or recording of direction of movement
• G01C 21/18 - Stabilised platforms, e.g. by gyroscope
• G01P 15/08 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration by making use of inertia forces with conversion into electric or magnetic values

Abstract

A pointing device includes accelerometers and rotational sensors that are coupled to a processor. The processor samples the accelerometers and rotational sensors to detect gravity and pointing device motion and uses algebraic algorithms to calculate roll compensated cursor control signals. The processor transmits the cursor control signals to a receiver that is coupled to an electronic device that moves the cursor on the visual display.

IPC Classes  ?

• G01P 15/00 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration
• G06F 3/033 - Pointing devices displaced or positioned by the userAccessories therefor
• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• G06F 3/038 - Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry

Abstract

A method estimating orientation of a path followed by a carrier of a movement sensor includes: determining an orientation of the movement sensor with respect to the path; estimating an orientation of the movement sensor with respect to a fixed reference; estimating an orientation of the path with respect to the fixed reference by the determined orientation of the movement sensor and the estimated orientation of the movement sensor; detecting start and end of a phase of disorientation of the movement sensor with respect to the path; updating, after the detected end of the disorientation phase, determined orientation of the movement sensor with respect to the path by orientation of the path with respect to the fixed reference as estimated at the detected start of the disorientation phase and orientation of the movement sensor with respect to the fixed reference as estimated after the detected end of the disorientation phase.

IPC Classes  ?

• G01C 21/12 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning
• G01C 21/14 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by recording the course traversed by the object
• G01P 13/00 - Indicating or recording presence or absence of movementIndicating or recording of direction of movement
• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G01C 21/06 - NavigationNavigational instruments not provided for in groups by terrestrial means involving measuring of drift angleNavigationNavigational instruments not provided for in groups by terrestrial means involving correction for drift

Abstract

A system and method of controlling a cursor (120) in a surface (100) by measurements of attitude of a pointer (110). The measurements can be provided by inertial, optical, magnetic, ultrasound, radiofrequency or video means and appropriate processing means. The method includes a step of computing the displacements of the intersection of a vector tied to the pointer with a projection surface. The projection surface can be predetermined on the basis of the measurements of the attitude and/or of the angular velocity of the pointer. The pointed-at surfaces can be planes, cylinders or spheres. The pointing can be performed in limited fashion or by sliding. The control of the cursor, in absolute mode or in relative mode, can allow the triggering of functions controlled by the orientation of the cursor on the pointed-at surface.

IPC Classes  ?

• B60S 1/38 - Wiper blades
• B60S 1/40 - Connections between blades and arms

Abstract

A method of location of a device includes a displacement law containing a corrective factor of a bias combined by an arithmetical operation with a measured variable, and particles, each particle being associated with a current value of the corrective factor. The current value of the corrective factor being constructed at each iteration on the basis of a previous current value of the corrective factor, computed during a previous iteration, to which is added a random variable drawn according to a predefined probability law. The current values of various particles are initialized, before the first iteration, to various initial values, and during each iteration, for each particle whose coordinates are updated with the aid of this displacement law, the value of the corrective factor in the displacement law is taken equal to this corrective factor's current value associated with the particle.

IPC Classes  ?

• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 21/20 - Instruments for performing navigational calculations
• G01B 21/16 - Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring distance or clearance between spaced objects
• G01V 9/00 - Prospecting or detecting by methods not provided for in groups

Abstract

Movement of a poly-articulated object, having a plurality of segments linked by at least one articulation, is estimated. Inertial measurements are obtained from capture modules that are fixed relative to respective segments, each module having an accelerometer and a gyrometer, with the measurements being expressed in a measurement reference frame that is fixed relative to the respective segment. The measurements are used to determine at least one stress vector external to the object so as to control a physical model of this object representing the object. Kinematic quantities associated with the segments of the object are then estimated using fundamental dynamics principles using the computed stress vector(s).

IPC Classes  ?

• B25J 9/16 - Programme controls

Abstract

Disclosed is a footstep detection method comprising the following step: a) using at least one signal (Acc) emitted by at least one motion sensor that is secured to a portable device to detect events which are likely to correspond to footsteps taken by a user carrying the portable device. Said method is characterized in that same also comprises the following steps: b) using said at least one signal or at least one signal emitted by another motion sensor that is also secured to the portable device to identify the time intervals during which the portable device is being manipulated; and c) identifying as footsteps those footsteps among the detected events which do not fall within said time intervals. An apparatus for carrying out a method of said type is also disclosed, and so are a mobile phone and a touch-sensitive tablet comprising an apparatus of said type.

IPC Classes  ?

• G01C 21/14 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by recording the course traversed by the object
• G01C 21/20 - Instruments for performing navigational calculations
• G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers

Abstract

Disclosed is a method for detecting a manipulation of a portable device (SP), involving the following steps: a) using a sensor to determine the orientation of the vertical direction (Zo) in a reference system, which is secured to the portable device, at a plurality of successive moments in time; b) for each of said moments in time, calculating the angle (a) formed by the orientation of the vertical direction in the reference system and a reference orientation (ZREF); and c) detecting a manipulation when said angle exceeds a first threshold (s1). Also disclosed is an apparatus (DDM) for detecting a manipulation of a portable device, comprising: - a sensor (AM) for measuring the orientation of a vertical direction in a reference system that is secured to the portable device; and - a processor (PR) which is linked to the sensor and is designed or programmed to carry out a method of said type. A mobile phone comprising an apparatus of said type is also disclosed.

IPC Classes  ?

• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
• G06F 1/32 - Means for saving power

Abstract

comparing (3) said candidate gesture with a set of predetermined gestures. calculating the value of a parameter representative of the energy of the gesture along at least one axis.

IPC Classes  ?

• G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

A 3D pointing device and a method are disclosed to control an object on a surface and to improve the user experience when the user moves the object beyond the limits of the surface where the object can no longer be visualized. The user experience is enhanced by defining the behavior of a cursor in a margin around the screen.

IPC Classes  ?

• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• G06F 3/038 - Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• G06F 3/0481 - Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance

Abstract

Method of determining the orientation of the trajectory followed by a pedestrian (P), associated with a trajectory frame (RT) with respect to a reference frame (RR), said pedestrian being furnished with a sensor housing (BC) comprising a sensor assembly (EC) comprising at least one motion sensor, comprising the steps consisting in: generating data representative of the motion of the sensor housing (BC) on the basis of said sensor assembly in the reference frame (RR), and calculating the value of a first rotation transformation operator (QRT) representative of the orientation of the reference frame (RR) with respect to the trajectory frame (RT), in such a way that the data representative of the motion which has been thus obtained in the previous step, in the reference frame (RR), and transformed by said first operator (QRT), exhibit at least one characteristic of a set of characteristics representative of the walking or running motion signals of a pedestrian, expressed in the pedestrian frame.

IPC Classes  ?

• G01C 21/20 - Instruments for performing navigational calculations
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01P 13/00 - Indicating or recording presence or absence of movementIndicating or recording of direction of movement
• G01P 15/08 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration by making use of inertia forces with conversion into electric or magnetic values

Abstract

The invention discloses a device and a method to control an object on a surface using motion sensor measurements and relative and absolute pointing algorithms. Relative pointing is preferred at low speeds and absolute pointing is preferred at high speeds. Transition between the results of the two algorithms has to be smoothed, using a weighted combination of the two results. The weights may be made dependent over time or over speed of the device. Maximum and minimum values of different parameters may have to be set to avoid jumps or changes in direction which may affect the user's experience negatively. The goal is that the user has consistent perceptions what he or she sees on the screen and the movements he or she imparts on the device, while still keeping the position of the object as close as possible to the position calculated by an absolute pointing algorithm.

IPC Classes  ?

• G06F 3/038 - Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

Parameters characterizing the orientation and the position of each sensor, including at least one accelerometer, are evaluated in the reference frame of each segment, together with the length of each segment, by using predetermined configurations and motions of a structure to which the sensors are attached. This makes it possible to provide a device for capturing the motions of a body with measurements which enables greater reliability of the measurements.

IPC Classes  ?

• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
• G01B 21/00 - Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
• G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
• G01P 15/00 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration

Abstract

The invention discloses a method, a device and a system to build and/or use models for estimating behaviours of, or situations of interest to users. Said users have a device which is configured to capture at least a first dataset of sensor data in relation to the behaviour or situation. A set of processing capabilities is configured to capture first datasets comprising sensor data and second datasets comprising annotated data in relation to the behaviour or situation and to further configure at least a model. The device is further configured to adjust parameters of the at least a model to the characteristics of the user or of a group of users. The invention allows for an improvement over the prior art by allowing collection of a vast amount of data that will optimize the fit of the models to the behaviour or situation.

