초록 ▼

A prescription is provided which specifies constraints, e.g., the type (revolute and/or prismatic) and the number of joints which may be included between any two position-sensing elements (PSEs), where the joints connect the links of a kinematically constrained multi-articulated structure, whereby t

A prescription is provided which specifies constraints, e.g., the type (revolute and/or prismatic) and the number of joints which may be included between any two position-sensing elements (PSEs), where the joints connect the links of a kinematically constrained multi-articulated structure, whereby the defining parameters of the structure may be determined using the spatial placement of the two PSEs and the kinematic constraints of the multi-articulated structure, and where at least the spatial placement of one link is not directly measured. Also provided are preferred placements of PSEs and goniometers on a kinematically constrained multi-articulated structure which will allow determination of the spatial placement of the links, where at least the spatial placement of one link is not directly measured. Revolute joint models of the articulations of the entire human body, as well as preferred PSE and goniometer locations, are provided. An algorithm is provided for determining the joint angles for a finger modeled as a 4-link planar manipulator with one PSE affixed to the fingertip and one PSE affixed to the metacarpus.

대표청구항 ▼

[ What is claimed is:] [1.] A system for determining the spatial placement, including position and orientation, of a plurality of body-parts of living beings, said body-parts acting as individual articulated elements of a kinematically-constrained multi-articulated structure comprising at least thre

[ What is claimed is:] [1.] A system for determining the spatial placement, including position and orientation, of a plurality of body-parts of living beings, said body-parts acting as individual articulated elements of a kinematically-constrained multi-articulated structure comprising at least three links and at least two revolute joints, two joints separated by a single link, said system comprising:a plurality of sensing elements comprising position-sensing elements for disposition about said articulated structure, wherein said disposition results in at least one of said links not being a measured link, wherein said position-sensing elements either are a transmitter which transmits a signal or a receiver which receives said signal, wherein said position-sensing elements are disposed in juxtaposition to links at other than a joint to provide measured links; wherein when a single-joint position sensor is associated with the joint connecting a first link to a measured link, said first link becomes an additional measured link;0 or 1 position-sensing element for attachment to a reference location;with the proviso that said system comprises at least one of: (1) at least one of said position-sensing elements is a transmitter and is affixed to a support for mounting on a body-part; or (2) at least one position-sensing element functions as both a receiver and a transmitter; or (3) at least one position-sensing element comprises at least one antennae, where with multiple antennae, a pair of antennae are not concentric; or (4) said system comprises at least four links and at least three revolute joints, and additionally comprises a single-joint position sensor as a sensing element for disposition about said articulated structure, said single-joint position sensor producing a second signal;wherein said position-sensing elements include at least one transmitter and at least one receiver;a first data processing means for driving said transmitters to produce said signal and amplifying said signals received by said receivers;a second data processing means utilizing said amplified signals for calculating the spatial placement of said position-sensing elements, and utilizing the structure of the links, and said placement of each said position-sensing element in said juxtaposition to each said link at other than a joint, and utilizing said second signal of each said single-joint position sensor for calculating the spatial placement of said links to provide said measured links; anda third data processing means for determining the spatial placement of at least one link other than a measured link of said multi-articulated structure utilizing the spatial placement of said measured links and the kinematic constraints of the articulated elements of said multi-articulated structure.