Fusion of inertial and depth sensors for movement measurements and recognition

A movement recognition system, comprising:

• an inertial sensor coupled to an object and configured to measure a first unit of inertia of the object;
• a depth sensor configured to measure a three dimensional shape of the object using projected light patterns and a camera;
• and
• a processor configured to receive a signal representative of the measured first unit of inertia from the inertial sensor and a signal representative of the measured shape from the depth sensor and to determine a type of movement of the object based on the measured first unit of inertia and the measured shape utilizing a classification model,
• wherein the processor is configured to:
• compare the type of movement with a predefined intended movement type:
• issue a warning in response to the type of movement not matching the predefined intended movement type;
• and
• count a number of correctly completed movements in response to the type of movement matching the predefined intended movement type.