IPC Classes  ?

• G06N 99/00 - Subject matter not provided for in other groups of this subclass

Abstract

A user to machine interface emulates a touch interface on a screen. The interface is configured for operating in a touch emulation mode based on a triggering event. A triggering event may be a rotation around a first axis of an angle higher than a first threshold. Analysis of the amount of rotation around a second axis may be used to determine the number of fingers defining a specific touch gesture. An infinite variety of touch gestures may therefore be emulated by a remote control based on application context thus allowing for multiple uses of the touch screen machine from a distance.

IPC Classes  ?

• G06F 3/033 - Pointing devices displaced or positioned by the userAccessories therefor
• G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
• G06F 3/041 - Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
• G06F 3/0488 - Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

A system for capturing the movements of a body having substantially rigid segments articulated together includes attitude units fastened onto the segments of the body, the units each including at least one accelerometer and one magnetometer, and a reduced number of gyroscopes. The system also includes a pseudo-static state detection module and a module for calculating pseudo-static angles. When all segments are detected in a pseudo-static state, the state vector is provided by the module for calculating pseudo-static angles. When a segment is detected in a dynamic state, the state vector is provided at the output of a Kalman filter.

IPC Classes  ?

• G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
• G01P 15/00 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration
• G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
• A63B 71/06 - Indicating or scoring devices for games or players

Abstract

A device (DISP) for gestural control of a system (SYST) includes a grippable mobile control element (TC), a movement sensor assembly (EC) for measuring movements of the mobile control element (TC), and a processing circuit (DET) for detection the rotation or translation of the mobile control element in relation to an axis that is substantially invariant over a time window. The device (DISP) also includes a circuit (REG) for adjusting the value of at least one parameter of the system, and a circuit (CMD) for controlling activation/deactivation of the adjustment upon a detection by the detection circuit (DET) of a rotation and/or translation of the mobile control element in relation to an axis that is substantially invariant over a time window.

IPC Classes  ?

• G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
• G06F 3/033 - Pointing devices displaced or positioned by the userAccessories therefor
• G06F 3/038 - Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

The invention relates to a device for analysing the movement of at least one moving element (EM) provided, for at least one moving element, with first means (DET1) for determining the orientation of a moving reference (Rm) connected in motion to the moving element (EM), relative to a reference (Rr), characterized in that it comprises second means (DET2) for determining at least one location of points (Tx, Ty, Tz) of at least one surface from at least one respective direction of an oriented axis (x, y, z) of the moving reference (Rm) connected in motion to the moving element (EM) and said surface.

IPC Classes  ?

• G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
• G06F 3/038 - Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

This method for detecting activity (A) of a physical system carrying a motion sensor comprises the following steps: extracting (100) a sequence (M) of measurements provided by the motion sensor; deducing (102) therefrom an observation sequence (O) calculated on the basis of the measurement sequence (M); determining (104) the activity (A) of the physical system in the form of a sequence of states corresponding to the observation sequence, using a statistical model of components of the observation sequence in view of a plurality of possible predetermined states of the physical system. At least one component of the observation sequence (O) is calculated on the basis of a reference value ({circumflex over (λ)}) of a vector representing a reference axis. In addition, the method comprises the following calibration steps: calculation (106) of a likelihood value of the observation sequence (O) in view of said statistical model; comparison (106) of this likelihood value with a predetermined threshold; on the basis of this comparison, activating an estimation (108) of a new reference value ({circumflex over (λ)}) of the vector representing the reference axis.

IPC Classes  ?

• G01P 15/00 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration
• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
• A61B 5/00 - Measuring for diagnostic purposes Identification of persons
• G01P 15/18 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration in two or more dimensions

Abstract

This method for estimating a trajectory orientation followed by a carrier of a movement sensor (22) comprises the following steps: determining (100) an orientation of the movement sensor (22) relative to the trajectory; estimating (102) an orientation of the movement sensor (22) relative to a fixed coordinate system; estimating (104) an orientation of the trajectory relative to the fixed coordinate system by way of the orientation determined for the movement sensor (22) relative to the trajectory and of the orientation estimated for the movement sensor (22) relative to the fixed coordinate system. It furthermore comprises the following steps: detecting (110) a start and an end of a phase of misorientation of the movement sensor (22) relative to the trajectory; updating (112), after the detected end of the misorientation phase, the orientation of the movement sensor (22) determined relative to the trajectory by way of the orientation of the trajectory relative to the fixed coordinate system such as estimated at the detected start of the misorientation phase and of the orientation of the movement sensor(22) relative to the fixed coordinate system such as estimated after the detected end of the misorientation phase.

IPC Classes  ?

• G01C 21/12 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning
• G01P 13/00 - Indicating or recording presence or absence of movementIndicating or recording of direction of movement

Abstract

A system and method of controlling a cursor (120) in a surface (100) by measurements of attitude of a pointer (110). The measurements can be provided by inertial, optical, magnetic, ultrasound, radiofrequency or video means and appropriate processing means. The method includes a step of computing the displacements of the intersection of a vector tied to the pointer with a projection surface. The projection surface can be predetermined on the basis of the measurements of the attitude and/or of the angular velocity of the pointer. The pointed-at surfaces can be planes, cylinders or spheres. The pointing can be performed in limited fashion or by sliding. The control of the cursor, in absolute mode or in relative mode, can allow the triggering of functions controlled by the orientation of the cursor on the pointed-at surface.

IPC Classes  ?

• G06F 3/033 - Pointing devices displaced or positioned by the userAccessories therefor
• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• G06F 3/0481 - Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance

Abstract

A method for configuring a device for detecting a situation from a set of situations where a physical system comprises the following steps: reception of a learning sequence corresponding to a given situation of the physical system; determination of parameters of a hidden-state Markov statistical model recorded in the detection device and relating to the given situation, on the basis of a prior initialization of these parameters. The prior initialization comprises the following steps: determination of a plurality of probability distributions from the learning sequence; distribution of the probability distributions between the various hidden states of the statistical model in question by global optimization of a function of adaptation of these probability distributions to the various hidden states and to impossible transition constraints; and initialization of the parameters of the statistical model in question using given representative probability distributions for each hidden state of the statistical model in question.

IPC Classes  ?

• G06F 17/00 - Digital computing or data processing equipment or methods, specially adapted for specific functions
• G06N 7/00 - Computing arrangements based on specific mathematical models
• G06N 99/00 - Subject matter not provided for in other groups of this subclass
• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
• G06K 9/62 - Methods or arrangements for recognition using electronic means

Abstract

The invention concerns a method for estimating movement of a poly-articulated mass object, consisting of a plurality of segments linked by at least one articulation. The method comprises the following steps: acquiring (401) inertial measurements from at least one sensor module that is fixed relative to a segment, said module consisting of an accelerometer and a gyrometer, said measurements being expressed in a measuring mark that is fixed relative to said segment; determining (420), from said measurements, at least one force vector external to the mass object so as to control a physical model of this object, said model representing the mass object; estimating (409) kinematic quantities (410) associated with the segments of the object by applying the fundamental principle of dynamics with the at least one force vector determined in the previous step (420).

IPC Classes  ?

• B25J 9/16 - Programme controls

Abstract

Control system with graspable mobile control element (EM), comprising: - means of determination (DET) of values of components of the gravity vector along at least one axis of a moving reference frame (RM) tied to the mobile element, comprising a motion sensor assembly (CAPT) comprising an accelerometer (A) with at least one axis for measurements and a gyrometer (G) with at least one measurement axis, by merging of measurements delivered by the accelerometer (A) and the gyrometer (G); - means of processing (TRT) suitable for converting, by direct application of a gain, said components into output signals corresponding to those of a joystick or the like furnished with at least one control element with physical end stop; and means of delivery (OUT) of said output signals corresponding to said joystick or the like to at least one control element with physical end stop.

IPC Classes  ?

