# US 10,768,691 B2 · Wearable motion tracking system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,768,691 B2 - Document ID: US10768691B2 - Status: Granted - Kind: B2 - Application number: 15/821,109 - Filed: 2017-11-22 - Published: 2018-05-31 - Granted: 2020-09-08 - Earliest claimed: 2016-11-25 - Assignees: Sensoryx AG - Applicants: Sensoryx AG - Inventors: Nicola Ranieri; Fabian Wenner; Rolf Adelsberger; Hagen Seifert - Web page: https://patentgrep.com/patent/US10768691B2 ## CPC - G06F 3/011: {Arrangements for interaction with the human body, e.g. for user immersion in virtual reality (blind teaching G09B21/00)} - G06F 3/017: {Gesture based interaction, e.g. based on a set of recognized hand gestures (interaction based on gestures traced on a digitiser G06F3/04883)} - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract A wearable motion tracking system (12) for capturing a relative position between a first body part (101) and a second body part (103) of said user (100) comprising a first measurement device (120a), a second measurement device (121a) and a computing device (150) that are configured such as to obtain by said computing device (150) a plurality of measurements between said first and second measurement devices (120a, 121a). Based on the plurality of measurements that comprises at least one distance measurement between said first and second measurement devices (120a, 121a) said computing device (150) is configured to compute, in three dimensions, a position of said second measurement device (121a) relative to said first measurement device (120a) for tracking the position of said second body part (103) relative to said first body part (101). The present invention further relates to a method of motion tracking. ## Claims ### Claim 1 A wearable motion tracking system for capturing a relative position between a first body part of a user and a second body part of said user, said wearable motion tracking system comprising: at least one first measurement device attachable to said first body part; at least one second measurement device attachable to said second body part; and a computing device; wherein said at least one first measurement device and said at least one second measurement device are configured to perform a plurality of measurements between said first measurement device and said second measurement device so as to obtain measurement data of measurements between the first measurement device and the second measurement device, and wherein said computing device is configured such as to obtain by said computing device said plurality of measurements between said first measurement device and said second measurement device, wherein said plurality of measurements between said first measurement device and said second measurement device comprises at least one distance measurement between said first measurement device and said second measurement device; and wherein said computing device is configured to compute, in three dimensions, a position of said second measurement device relative to said first measurement device using said plurality of measurements for tracking the position of said second body part relative to said first body part. ### Claim 2 (depends on 1) The wearable motion tracking system according to claim 1, wherein said plurality of measurements between said first measurement device and said second measurement device comprises at least one direction measurement between said first measurement device and said second measurement device. ### Claim 3 (depends on 1) The wearable motion tracking system according to claim 1, wherein said first measurement device comprises a first acoustic communication device and said second measurement device comprises a second acoustic communication device; wherein the first and second acoustic communication devices are configured to establish an acoustic link between one another; and wherein said plurality of measurements comprises at least one acoustic measurement between said first acoustic communication device and said second acoustic communication device. ### Claim 4 (depends on 3) The wearable motion tracking system according to claim 3, wherein said at least one distance and/or direction measurement is or is comprised in said at least one acoustic measurement. ### Claim 5 (depends on 1) The wearable motion tracking system according to claim 1, wherein said first measurement device comprises a first optical communication device and said second measurement device comprises a second optical communication device; wherein the first and second optical communication devices are configured to establish an optical link between one another; and wherein said plurality of measurements includes at least one optical measurement between said first optical communication device and said second optical communication device. ### Claim 6 (depends on 5) The wearable motion tracking system according to claim 5, wherein one of said first and second optical communication devices comprises an image sensor and the other of said first and second optical communication devices comprises a trackable feature. ### Claim 7 (depends on 6) The wearable motion tracking system according to claim 6, wherein said trackable feature is a radiation source or wherein a size of the trackable feature is known to and used by the wearable motion tracking system. ### Claim 8 (depends on 5) The wearable motion tracking system according to claim 5, wherein said at least one distance or direction measurement is or is comprised in said at least one optical measurement. ### Claim 9 (depends on 8) The wearable motion tracking system according to claim 8, wherein said distance measurement is an acoustic measurement and said at least one direction measurement is an optical measurement. ### Claim 10 (depends on 1) The wearable motion tracking system according to claim 1, wherein said first measurement device comprises a first ultra-wide band communication device and said second measurement device comprises a second ultra-wide band communication device; wherein the first and second ultra-wide band communication devices are configured to establish an ultra-wide band link between one another; and wherein said plurality of measurements includes at least one ultra-wide band measurement between said first ultra-wide