CA2312640A1 - Motion analysis system - Google Patents

Motion analysis system Download PDF

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Publication number
CA2312640A1
CA2312640A1 CA002312640A CA2312640A CA2312640A1 CA 2312640 A1 CA2312640 A1 CA 2312640A1 CA 002312640 A CA002312640 A CA 002312640A CA 2312640 A CA2312640 A CA 2312640A CA 2312640 A1 CA2312640 A1 CA 2312640A1
Authority
CA
Canada
Prior art keywords
selected direction
acceleration
accelerometers
datum plane
velocity
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA002312640A
Other languages
French (fr)
Other versions
CA2312640C (en
Inventor
Kenneth R. Fyfe
Kipling W. Fyfe
James K. Rooney
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Garmin Ltd Kayman
Original Assignee
Kenneth R. Fyfe
Kipling W. Fyfe
James K. Rooney
Dynastream Innovations Inc.
Garmin Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kenneth R. Fyfe, Kipling W. Fyfe, James K. Rooney, Dynastream Innovations Inc., Garmin Ltd. filed Critical Kenneth R. Fyfe
Publication of CA2312640A1 publication Critical patent/CA2312640A1/en
Application granted granted Critical
Publication of CA2312640C publication Critical patent/CA2312640C/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P1/00—Details of instruments
    • G01P1/12—Recording devices
    • G01P1/127—Recording devices for acceleration values
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/112—Gait analysis
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/0028—Training appliances or apparatus for special sports for running, jogging or speed-walking
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G01C22/006—Pedometers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/764—Measuring means for measuring acceleration
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/40—Acceleration

Abstract

A device comprised of at least a pair of accelerometers and a tilt sensor mounted in fixed relation to a datum plane defining surface (sole of a shoe) may be used for extracting kinematic variables including linear and rotational acceleration, velocity and position.
These variables may be resolved into a selected direction thereby permitting both relative and absolute kinematic quantities to be determined. The acceleration is determined using a small cluster of two mutually perpendicular accelerometers mounted on a shoe. Angular orientation of the foot may be determined by double integration of the foot's angular acceleration (which requires a third accelerometer substantially parallel to one of the two orthogonal accelerometers). The two orthogonal accelerations are then resolved into a net horizontal acceleration or other selected direction which may be integrated to find the foot velocity in the selected direction. The average of the foot velocity corresponds to the subject's gait speed.

Claims (52)