• A63F 13/211 - Input arrangements for video game devices characterised by their sensors, purposes or types using inertial sensors, e.g. accelerometers or gyroscopes

Abstract

The invention discloses an improved method and device for sensing orientation of an object in space in a Working Reference Frame. The device of the invention includes an angular velocity sensor with at least two sensing axes and a linear acceleration sensor with at least three sensing axes. The method used for sensing orientation of the object in space in the Working Reference Frame uses synthetic values of the gravity component of the acceleration of the object. It depends upon the number of sensing axes of the angular velocity sensor and upon the dynamicity of the movement of the object. The dynamicity of the movement of the object is tested to compute the synthetic values which are used. The method and device of the invention allow control of a cursor on a display, independently of the roll imparted to the device by a user, in a seamless manner which is greatly improved over the devices and methods of the prior art.

IPC Classes  ?

• H04M 1/725 - Cordless telephones
• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

The invention discloses an improved method and device for sensing orientation of an object in space in a Working Reference Frame. The device of the invention includes an angular velocity sensor with at least two sensing axes and a linear acceleration sensor with at least three sensing axes. The method used for sensing orientation of the object in space in the Working Reference Frame uses synthetic values of the gravity component of the acceleration of the object. It depends upon the number of sensing axes of the angular velocity sensor and upon the dynamicity of the movement of the object. The dynamicity of the movement of the object is tested to compute the synthetic values which are used. The method and device of the invention allow control of a cursor on a display, independently of the roll imparted to the device by a user, in a seamless manner which is greatly improved over the devices and methods of the prior art.

IPC Classes  ?

• G06F 3/03 - Arrangements for converting the position or the displacement of a member into a coded form
• G06F 3/033 - Pointing devices displaced or positioned by the userAccessories therefor
• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• H04M 1/725 - Cordless telephones

Abstract

Iterative method of determining a bias (bM, bA) of a sensor for measuring (M, A) a physical vector field (formula (I)) which is substantially continuous in a reference frame (E), said sensor (M, A) being tied in motion to a frame (S), moving in the reference frame (E), an iteration of the method comprising the following steps consisting in:- estimating a value of bias (formula (II)) in the moving frame (S), - correcting a measurement of the sensor (S) of said estimated value of bias (formula II)), in the moving frame (S), - transforming said corrected measurement from the moving frame (S) into the reference frame (E), on the basis of an operator (formula (III)) for changing frame under rotation between the moving frame (S) and the reference frame (E), and - forming a criterion representative of a variation of said transformed corrected measurement.

IPC Classes  ?

• G01C 17/38 - Testing, calibrating, or compensating of compasses
• G01R 33/00 - Arrangements or instruments for measuring magnetic variables

Abstract

A remote control, such as a 3D air mouse, includes motion sensors used to measure position/orientation in space to alternatively control a cursor on a display, recognize gestures by the user so that data/commands can be entered into an electronic system being controlled or the like. Timed sequences of pressing a single trigger button and the quantity of motion during said sequences are both timed in relation to thresholds to switch between modes.

IPC Classes  ?

• G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

The present invention relates to remote controls such as 3D air mice. These devices comprise motion sensors used to measure their position/orientation in space to alternatively control a cursor on a display, recognize gestures by the user so that data/commands can be entered into an electronic system being controlled. There is a need to simplify switching from one mode to another so that a user does not have to remember a complex set of specific commands, without prejudice to the reliability of the decision to switch and the smoothness of the transitions between modes. The invention provides a solution to this problem by controlling both timed sequences of pressing a single trigger button and the quantity of motion during said sequences in relation to thresholds. Also, various embodiments are provided to avoid artifacts which are common in the prior art such as random movements of cursor on the display.

IPC Classes  ?

• G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

The invention relates to a method for the continuous calibration of a sensor for the three-axis measurement of a vectorial physical field (G, H) by determining the axial biases of measurements by means of calculating a current value (vp) of the parameter(s) (p) of a predetermined model (MP) approximating a current set (EC) of stored data depending on the measurements provided by said sensor, the value of the parameter(s) (p) representing said axial biases, wherein the method comprises the following iterative steps: selecting an additional set (EA) of at least one new datum, depending on the measurements provided by said sensor; determining a following value (vp') of the parameter(s) (p) from the projection of said current value (vp) onto a geometric locus depending on a subset (SE) of the combination of the current (EC) and additional (EA) sets; updating the current value (vp) of the parameter(s) (p) to the following value (vp') of the parameter(s) (p); and updating the current set (EC) using the current set /EC) and the additional set (EA).

IPC Classes  ?

• G01C 25/00 - Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
• G01C 17/38 - Testing, calibrating, or compensating of compasses

Abstract

A method for estimating a path of a moving element or body using a sensor assembly includes: receiving acceleration values provided by an accelerometer; receiving angular velocity values provided by a gyrometer; processing the values provided for estimating at least one angular position value using the angular velocity values and at least two Cartesian position values defining a path of the moving element or body using acceleration values and the at least one previously estimated angular position value; estimating rotation parameters, by inverting a rotational realignment model of the estimated path subject to prior knowledge of the path; retroactively correcting the at least one estimated angular position value, by applying a rotation on this value using estimated rotation parameters, so as to provide at least one corrected angular position value.

IPC Classes  ?

• G01P 15/08 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration by making use of inertia forces with conversion into electric or magnetic values
• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G01C 21/20 - Instruments for performing navigational calculations

Abstract

A method determining values of parameters representing a movement of an entity represented by an articulated chain, by a sensor assembly including at least one sensor for a parameter representing an orientation of a first segment of the articulated chain, the method including: reception of an orientation value measured and supplied by the orientation sensor; estimation of a value of at least one first parameter representing a movement of the first segment by processing the orientation value; and, based on a predetermined movement model of the articulated chain, as a time change model, including at least one relationship of time dependency between the at least one first parameter and at least one other parameter representing a movement of another segment of the articulated chain: estimation of a value of the at least one other parameter by application of the time change model to the estimated value of the at least one first parameter.

IPC Classes  ?

• A61B 5/00 - Measuring for diagnostic purposes Identification of persons
• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 21/20 - Instruments for performing navigational calculations
• G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers

Abstract

The invention relates to a tennis racket. Said tennis racket includes a head including a frame surrounding a netting of string, a holding handle (2), as well as a vibration sensor (14.1), a triaxial linear acceleration sensor (14.2), and a triaxial angular speed sensor (14.3).

IPC Classes  ?

• A63B 49/00 - Stringed rackets, e.g. for tennis
• A63B 49/08 - Frames with special construction of the handle
• A63B 24/00 - Electric or electronic controls for exercising apparatus of groups

Abstract

The invention relates to a method for analysing the game of a user of a racket (Ra), wherein: an impact on the racket (Ra) is detected from representative measurements of a hit of the racket (Ra), that are supplied by a sensor group comprising at least one impact-sensitive sensor linked to the racket (Ra) in a fixed manner in terms of movement; a moment of impact is associated with a detected impact on the basis of measurements transmitted by the sensor group; and impacts are eliminated that are not linked to strokes from a set of pre-determined strokes on the basis of angular rotational speed measurements supplied by a gyrometer (G) of the sensor set on at least one measurement axis, linked to the racket (Ra) in a fixed manner in terms of movement, and taken during an interval of time around said moment of impact.

IPC Classes  ?

• A63B 24/00 - Electric or electronic controls for exercising apparatus of groups
• A63B 49/08 - Frames with special construction of the handle
• A63B 69/38 - Training appliances or apparatus for special sports for tennis

Abstract

This device (10) for identifying a type of cyclical motion of a physical system from among a set of types of possible cyclical motions comprises: at least one motion sensor (18) for providing a sequence of observation data of the physical system; means (20) for storing at least one statistical hidden Markov model (HMM-1, …, HMM-N); and a calculator (22) programmed (28A) to analyse the sequence of observation data and select a type of cyclical motion based on the stored statistical model. The storage means (20) comprise at least one statistical hidden Markov model for each possible type of cyclical motion and the calculator (22) is programmed (28A) to analyse a compatibility of the observation data sequence with each possible type of cyclical motion based on the statistical model associated with that type of cyclical motion. Furthermore, the calculator (22) is programmed (28B) to provide a sequence of hidden states of the statistical model associated with the selected type of cyclical motion based on the sequence of observation data and the statistical model associated with the selected type of cyclical motion.

IPC Classes  ?

• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints

Abstract

The present invention relates to a method of identifying the geometric parameters of devices each comprising at least one accelerometer, each platform being disposed on a segment of an articulated body. Said method comprises steps of evaluating values of parameters characterizing the orientation and the position of each sensor in the reference frame of each segment and of the length of each segment, in a reference frame of said segment, by using predetermined configurations and movements of the structure. The method of the invention makes it possible to provide a device for capturing the movements of said body with measurements which allows greater reliability of said measurements.

