Motion state monitoring system, training support system, motion state monitoring method, and program

Patent metadata

Field	Value
Publication number	US-11925458-B2
Application number	US-202117401940-A
Country	US
Kind code	B2
Filing date	Aug 13, 2021
Priority date	Aug 18, 2020
Publication date	Mar 12, 2024
Grant date	Mar 12, 2024

Abstract

A motion state monitoring system, a training support system, a motion state monitoring method, and a program capable of suitably managing measurement results according to an attaching direction of a sensor are provided. A motion state monitoring system according to the present disclosure monitors a motion state of a target part of a subject's body. The motion state monitoring system includes an acquisition unit, an attaching direction detection unit, and a control processing unit. The acquisition unit acquires sensing information of a sensor attached to the target part. The attaching direction detection unit detects an attaching direction of the sensor. The control processing unit outputs information related to the sensing information in association with the attaching direction.

First claim

What is claimed is:

1. A method comprising:
acquiring, by a processor, sensing information of a sensor attached to a target part of a body of a subject, the sensing information including quaternion information;
detecting, by the processor, an attaching direction of the sensor based on the sensing information with respect to a reference direction defined based on the target part, wherein the reference direction remains the same relative to the target part when a position of the sensor with respect to the target part changes, the reference direction defined as an axial direction of a band attached to the target part;
executing, by the processor, tagging processing for associating the attaching direction of the sensor with sensing-related information related to the sensing information, the sensing-related information including the sensing information and information obtained by converting the quaternion information into rotation angle information;
calculating, by the processor, a motion state of the target part based on the sensing-related information tagged with the attaching direction;
outputting, by the processor, the calculated motion state of the target part with an indication of relation to the attaching directions;
determining, by the processor, that an attaching direction changing event has occurred based on a difference of attaching directions measured before and after a predetermined timing; and
updating, by the processor, based on determining that the attaching direction changing event has occurred, the attaching direction of the sensor.

2. The method according to claim 1 , wherein
the outputting includes executing arithmetic processing on the sensing information or the sensing-related information in accordance with the attaching direction, and outputting a result of the arithmetic processing.

3. The method according to claim 1 , further comprising:
calculating a motion state index indicating the motion state of the target part based on the sensing-related information.

4. The method according to claim 3 , wherein the motion state index is a three-dimensional rotation angle of the target part.

5. The method according to claim 1 , wherein
the outputting includes displaying an image representing an attaching position of the sensor on the target part.

6. The method according to claim 5 , wherein
the outputting includes displaying the image representing the attaching direction of the sensor on the attaching position in response to selection of the image representing the attaching position.

7. The method according to claim 1 , further comprising:
acquiring, by the processor, additional sensing information of an additional sensor attached to an additional target part of the body of the subject, the additional sensing information including additional quaternion information;
detecting, by the processor, an additional attaching direction of the additional sensor with respect to an additional reference direction defined based on the additional target part, wherein the additional reference direction remains the same relative to the additional target part when a position of the additional sensor with respect to the additional target part changes;
executing, by the processor, tagging processing for associating the additional attaching direction of the additional sensor with additional sensing-related information related to the additional sensing information, the additional sensing-related information including the additional sensing information and additional information obtained by converting the additional quaternion information into rotation angle information
calculating, by the processor, a motion state index of the target part based on an information difference between the quaternion information of the sensor and the additional quaternion information of the additional sensor, wherein the motion state index is a three-dimensional angle of the target part; and
outputting, by the processor, the motion state index.

8. A system comprising:
at least one memory storing instructions, and
at least one processor configured to execute the instructions to:
acquire sensing information of a sensor attached to a target part of a body of a subject, the sensing information including quaternion information;
detect an attaching direction of the sensor with respect to a reference direction defined based on the target part, wherein the reference direction remains the same relative to the target part when a position of the sensor with respect to the target part changes, the reference direction defined as an axial direction of a band attached to the target part;
execute tagging processing for associating the attaching direction of the sensor with sensing-related information related to the sensing information, the sensing-related information including the sensing information and information obtained by converting the quaternion information into rotation angle information;
calculate a motion state of the target part based on the sensing-related information tagged with the attaching direction;
output the calculated motion state of the target part with an indication of relation to the attaching direction;
determine that an attaching direction changing event has occurred based on a difference of attaching directions measured before and after a predetermined timing; and
update the attaching direction of the sensor based on determining that the attaching direction changing event has occurred.

9. A training support system comprising:
the system according to claim 8 ; and
measuring equipment including the sensor.

10. The training support system according to claim 9 , wherein
the measuring equipment includes a handle configured to change the attaching direction of the sensor.

11. A non-transitory computer readable medium storing a program causing a computer to execute:
a step of acquiring sensing information of a sensor attached to a target part of a body of a subject, the sensing information including quaternion information;
a step of detecting an attaching direction of the sensor in a stationary state with respect to a reference direction defined based on the target part, wherein the reference direction remains the same relative to the target part when a position of the sensor with respect to the target part changes, the reference direction defined as an axial direction of a band attached to the target part;
a step of executing tagging processing for associating the attaching direction of the sensor with sensing-related information, the sensing-related information including the sensing information and information obtained by converting the quaternion information into rotation angle information;
a step of calculating a motion state of the target part based on the sensing-related information tagged with the attaching direction;
a step of outputting the calculated motion state of the target part with an indication of relation to the attaching directions;
a step of determining that an attaching direction changing event has occurred based on a difference of attaching directions measured before and after a predetermined timing, and
a step of updating the attaching direction of the sensor based on determining that the attaching direction changing event has occurred.

Assignees

• Toyota Motor Co Ltd

Inventors

• Kobayashi Makoto
• Miyagawa Toru
• Nakashima Issei
• Suga Keisuke
• Imaida Masayuki
• Yamamoto Manabu
• Otaka Yohei
• Katoh Masaki
• Hirano Asuka
• Yoshida Taiki

Classifications

• A61B5/1114 Primary

  Tracking parts of the body · CPC title

• A61B5/6831

  Straps, bands or harnesses · CPC title

• A61B5/684

  Indicating the position of the sensor on the body · CPC title

• G16H40/63

  for local operation · CPC title

• A61B5/0004

  characterised by the type of physiological signal transmitted · CPC title