1. A method of determining gait kinematics for a subject in each of a plurality of strides comprised during each snide defining a fresh datum plane, determining angles between a pair of accelerometers and said datum plane, said pair of accelerometers being adapted to measure acceleration in two directions, the two directions being separated by a known angle of greater than 0/, and being adapted to measure acceleration in a plane of motion substantially perpendicular to said datum plane, measuring acceleration in said plane of motion in said two directions, converting said accelerations to provide determination of a gait kinematic result for each said stride.
2. The method as defined in claim 1 wherein the two directions are substantially mutually perpendicular.
3. The method as defined in claim 1 wherein the gait kinematic result is selected from the group consisting of acceleration in a selected direction, velocity in a selected direction or distance in a selected direction.
4. The method as defined in claim 3 wherein the selected direction is parallel to the datum plane and in said plane of motion.
5. The method as defined in claim 3 wherein the selected direction is perpendicular to said datum plane and in said plane of motion.
6. The method as defined in claim 3 further comprising integrating the acceleration in a selected direction to determine velocity in a selected direction.
7. The method as defined in claim 3 further comprising integrating velocity in a selected direction to define distance traveled in a selected direction.
8. The method as defined in claim 1 wherein the fresh datum plane is preferably defined when the pair of accelerometers are at a selected position relative to the datum plane.
9. The method as defined in claim 8 wherein the pair of accelerometers are in the selected position as indicated by foot impact with a surface just prior to a stance phase of the gait.
10. The method as defined in claim 9 wherein the fresh datum plane is defined at foot impact plus 0.1 seconds
11. The method of claim 1 wherein the gait kinematic result is horizontal acceleration and the method further comprising integrating said horizontal acceleration to define stride velocity.
12. The method of claim 1 wherein the gait kinematic result is velocity in a selected direction and the method further comprises integrating said velocity in a selected direction to define distance in said selected direction.
13. The method as defined in claim 1 further comprising adjusting for drift error correction.
14. The method as defined in claim 1 further comprising determining the subject's mass and using the mass to determine impact force.
15. The method as defined in claim 1 further comprising measuring acceleration in a lateral direction out of the plane of motion and converting said accelerations measured by the pair of accelerometers and the lateral accelerometer to provide acceleration in a selected direction.
16. The method as defined in claim 15 wherein the lateral direction is substantially perpendicular to each of the pair of accelerometers.
17. A device for measuring gait kinematics comprising means for mounting a pair of accelerometers in a fixed relationship to a datum plane defining surface, said pair of accelerometers being adapted to measure acceleration in two directions, the two directions being separated by a known angle of greater than 0/, means defining a datum plane for each stride for which said gait kinematics is measured as a plane occupied by said datum plane defining surface when said datum plane defining surface is in a stationary position in a stance phase of said stride, means for determining angular orientation of said accelerometers to said datum plane, means for determining a gait kinematic result based on measurements of acceleration by said pair of accelerometers and said determined angular orientation of said accelerometers to said datum plane.
18. The device of claim 17 wherein the two directions are substantially mutually perpendicular.
19. The device of claim 17 wherein the gait kinematic result is selected from the group consisting of acceleration in a selected direction, velocity in a selected direction or distance in a selected direction.
20. The device of claim 19 wherein the selected direction is parallel to the datum plane and in said plane of motion.
21. The device of claim 17 further comprising a means for adjusting for drift error correction.
22. The device of claim 17 wherein the means for determining angular orientation of said accelerometers to said datum plane comprises of a pair of spaced substantially parallel accelerometers mounted in fixed relation to said datum plane defining surface and means for calculating angular orientation based on differences in accelerations measured by said pair of spaced substantially parallel accelerometers.
23. The device of claim 17 wherein the pair of accelerometers is adapted to measure the acceleration in a plane of motion, and the device further comprising a lateral accelerometer mounted in a fixed and known relationship to the pair of mutually perpendicular accelerometers and adapted to measure acceleration in a third direction selected to be out of the plane of motion.
24. The device of claim 23 wherein the lateral accelerometer is substantially perpendicular to the pair of accelerometers.
25. A method of determining gait kinematics comprised during each stride defining a datum plane, determining angles between a pair of accelerometers and said datum plane, said pair of accelerometers being adapted to measure acceleration in two directions, the two directions being separated by a known angle of greater than 0/ and being adapted to measure acceleration in a plane of motion substantially perpendicular to said datum plane, measuring acceleration in said plane of motion in said two directions, converting said accelerations to provide determination of a gait kinematic result for each said stride and adjusting for drift error correction in said gait kinematic result.
26. The method of claim 25 wherein the pair of accelerometers are substantially mutually perpendicular.
27. The method of claim 25 wherein the gait kinematic result is selected from the group consisting of acceleration in a selected direction, velocity in a selected direction or distance in a selected direction.
28. The method of claim 25 wherein the adjusting step is made prior to the step of converting to provide the gait kinematic result.
29. The method of claim 25 wherein the adjusting step is conducted after the step of converting to provide the gait kinematic result.