IPC Classes  ?

• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb

Abstract

The present invention relates to a system for capturing the movements of a body consisting of substantially rigid segments articulated together and a method for using said system. The system comprises attitude platforms fixed to the segments of the body, said platforms each comprising at least one accelerometer and one magnetometer, and a reduced number of gyrometers. It also comprises a module for detecting pseudo-static states and a module for calculating pseudo-static angles. When all the segments are detected in a pseudo-static state, the state vector is provided by the module for calculating the pseudo-static angles. When a segment is detected in a dynamic state, the state vector is provided at the output of a Kalman filter.

IPC Classes  ?

• G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
• B25J 9/16 - Programme controls

Abstract

The invention discloses a user to machine interface emulating a touch interface on a screen and method for operating the same. The interface of the invention is configured for operating in a touch emulation mode based on a triggering event. A triggering event may be a rotation around a first axis of an angle higher than a first threshold. Analysis of an amount of rotation around a second axis may be used to determine a number of fingers defining a specific touch gesture. An infinite variety of touch gestures may therefore be emulated by a remote control based on application context thus allowing for multiple uses of the touch screen machine from a distance.

IPC Classes  ?

• G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
• G06F 3/0488 - Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
• G06F 3/041 - Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

The invention relates to a device (DISP) for gestural control of a system (SYST) comprising a grippable mobile control element (TC), a motion sensor assembly (EC) adapted for measuring the motions of said mobile element, detection means (DET) for detecting a rotation and/or translation of said mobile element along an axis which is substantially invariant over a time window, comprising, furthermore, means (REG) for adjusting the value of at least one parameter of said system, and means (CMD) for controlling activation/deactivation of said adjusting means adapted for activating said adjusting means (REG) upon detection by said detection means (DET) of a rotation and/or translation of said mobile element along an axis which is substantially invariant over a time window.

IPC Classes  ?

• G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer

Abstract

The invention pertains to a system for detecting at least one transient phase in a steady activity of an animated being, characterized in that it comprises means for determining (DETER) signals representative of the motion of said animated being along at least one axis, means (CALC) for calculating a resultant signal representative of a statistical relationship between samples of signals representative of said motion belonging respectively to at least two, temporally offset, sliding windows over said samples, and means (DETEC) for detecting a transient phase on the basis of said resultant signal.

IPC Classes  ?

• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
• A63B 24/00 - Electric or electronic controls for exercising apparatus of groups
• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints

Abstract

This method for detecting the activity (A) of a physical system having a motion sensor comprises the following steps: extracting (100) a sequence (M) of measurements provided by the motion sensor; deducing (102) therefrom an observation sequence (O) calculated using the sequence of measurements (M); determining (104) the activity (A) of the physical system in the form of a sequence of states corresponding to the observation sequence, using a statistical model of components of the observation sequence in view of a plurality of possible predetermined states in which the physical system may be located. At least one component of the observation sequence (O) is calculated from a reference value ( À ) of a vector representative of a reference axis. Moreover, the method comprises the following calibration steps: calculating (106) a likelihood value of the observation sequence (O) in view of said statistical model; comparing (106) this likelihood value to a predetermined threshold; depending on this comparison, triggering an estimation (108) of a new reference value ( À ) of the vector representative of the reference axis.

IPC Classes  ?

• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb

Abstract

The invention discloses a method of controlling a cursor (120) on a surface (100) by measurements of the attitude of a pointer (110), said measurements being provided by inertial, optic, magnetic, ultrasonic, radiofrequency or video means and suitable processing means, said method being characterised in that it further comprises a step of calculating the movements of the intersection of a vector linked to the pointer with a projection surface (130), said projection surface being predetermined from measurements of the attitude and/or angular speed of said pointer. The surfaces pointed at can in particular be planes, cylinders or spheres. Pointing can be carried out in limited mode or in sliding mode. The control of the cursor, in absolute mode or in relative mode, can allow the triggering of functions controlled by the orientation of said cursor on the surface pointed at.

IPC Classes  ?

• G06F 3/033 - Pointing devices displaced or positioned by the userAccessories therefor

Abstract

The invention relates to a method for configuring a device for detecting one situation from among a set of situations in which physical system is likely to be present, comprising the following steps: receiving (102) a learning sequence corresponding to a predetermined situation of the physical system; determining (118) parameters for a statistical hidden Markov model, which is recorded in the detection device and relates to the predetermined situation, on the basis of a pre-initialization (104-116) of said parameters. The pre-initialization (104-116) comprises the following steps: determining (104, 106) a plurality of laws of probability from the learning sequence; distributing (108-114) the laws of probability among the various hidden states of the statistical model in question by means of the overall optimization (112) of a function for adapting said laws of probability to the various hidden states and to impossible transition constraints; and initializing (116) the parameters of the statistical model in question using representative predetermined laws of probability for each hidden state of the statistical model in question.

IPC Classes  ?

• G06N 7/00 - Computing arrangements based on specific mathematical models
• G06N 99/00 - Subject matter not provided for in other groups of this subclass

Abstract

GF) of the first sensor assembly (EC1), and calculates the corresponding angular temporal variation or variations in a fixed global frame (GF) relative to the terrestrial frame, on the basis of the measurements of the triaxial magnetometer (3M) delivered in the moving frame (LF).

IPC Classes  ?

• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
• A61B 5/103 - Measuring devices for testing the shape, pattern, size or movement of the body or parts thereof, for diagnostic purposes
• A61B 5/00 - Measuring for diagnostic purposes Identification of persons

Abstract

A system for controlling a digital sensor (CN) for measuring a physical quantity (GP) includes a transducer (TRD) delivering as output an analog signal representative of the physical quantity (GP), with means (MGD) for implementing gain and/or shift on the analog output signal (SA1) of the transducer (TRD), and with an analog-digital converter (CAN) at the output of the sensor (CN) so as to deliver a digital signal (SN1). A first means (MA1) applies a first shift to the analog signal of the physical quantity (GP), and a second means (MA2) applies a second shift to the digital signal (SN1). Control means (CMD) continuously controls the first application means (MA1), on the basis of the digital signal (SN1), as well as the second application means (MA2), on the basis of the digital signal (SN1) and/or of the first shift.

IPC Classes  ?

• H03M 1/00 - Analogue/digital conversionDigital/analogue conversion

Abstract

The invention relates to a method for estimating the orientation of an object in space at a moment k using measurements of the total acceleration (yA), of the magnetic field (yM), and of the rotational speed (yG) of said object on the three spatial axes, comprising a step of preprocessing (210, 220, 230) said measurements (yA, yM, yG) at a moment k so as to detect the existence of an interference in said measurements, and calculate corrected measurements at the moment k, and a step of estimating the orientation (formula I) at the moment k by an observer from the corrected measurements (formula II) at the moment k from the preprocessing step. The estimation step advantageously includes the use of matrices for transforming the object frame of reference into a fixed frame, said matrices being applied, in the event of an interference, to a quaternion deduced from the integration of a rotational-speed measurement made with an orientation quaternion calculated at the moment k-1.

IPC Classes  ?

• G01C 17/38 - Testing, calibrating, or compensating of compasses
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation

Abstract

A system for assisting a driver of a biomechanically-driven vehicle having at least one wheel (R), such as a bicycle, includes a device (DET1) for determining the speed of the vehicle, another device (DET) for determining the heading of the vehicle, a magnetometer (M) with at least two measurement axes for supplying data to determine the heading of the vehicle, and a device for supplying information relating to a movement of the vehicle, based on the speed of the vehicle, the slope of the rolling surface, and the heading of the vehicle.

IPC Classes  ?

• G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
• G01C 17/38 - Testing, calibrating, or compensating of compasses
• G01C 21/12 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning
• G01C 21/20 - Instruments for performing navigational calculations
• G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers

Abstract

An improved air pointing device which is capable of compensating for the roll angle imparted to said device by a user of said device. The device of the invention includes at least two gyrometers and two accelerometers, the latter being each used for different roll angles. The correction of the roll angle is effected by using the measurements of the first accelerometer, the output of the second accelerometer being simulated as an approximated function of the measurements of the first accelerometer, using a polynomial approximation of the relation between the output of the two accelerometers, the order of the polynomial being chosen as a function of the computing power which is available and the precision which is needed. In an embodiment of the invention, the first and second accelerometers are advantageously swapped at a value of the roll angle which is substantially equal to 45°.

IPC Classes  ?

• G06F 3/033 - Pointing devices displaced or positioned by the userAccessories therefor
• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors

Abstract

The invention discloses an improved air pointing device which is capable of compensating for the roll angle imparted to said device by a user of said device. The device of the invention includes at least two gyrometers and two accelerometers, the latter being each used for different roll angles. The correction of the roll angle is effected by using the measurements of the first accelerometer, the output of the second accelerometer being simulated as an approximated function of the measurements of the first accelerometer, using a polynomial approximation of the relation between the output of the two accelerometers, the order of the polynomial being chosen as a function of the computing power which is available and the precision which is needed. In an embodiment of the invention, the first and second accelerometers are advantageously swapped at a value of the roll angle which is substantially equal to 45°.

IPC Classes  ?

• G06F 3/033 - Pointing devices displaced or positioned by the userAccessories therefor
• G06F 3/038 - Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry

Abstract

A pointing device includes accelerometers and rotational sensors that are coupled to a processor. The processor samples the accelerometers and rotational sensors to detect gravity and pointing device motion and uses algebraic algorithms to calculate roll compensated cursor control signals. The processor transmits the cursor control signals to a receiver that is coupled to an electronic device that moves the cursor on the visual display.

IPC Classes  ?

• G01P 15/00 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration
• G06F 3/033 - Pointing devices displaced or positioned by the userAccessories therefor

Abstract

A system for inputting graphical elements Includes a substantially pen-shaped peripheral device (PD); means (DIG) for digitizing graphical elements produced by a first end (END1) of the peripheral device (PD); and display means (DISP) suitable for displaying the said graphical elements produced. The system also includes means (MSR) for measuring signals representative of the movement executed by the peripheral device (PD), which includes a gyrometer (G) with at least two measurement axes providing angular speeds according to the said axes, linked in a fixed manner to the said peripheral device (PD). Means (POS) for positioning, on the display means (DISP), a pointing element (PT), based on the said angular speeds, is also provided, together with means (ACT) for activating/deactivating the positioning means (POS).

IPC Classes  ?

• G06F 3/033 - Pointing devices displaced or positioned by the userAccessories therefor
• G06F 3/0354 - Pointing devices displaced or positioned by the userAccessories therefor with detection of 2D relative movements between the device, or an operating part thereof, and a plane or surface, e.g. 2D mice, trackballs, pens or pucks
• G06K 9/22 - Image acquisition using hand-held instruments

Abstract

second means for determining a second probability of at least a second state transition diagram for an epileptic seizure with respect to data representing the measurement signals of the motion sensor, said second diagram comprising predetermined probabilities of oriented transitions between two different or identical states, the probabilities of the states of said second diagram being predetermined.

IPC Classes  ?

• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
• A61B 5/00 - Measuring for diagnostic purposes Identification of persons
• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
• G06K 9/62 - Methods or arrangements for recognition using electronic means

Abstract

A system for determining activity of a mobile element, includes at least one motion sensor having a measurement axis, and which is securely connected to the mobile element. A filter for selects, for each measurement axis of the motion sensor, high frequencies above a first threshold, and processing equipment for determines a unidimensional high-frequency component (y(n)) equal to the square of the Euclidean norm of the high frequencies along the measurement axes of the motion sensor. A calculator calculates, for each state, probability density functions (Py,i) of the high-frequency component, the probability density function corresponding to each state according to a Chi-square law with a degree of freedom equal to the number of measurement axes of the motion sensor. An analyzer defines states of the mobile element, utilizing the probability density function of the high-frequency component for each state, together with the probabilities of transitions between two successive states.

IPC Classes  ?

• G01P 15/18 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration in two or more dimensions
• G06F 15/00 - Digital computers in generalData processing equipment in general
• G06K 9/62 - Methods or arrangements for recognition using electronic means
• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb

Abstract

The invention relates to a method for estimating a path of a mobile element or body using a sensor unit, which comprises the following steps: receiving acceleration values supplied by an accelerometer; receiving angular rate values supplied by a rate gyro; processing the supplied values in order to estimate at least one angular position value using the angular rate values, and at least two Cartesian position values defining a path of the mobile element or body using the acceleration values and the previously estimated angular position value. The invention also comprises the following steps: estimating rotation parameters by inverting a rotary readjustment model of the estimated path under the constraint of prior knowledge of the path; and retroactively correcting said at least one estimated angular position value by applying a rotation to said value using the estimated rotation parameters so as to provide at least one corrected angular position value.

IPC Classes  ?

• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G01C 21/20 - Instruments for performing navigational calculations

Abstract

A system for determining the posture of a person has a motion sensor (CM) with at least one axis of measurement, which is provided with fixing means (MF) for rigidly connecting said motion sensor (CM) to a user. Analysis means (AN) are also included for determining a posture of the user. The analysis means (AN) utilize: (A) joint densities of probabilities of a low-frequency component and a high-frequency component, these densities of probabilities being defined for each posture; and (B) probabilities of transition between two successive postures.

IPC Classes  ?

• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
• A61B 5/00 - Measuring for diagnostic purposes Identification of persons
• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints

Abstract

The invention relates to a method for determining the values of parameters representative of a movement of an entity represented by an articulated line, using a sensor unit comprising at least one sensor for sensing a parameter representative of an orientation of a first segment of the articulated line, which comprises the following steps: receiving an orientation value measured and supplied by the orientation sensor; and estimating a value of at least one first parameter representative of a movement of the first segment by processing the supplied attitude value. The method further comprises the following step, carried out on the basis of a predetermined motion model of the articulated line, referred to as time variation model, comprising at least one time-dependent relationship between said at least one first parameter and at least one other parameter representative of a movement of another segment of the articulated line: estimating a value of said at least one other parameter by applying the time variation model to the estimated value of said at least one parameter.

IPC Classes  ?

• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G01C 21/20 - Instruments for performing navigational calculations
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb

Abstract

The invention relates to a smart handheld device with a touch screen which can be used as a 2D or 3D mouse to control applications running on a host device. Advantageously, the smart device will be equipped with an optical sensor for automatically detecting that it lies on a surface, measuring displacements of the device on said surface and emulating displacements of a cursor on the screen of the host device. Advantageously, the smart device will be equipped with a two axes gyroscope which will measure yaw and pitch of the device in free space and convert changes in orientation measurements into displacements of a cursor on the screen of the host device. The touch screen is divided into zones and sub-zones to control various applications running on the device or on the host. Said zones are configurable through a graphical user interface. Gesture recognition features can be implemented.

IPC Classes  ?

• G06F 3/03 - Arrangements for converting the position or the displacement of a member into a coded form
• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• G06F 3/038 - Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• G06F 3/0488 - Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
• G08C 21/00 - Systems for transmitting the position of an object with respect to a predetermined reference system, e.g. tele-autographic system
• H04M 1/725 - Cordless telephones

Abstract

A system for observing a walking activity of a person comprises a device (DISP) adapted for delivering at output, for a footstep of the person, a first difference of angular speeds of the corresponding tibia between the instant at which the heel of the foot is planted and the instant at which the foot is laid flat, a second difference of angular speeds of the corresponding tibia between the instant at which the heel of the foot is planted and the instant at which the last toe of the foot is lifted, and an angular speed of the corresponding tibia at the instant at which the foot is laid flat. The system comprises analysis means (AN) for analyzing the signals delivered by the device and adapted for determining a type of walking of the user as a function of time by using a hidden Markov model with N states corresponding respectively to N types of walking.

IPC Classes  ?

• G06F 17/10 - Complex mathematical operations
• A63B 24/00 - Electric or electronic controls for exercising apparatus of groups
• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
• A61B 5/00 - Measuring for diagnostic purposes Identification of persons
• A63B 23/04 - Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
• A63B 69/00 - Training appliances or apparatus for special sports

Abstract

A system for observing a swimming activity of a person includes a waterproof housing (BET) having a motion sensor (MS), and is furnished with fixing means (BEL) for securely fastening the housing (BET) to a part of the body of a user. The system has analysis means (AN) for analyzing the signals transmitted by the motion sensor (MS) to at least one measurement axis and which are adapted for determining the type of swimming of the user as a function of time by using a hidden Markov model with N states corresponding respectively to N types of swimming.

IPC Classes  ?