30. The method of claim 25 wherein the step of adjusting includes employing known limitations in the gait kinematic result.
31. The method of claim 30 wherein any velocity in a selected direction results are adjusted to remove any negative velocity results therefrom.
32. The method of claim 25 further comprising an integration step to derive further gait kinematic results from the gait kinematic result and adjusting for drift error correction in the integration steps.
33. The method of claim 25 wherein the gait kinematic result is acceleration in said selected direction and the method further comprises integrating the acceleration in a selected direction to define velocity in said selected direction.
34. The method of claim 33 further comprising determining a mean acceleration in said selected direction and removing the mean acceleration from the acceleration in said selected direction prior to integrating to determine velocity in said selected direction.
35. The method of claim 34 conducted for each of a plurality of strides.
36. The method of claim 34 wherein the mean acceleration in a selected direction is obtained from a previously determined gait kinematic result.
37. The method of claim 25 wherein the gait kinematic result is velocity in a selected direction and the method further comprises integrating said velocity in a selected direction to define distance traveled in a selected direction.
38. The method of claim 37 further comprising determining a mean velocity in said selected direction and removing the mean velocity from the velocity in said selected direction prior to integrating to determine distance traveled in a selected direction.
39. The method of claim 25 wherein the gait kinematic result is horizontal acceleration and the method further comprising integrating said horizontal acceleration to define stride velocity.
40. The method of claim 39 further comprising determining a mean horizontal acceleration and removing the mean horizontal acceleration from the horizontal acceleration prior to integrating to determine stride velocity.
41. The method of claim 25 wherein the gait kinematic result is velocity in a selected direction and the method further comprises integrating said velocity in a selected direction to define distance in said selected direction.
42. The method of claim 41 further comprising determining a mean velocity in a selected direction and removing the mean velocity in a selected direction from the velocity in a selected direction prior to integrating to determine distance in a selected direction.
43. A device for measuring gait kinematics comprising means for mounting a pair of accelerometers in a fixed relationship to a datum plane defining surface and said pair of accelerometers being adapted to measure acceleration in two directions, the two directions being separated by a known angle of greater than 0/, means defining a datum plane measured as a plane occupied by said datum plane defining surface when said datum plane defining surface is in a stationary position in a stance phase of said stride, means for determining angular orientation of said accelerometers to said datum plane, means for determining a gait kinematic result based on measurements of acceleration by said pair of accelerometers and said determined angular orientation of said accelerometers to said datum plane and means for adjusting for drift error correction.
44. The device of claim 43 wherein the two directions are substantially mutually perpendicular.
45. The device of claim 43 wherein the gait kinematic result is selected from the group consisting of acceleration in a selected direction, velocity in a selected direction or distance in a selected direction.
46. The device of claim 43 wherein the selected direction is parallel to the datum plane and in said plane of motion.
47. The device of claim 43 wherein the means for adjusting for drift error correction is a system for determining the mean signal of any particular gait signal and applying the mean signal to the particular signal prior to integration to determine further gait kinematic results.
48. The device of claim 43 wherein the means for adjusting for drift error correction is a system for using known physical limits of the derived signal to account for drift.
49. A device for measuring gait kinematics of a stride in a subject having a foot, the device comprising means for mounting a pair of accelerometers in a fixed relationship to a datum plane defining surface, said pair of accelerometers being adapted to measure acceleration in two substantially parallel directions about an axis of rotation defined by movement of the foot, means defining a datum plane measured as a plane occupied by said datum plane defining surface when said datum plane defining surface is in a stationary position in a stance phase of said stride, and means for calculating angular orientation based on differences in accelerations measured by said pair of accelerometers.
50. The device of claim 49 wherein the axis of the foot is substantially parallel to the subject's sagittal plane and with the datum plane defining surface.
51. The device of claim 49 wherein the axis of rotation is that about which is defined pronation.
52. A method of determining pronation characteristics of a foot during a snide comprising during each stride defining a datum plane, determining angular acceleration about an axis about which a foot pronates, converting the angular acceleration relative to the datum plane to determine an angle of pronation for the foot.
CA2312640A 1999-07-06 2000-06-28 Motion analysis system Expired - Lifetime CA2312640C (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US09/347,305 US6301964B1 (en) 1997-10-14 1999-07-06 Motion analysis system
US09/347,305 1999-07-06

Publications (2)

Publication Number Publication Date
CA2312640A1 true CA2312640A1 (en) 2001-01-06
CA2312640C CA2312640C (en) 2011-02-22

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Family Applications (1)

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CA2312640A Expired - Lifetime CA2312640C (en) 1999-07-06 2000-06-28 Motion analysis system

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US (2) US6301964B1 (en)
EP (1) EP1066793B1 (en)
AT (1) ATE405212T1 (en)
CA (1) CA2312640C (en)
DE (1) DE60039944D1 (en)

Cited By (1)

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EP1066793A2 (en) 2001-01-10
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EP1066793A3 (en) 2003-01-29

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