• A63B 69/00 - Training appliances or apparatus for special sports
• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
• A63B 24/00 - Electric or electronic controls for exercising apparatus of groups
• A63B 71/06 - Indicating or scoring devices for games or players

Abstract

A system for detecting the walk of a person has a housing (BT) with at least a biaxial movement sensor (CM). The housing is attached to the upper portion of the body of the person, so that a first measurement axis of the sensor (CM) coincides with the anteroposterior axis (AP) or the vertical axis (VT) of the body and so a second measurement axis of said sensor (CM) coincides with the mediolateral axis (ML) of the body. An analysis means (MA) analyzes the measurements delivered by the sensor (CM). The analysis means includes a processing means (MT) for processing over a time window the measurement signals delivered by the sensor (CM), which includes means for searching for a dominant frequency (MRFD) in said signals. The analysis means also includes a detection means (MD) for detecting the walk of the person when a ratio between the dominant frequency of the signal of the first measurement axis and the dominant frequency of the second measurement axis, or between the dominant frequency of a Euclidian norm of the vector of measurements transmitted by the sensor (CM) and the dominant frequency of the signal of the second measurement axis, is substantially equal to two.

IPC Classes  ?

• G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
• A61B 5/103 - Measuring devices for testing the shape, pattern, size or movement of the body or parts thereof, for diagnostic purposes
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G06F 17/16 - Matrix or vector computation
• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb

Abstract

n), in a fixed global reference frame (GE) tied to the terrestrial reference frame, said additional sensor being rigidly tied to said mobile element (EM) and fixed in the reference frame of the accelerometer (3A), and control means (CMD).

IPC Classes  ?

• G06F 15/00 - Digital computers in generalData processing equipment in general
• G01P 15/18 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration in two or more dimensions
• G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation

Abstract

System for analysing a user's strides, comprising: - a first sensor assembly (EC1) furnished with a housing, with a triaxial magnetometer (3M) tied fixedly to said housing (BT), furnished with a moving reference frame (LF); - first fixing means (MF1) adapted for fixing the first sensor assembly (EC1) to a segment of the user's leg; and - processing means (MT) adapted for calculating the angle of yaw (YawGF) and/or of pitch (PitchGF) and/or of roll (RoIIGF) of said first sensor assembly (EC1), and for calculating the corresponding angular temporal variation or variations formula (I) of fixed global reference frame (GF) tied to the terrestrial reference frame, on the basis of the measurements of said triaxial magnetometer (3M), delivered in said moving reference frame (LF).

IPC Classes  ?

• A61B 5/103 - Measuring devices for testing the shape, pattern, size or movement of the body or parts thereof, for diagnostic purposes
• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb

Abstract

The invention applies to a pointing device of a mobile element, for example a cursor, on a plane surface. The pointing device comprises a first sensor for measuring the angular rates of the device and a second sensor of the linear accelerations along three dimensions of said device. Preferably, the first sensor is a two-axis or three-axis gyrometer and the second sensor is a three-axis accelerometer. The invention makes it possible to render the movements of the mobile element in the surface of the orientation in which the pointing device is held by its user. This result is achieved by global resolution of the angles of torsion by combining the measurements of the first and second sensors either within an extended Kalman filter or by application of an optimization criterion. The invention also provides a method for estimating the parameters which characterize motion and/or orientation of an object in space from said combination of the measurements of the first and second sensors either within an extended Kalman filter or by application of an optimization criterion.

IPC Classes  ?

• G06F 3/033 - Pointing devices displaced or positioned by the userAccessories therefor
• G06F 3/0346 - Pointing devices displaced or positioned by the userAccessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer

Abstract

The invention relates to a system for real-time determination of a repetitive movement parameter (PM, Tp), comprising: - first means (EST1) for estimating an approximation (Tr) of the period of said repetitive movement before the end of the current movement, on the basis of signals (S1, S2) representative of said movement; - means (DET) for determining a size (F) of a sliding window on the basis of said period estimated (Tr) by said first estimating means (EST1); - second means (EST2) for precisely estimating said movement parameter by a sliding window on the basis of signals representative (S1, S2) of said movement and of said size (F) of the sliding window supplied by said first estimating means (EST1).

IPC Classes  ?

• G06K 9/00 - Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints

Abstract

b) of said triaxial main sensor (1) comprising a removable additional sensor for magnetic field measurement, that can move jointly with said carrier element (2), and disposed outside said carrier element (2) away from the additional magnetic field or fields.

IPC Classes  ?

• G01C 17/38 - Testing, calibrating, or compensating of compasses
• G01R 33/02 - Measuring direction or magnitude of magnetic fields or magnetic flux
• G01R 33/025 - Compensating stray fields

Abstract

The invention relates to a gyroscopic exercise ball (10) comprising: a housing (10a, 10b) surrounding a rotor (12) centrally disposed on a shaft (14) having two ends (28) mounted in notches (26) of a freely rotatable gimbal ring (24), wherein said ring and the ends of said shaft are disposed in a groove having a height larger than a diameter of the ends of the shaft, said diameter being larger than a thickness of the gimbal ring, at least a rotation rate sensor (60) for measuring the rotor speed, a processor (110) in communication with said rotation rate sensor, said processor being configured to calculate an exercise evaluation, said gyroscopic exercise ball being characterised in that it further comprises at least one of a pitch axis and a roll axis gyroscopic sensors (80, 70) in communication with said processor, and that the exercise evaluation comprises at least one of an energy expenditure, a force, a power, angles or angular velocity of motion, a range of motion, position, speed or trajectory of motion, and an evaluation of form for an individual exercise.

IPC Classes  ?

• A63B 21/22 - Resisting devices with rotary bodies
• A63B 23/14 - Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs for wrist-joints

Abstract

The invention relates to a system for assisting the driver of a biomechanically driven vehicle including at least one wheel (R), characterized in that the system includes: a first means (DET1) for determining the speed of the vehicle; a second means (DET) for determining the heading of the vehicle; a magnetometer (M) having at least two measurement axes providing data for determining the heading of the vehicle; and a means (FID) for supplying data relating to a movement of the vehicle, based on the speed of the vehicle, the slope of the rolling surface, and the heading of the vehicle.

IPC Classes  ?

• G01C 21/12 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning
• G01C 21/20 - Instruments for performing navigational calculations
• G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers

Abstract

The system for controlling a digital sensor (CN) for measuring a physical quantity (GP) is furnished with a transducer (TRD) delivering at output an analogue signal representative of said physical quantity (GP), means (MGD) for implementing gain and/or shift on the analogue output signal (SA1) from said transducer (TRD), and with an analogue/digital converter (CAN) at the output of the sensor (CN) for delivering a digital signal (SN1). The system comprises, furthermore: first means (MA1) for applying a first shift to said analogue signal of the physical quantity (GP), second means (MA2) for applying a second shift to said digital signal (SN1), and control means (CMD) for continuously controlling said first application means (MA1), on the basis of said digital signal (SN1), and for continuously controlling said second application means (MA2), on the basis of said digital signal (SN1) and/or of said first shift.

IPC Classes  ?

• H03M 1/18 - Automatic control for modifying the range of signals the converter can handle, e.g. gain ranging

Abstract

The invention relates to a system for counting a basic movement of a person, including a housing (BT) and attachment means (EF) for rigidly connecting said housing (BT) to a portion of the body of said person, including: means for measuring the direction of earth's magnetic field in the frame of reference of the housing; means for determining (DET_INC) a quantity representative of the inclination of the measured magnetic field relative to the vertical; and first means for detecting (DETEC1) a change in the orientation of an orthogonal projection of said direction of earth's magnetic field in a horizontal planar frame of reference having constant directional axes and linked in translation to said person on the basis of said measured direction of the magnetic field and on said quantity representative of the magnetic field inclination relative to the vertical.

IPC Classes  ?

• G01P 13/02 - Indicating direction only, e.g. by weather vane
• A63B 71/00 - Games or sports accessories not covered in groups
• G01C 17/38 - Testing, calibrating, or compensating of compasses

Abstract

The invention relates to a system and method for recognizing gestures of an entity, in particular a human being, and optionally controlling an electrical or electronic apparatus or system. The invention uses sensors which measure signals, said signals preferably being representative of inertial data on the movements of said entity, and implements a process for developing a dictionary of said gestures to be recognized and an algorithm for recognition from among the classes of gestures of said dictionary. The implemented algorithm is preferably a dynamic time warping algorithm. The system of the invention implements preprocessing such as the removal of signals sensed during periods of inactivity of the entity, subsampling the signals, and normalizing the measurements by means of reduction, and preferably uses, for classifying gestures, specific distance-calculating modes and merging or voting modes among the various measurements of the sensors.

IPC Classes  ?

• G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
• G06F 3/038 - Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• G06F 3/033 - Pointing devices displaced or positioned by the userAccessories therefor

Abstract

The device for detecting percussion events (DISP) comprises at least one axial accelerometer sensor (ACC1, ACC2, ACC3), characterized in that it also comprises at least one additional axial sensor insensitive to the translational vibrations (MAGN1, MAGN2), for measuring an information item representative of the orientation of the device (DISP) relative to a vector field of known direction within a fixed coordinate system not linked to the device (DISP), and low cut-off filtering means (FILTCB) provided with at least one input receiving measurements transmitted by the axial sensor or sensors (ACC1, ACC2, ACC3, MAGN1, MAGN2), means (AN) of analyzing the measurements filtered by said low cut-off filtering means (FILTCB), comprising comparison means (COMP) for comparing data from the analysis means (AN) with one or two thresholds (SP, SN).

IPC Classes  ?

• G01P 15/00 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration
• G01P 15/18 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration in two or more dimensions
• G01P 15/08 - Measuring accelerationMeasuring decelerationMeasuring shock, i.e. sudden change of acceleration by making use of inertia forces with conversion into electric or magnetic values
• G06F 1/16 - Constructional details or arrangements
• G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
• H04M 1/725 - Cordless telephones

Abstract

The invention relates to a system and method for detecting an epileptic seizure in a person in a prone position, including at least one motion sensor (CM) and at least two hidden Markov models, the first model corresponding to normal nighttime movements, and the second corresponding to movements associated with an epileptic seizure. For a series of sensor measurement signals, the probability of said observations in accordance with each model is calculated. The ratios of the first probability and the second probability are calculated and an epileptic seizure is detected when at least one of the said calculated ratios is lower than a threshold.

IPC Classes  ?

• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb

Abstract

A system determines parameters representing the orientation of a solid in movement within a first vector field and a second vector field. A first triaxial sensor and a second triaxial sensor are connected to the solid and measure the components of the respective vector fields along the axes of the sensors, obtaining corresponding first and second vectors. A processor determines the rotation matrix of the solid, using a correction module for delivering a first corrected vector, and calculating a third vector which is not coplanar to the plane formed by the first corrected vector and the second vector, such that the angles of the axis system formed by the third vector and the first corrected vector and the second vector remain constant.

IPC Classes  ?

• G01C 21/00 - NavigationNavigational instruments not provided for in groups
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 17/38 - Testing, calibrating, or compensating of compasses
• G01C 25/00 - Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass

Abstract

The invention relates to a method for estimating the direction in an inertial frame of reference of a moving solid provided with an accelerometer and a magnetometer mounted on said solid. According to said method, a direction of the solid is measured at a reference time, defined by a rotation matrix of the mobile frame of reference of the solid at the reference time in the inertial frame of reference. Next, a rotation matrix is estimated between the direction of the solid at a later time n and said direction of the solid at the reference time. Next, the direction of the solid is determined at the time n according to the previously estimated rotation matrix and the known direction of the solid at the reference time.

IPC Classes  ?

• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation

Abstract

The invention relates to a system for counting an elementary movement of a person, including a housing (BT) and an attachment means (CEF) for securing said housing to a body part of said person, including: a magnetometer (3M) with at least one measurement axis; and a computing means (CALC) suitable for calculating, for at least one measurement axis, the scalar product of at least one time mask and the component of the signal according to the measurement axis for the duration of said mask.

IPC Classes  ?

• G07C 1/22 - Registering, indicating, or recording the time of events or elapsed time, e.g. time-recorders for work people in connection with sports or games
• A61B 5/103 - Measuring devices for testing the shape, pattern, size or movement of the body or parts thereof, for diagnostic purposes
• A63B 69/00 - Training appliances or apparatus for special sports
• A63B 71/00 - Games or sports accessories not covered in groups
• G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers

Abstract

The invention relates to a system for determining the activity of a person lying down, including at least one motion sensor (CM) with at least one measurement axis, provided with an attachment means (MF) for rigidly connecting said motion sensor (CM) to a user, characterised in that said system includes: a filter (FILT) for selecting, for at least one measurement axis of the motion sensor (CM), a high-frequency signal (HF) and a low-frequency signal (BF); a first means (CALC1) for calculating a first variable (x(n)) representing a temporal variation of the low-frequency signal (BF); a second means (CALC2) for calculating a second variable (y(n)) including the Euclidean norm, according to at least one measurement axis of the high-frequency signal (HF); and an analysis means (AN) suitable for determining an activity of a user lying down according to time using a hidden Markov model with N states respectively corresponding to N activities, said analysis means (AN) being suitable for combining: joint probability density functions of first and second variables, said probability density functions being defined for each state of the model in question, and the probability of changing between two consecutive states.

IPC Classes  ?

• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb

Abstract

The invention relates to a system for determining the posture of a person, including at least one motion sensor (CM) with at least one measurement axis, provided with an attachment means (MF) for rigidly connecting said motion sensor (CM) to a user, including an analysis means (AN) suitable for determining a posture of the user, said analysis means (AN) combining: joint probability density functions of a low-frequency component and a high-frequency component, said probability density functions being defined for each posture; and the probability of changing between two consecutive postures.

IPC Classes  ?

• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb

Abstract

The invention relates to a system for determining the activity of a mobile element (EM), including at least one motion sensor (CM) with at least one measurement axis, provided with an attachment means (MF) for rigidly connecting said motion sensor (CM) to said mobile element (EM), including: a filter (FILT) for selecting, for every measurement axis of the motion sensor, high frequencies above a first threshold (S1); a means (DET) for determining a one-dimensional high-frequency component (y(n)) equal to the square of the Euclidean norm of said high frequencies of the measurement axes taken into account by said motion sensor (CM); a means (CALC) for calculating, for every state, probability density functions (Py, i) of said high-frequency component (HF), said probability density function corresponding to each state according to a chi-square distribution of a degree of freedom equal to the number of measurement axes taken into account by the motion sensor (CM); and an analysis means suitable for defining states of the mobile element, said analysis means combining: the probability density function of said high-frequency component for each state, the probability of changing between two consecutive states.

IPC Classes  ?

• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
• G06F 17/18 - Complex mathematical operations for evaluating statistical data
• G06K 9/62 - Methods or arrangements for recognition using electronic means

Abstract

The invention relates to a system for observing a person's walking activity, including a device (DISP) which, for one footstep, can output: a first difference between the angular speeds of the tibia, corresponding to the difference between the moment at which the heel of the foot is placed and the moment at which the foot is laid flat; a second difference between the angular speeds of the tibia, corresponding to the difference between the moment at which the heel is placed and the moment at which the last toe of the foot is lifted; and an angular speed of the tibia, corresponding to the moment at which the foot is laid flat. The system includes a means (AN) for analyzing the signals generated by the device and capable of determining a gait type for the user as a function of time, using a hidden Markov model having N states that respectively correspond to N gait types.

IPC Classes  ?

• A63B 69/00 - Training appliances or apparatus for special sports
• A63B 71/06 - Indicating or scoring devices for games or players

Abstract

The invention relates to a system for observing a swimming activity of a person, including a sealed housing (BET) which includes a motion sensor (CM), and which is provided with an attachment means (BEL) for rigidly connecting the housing (BET) to a part of the body of a user. The system includes a means (AN) for analysing signals transmitted by the motion sensor (CM) with at least one axis of measurement suitable for determining the swimming style of the user on the basis of time using a hidden Markov model with N states corresponding to N swimming styles, respectively.

IPC Classes  ?

• A63B 69/12 - Arrangements in swimming pools for teaching swimming
• A63B 71/06 - Indicating or scoring devices for games or players

Abstract

The invention relates to a system for detecting the walk of a person, provided with a housing (BT) including an at least biaxial motion sensor (CM), said housing being suitable for being attached to the upper part of the body of said person such that a first axis of measurement of said sensor (CM) coincides with the anteroposterior axis (AP) or the vertical axis (VT) of said body, and that a second axis of measurement of said sensor (CM) coincides with the medio-lateral axis (ML) of said body, said system additionally being provided with a means (MA) for analysing the measurements output by said sensor (CM), wherein said analysis means (MA) includes: a means (MT) for processing the measurement signals output by said sensor (CM) during a window of time, including a means for searching for a dominant frequency (MRFD) in said signals; and a means for detecting (MD) the walk of the person when a ratio between the dominant frequency of the signal of the first axis of measurement and the dominant frequency of said second axis of measurement, or between the dominant frequency of a Euclidean norm of the vector of measurements transmitted by said sensor (CM) and the dominant frequency of the signal of the second axis of measurement, is substantially equal to two.

IPC Classes  ?

• A61B 5/103 - Measuring devices for testing the shape, pattern, size or movement of the body or parts thereof, for diagnostic purposes
• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb

Abstract

The invention relates to a device for interpreting musical gestures or gestures played on or simulating musical instruments. Prior art devices enable a user to produce music by performing gestures on a suitable instrument or accompanied by pre-recorded musical content. However, none of the prior art devices are reliable and robust enough to guarantee satisfactory musical rendition. The invention enables remarkable musical rendition due to the use of microsensors, in particular accelerometers and magnetometers or rate gyros, and due to adequate processing of the signals from the microsensors. In particular, processing includes merging of output data from the microsensors to eliminate false alarms consisting of the movements of the user that are not related to the music. The device of the invention also measures the speed of the musical strokes. The invention further enables the user to control scrolling of MP3 or WAV music files to be played.

IPC Classes  ?

• G06F 3/038 - Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry
• G10H 1/40 - Rhythm
• G06F 3/033 - Pointing devices displaced or positioned by the userAccessories therefor
• G10H 1/00 - Details of electrophonic musical instruments

Abstract

The invention relates to a device and to a method for controlling the playback of a file of signals to be reproduced. The devices and methods of the prior art do not make it possible to control the playback of an audio file by means of the strokes of a user while guaranteeing high-quality musical rendition. The invention resolves said problem by providing a means for controlling said playback by means of strokes entered via a MIDI interface or measured by one or more motion sensors. Variations in playback speed can also be smoothed out in order to guarantee better musical rendition. The speed of the strokes can also be taken into account for controlling the volume of the audio output and other gestures or strokes can also control the tremolo or vibrato.

IPC Classes  ?

• G10H 1/40 - Rhythm
• G10L 21/04 - Time compression or expansion
• G10H 1/00 - Details of electrophonic musical instruments

Abstract

The invention relates to a device and to a method for characterising movements made by an object, in particular a limb of a human being, fitted with at least one accelerometer sensor. The invention is particularly useful for determining the direction, the orientation and the length of the steps of said human being. The invention uses algorithms for processing the signals from the sensor in order to segment the steps by detecting the lifting and lowering of said limb from and on the floor or ground by comparing output signals from the sensor to thresholds, determine the direction and the orientation of the steps by comparing the maximum values of the signals along two axes substantially parallel to the walking plane, and calculate the length of a step by double integration of the signals according to the direction of the step. The invention can also be used for hand movements having variation characteristics close to those of steps.

IPC Classes  ?

• A61B 5/103 - Measuring devices for testing the shape, pattern, size or movement of the body or parts thereof, for diagnostic purposes
• A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
• A63F 13/06 - using player-operated means for controlling the position of a specific area on the display
• G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
• G06F 3/033 - Pointing devices displaced or positioned by the userAccessories therefor

Abstract

The invention relates to a system for the computer-assisted interpretation of pre-recorded music. The system essentially includes at least one musical actuator (A1, A2) actuated by a user-performer, memory means for storing musical information (MM) concerning the score of a piece of music to be played by the user, and means for transmitting the musical information to an electronic/computer device (A4) adapted for generating audio signals from the received musical information. The system is characterised in that it further comprises a memory (MM) for musical data defining the totality of the musical events (EM) that form the piece of music to be played. The invention can be used for playing pre-recorded music.

IPC Classes  ?

• G10H 1/00 - Details of electrophonic musical instruments
• G10H 1/36 - Accompaniment arrangements
• G10H 1/40 - Rhythm

Abstract

The invention relates to a device for determining a characteristic of a path formed by the consecutive positions of a triaxial accelerometer (3A) rigidly connected to a mobile element (EM) between a first immobility moment (t0) and a second immobility moment (tn) of the triaxial accelerometer (3A) following the first immobility moment (t0), wherein said device further includes an additional triaxial sensor for measuring the vector of a substantially constant vectorial field between said first and second immobility moments (t0, tn) in a fixed global coordinate system linked to the ground coordinate system, said additional sensor being rigidly connected to said mobile element (EM) and being fixed in the coordinate system of the accelerometer (3A), as well as control means (CMD).

IPC Classes  ?

• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 22/00 - Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers

Abstract

The invention discloses a device and a method for commanding appliances by a gesture. User interfaces of the prior art have the limitation that they require an increasing number of buttons and/or graphical input areas on a display, so that the learning time of the user increases exponentially and his ability to memorise the corresponding codes decreases inversely. The device of the invention, in various embodiments which may be combined, increases the number of functions of one or more appliances which may be controlled without increasing the number of buttons and/or graphical control zones of displays. This is provided by including an orientation sensor in the device, said orientation being one of the parameters to control the operating mode of the device.

IPC Classes  ?

• G06F 3/033 - Pointing devices displaced or positioned by the userAccessories therefor

Abstract

The invention relates to a method for estimating the spatial orientation of an object at a moment k using the global acceleration (yA), magnetic field (yM), and rotation speed (yG) measurements of said object along three spatial axes, and which comprises: A- the pre-processing (200) of said measurements (yA, yM> yG) at a moment k for detecting the existence of an interference in said measurements and estimating interference-free measurements at the moment k; B- the estimation of the orientation (formula (I)) at the moment k by an observer from the interference-free measurements (formula (II)) at the moment k resulting from step A.

IPC Classes  ?

• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation
• G01C 17/38 - Testing, calibrating, or compensating of compasses

Abstract

The invention relates to an autonomous system for determining information representative of the movement of an articulated chain (CA_1, CA_2, CA_3) comprising at least two solid elements (ES1_1, ES2_1, ES1_2, ES2_2, ES3_2, ES1_3, ES2_3, ES3_3, ES4_3) and at least one hinge (ART1_1, ART1_2, ART2_2, ART1_3, ART2_3, ART3_3) connecting said two elements. The system comprises at least two devices (DISP1_1, DISP2_1, DISP1_2, DISP2_2, DISP3_2, DISP1_3, DISP2_3, DISP3_3, DISP4_3) for measuring inter-device distances, said devices being fixed in position on two separate elements of said articulated chain and being designed to transmit the measurements carried out. Furthermore, the system comprises means for determining at least one distance between two measuring devices on the basis of at least one measurement provided by a measuring device, and calculating means (CALC) which are mounted on said articulated chain and are designed to calculate information representative of the movement of said articulated chain on the basis of measurements transmitted by said devices for measuring inter-device distances.

IPC Classes  ?

• B25J 9/16 - Programme controls
• A61H 3/00 - Appliances for aiding patients or disabled persons to walk about
• B25J 9/00 - Programme-controlled manipulators

Abstract

A pointing device includes accelerometers and rotational sensors that are coupled to a processor. The processor samples the accelerometers and rotational sensors to detect gravity and pointing device motion and uses algebraic algorithms to calculate roll compensated cursor control signals. The processor transmits the cursor control signals to a receiver that is coupled to an electronic device that moves the cursor on the visual display.

IPC Classes  ?

• G06F 3/038 - Control and interface arrangements therefor, e.g. drivers or device-embedded control circuitry

Abstract

The invention applies to a pointing device of a mobile element, for example a cursor, on a plane surface. The pointing device comprises a first sensor for measuring the angular rates of the device and a second sensor for the linear accelerations along three dimensions of said device. Preferably, the first sensor is a gyrometer with two or three axes and the second sensor is a three-axis accelerometer. The invention makes it possible to render the motions of the mobile element in the surface of the orientation in which the pointing device is held by its user. This result is achieved by global resolution of the angles of torsion by virtue of the combining of the measurements of the first and second sensors either within an extended Kalman filter or by applying an optimization criterion.

IPC Classes  ?

• G06F 3/033 - Pointing devices displaced or positioned by the userAccessories therefor
• G01C 21/16 - NavigationNavigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigatedDead reckoning by integrating acceleration or speed, i.e. inertial navigation