band communication device and said second ultra-wide band communication device. ### Claim 11 (depends on 1) The wearable motion tracking system according to claim 1, wherein said first body part is a torso or a head of said user or wherein said second body part is an upper limb or a hand of said user. ### Claim 12 (depends on 1) The wearable motion tracking system according to claim 1, wherein said computing device is integrated, at least in part, into a reference unit, the reference unit being attachable to the first body part-of the user and further comprising the at least one first measurement device; and/or wherein said computing device is integrated, at least in part, into a tracked unit, the tracked unit being attachable to the second body part of the user and further comprising the at least one second measurement device. ### Claim 13 (depends on 1) The wearable motion tracking system according to claim 1, wherein said plurality of measurements consists of or comprises one distance and one direction measurement between said first measurement device and said second measurement device or consists of or comprises three or more of said distance measurements. ### Claim 14 (depends on 1) The wearable motion tracking system according to claim 1, wherein said first measurement device or said second measurement device comprise one or more further measurement devices for determining and tracking, at least partially, an orientation of the second measurement device relative to the first measurement device or an absolute orientation of the second measurement device. ### Claim 15 (depends on 14) The wearable motion tracking system according to claim 14, wherein said one or more further measurement devices are inertial measurement units. ### Claim 16 A method for tracking a relative position between a first body part of a user and a second body part of said user, said method comprising: using at least one first measurement device attachable said first body part, at least one second measurement device attachable to said second body part and a computing device, and executing an application on said computing device in order i) to perform a plurality of first measurements between said first measurement device and said second measurement device so as to obtain measurement data of measurements between the first measurement device and the second measurement device, wherein said plurality of first measurements between said first measurement device and said second measurement device comprises at least one distance measurement between said first measurement device and said second measurement device; and ii) to compute, in three dimensions, a first position of said second measurement device relative to said first measurement device using said plurality of first measurements; iii) to perform one or more pluralities of subsequent measurements between said first measurement device and said second measurement device so as to obtain measurement data of measurements between the first measurement device and the second measurement device, wherein said plurality of first measurements between said first measurement device and said second measurement device comprises at least one distance measurement between said first measurement device and said second measurement device; and iv) to compute, in three dimensions, one or more subsequent positions of said second measurement device relative to said first measurement device using said one or more pluralities of subsequent measurements for tracking said position of said second body part relative to said first body part. ### Claim 17 (depends on 16) The method according to claim 16, wherein said plurality of first measurements or said one or more pluralities of subsequent measurements between said first measurement device and said second measurement device comprise at least one direction measurement between said first measurement device and said second measurement device. ### Claim 18 (depends on 16) The method according to claim 16, wherein said plurality of first measurements or said one or more pluralities of subsequent measurements comprise, as said at least one direction measurement, at least one measurement selected from the group consisting of an acoustic measurement, an optical measurement and an ultra-wide band measurement. ### Claim 19 (depends on 16) The method according to claim 16, wherein said plurality of first measurements or said one or more pluralities of subsequent measurements comprise, as said at least one distance measurement, at least one measurement selected from the group consisting of an acoustic measurement, an optical measurement and an ultra-wide band measurement. ### Claim 20 (depends on 16) The method according to claim 16, said plurality of first measurements or said one or more pluralities of subsequent measurements between said first measurement device and said second measurement device consists of one distance and one direction measurement between said first measurement device and said second measurement device. ### Claim 21 (depends on 16) The method according to claim 16, wherein said first body part is a torso or a head of said user or wherein said second body part is an upper limb or a wrist or hand of said user. ### Claim 22 (depends on 16) The method according to claim 16, wherein said tracked position of said second body part relative to said first body part is used in a virtual environment. ### Claim 23 A wearable motion tracking system for capturing a relative position between a first body part of a user and a second body part of said user, said wearable motion tracking system comprising: at least one first measurement device attachable to said first body part; at least one second measurement device attachable to said second body part; and a computing device; wherein said at least one first measurement device and said at least one second measurement device are configured to perform a plurality of measurements between said first measurement device and said second measurement device so as to obtain measurement data of measurements between the first measurement device and the second measurement device, and wherein said computing device is configured such as to obtain by said computing device said plurality of measurements between said first measurement device and said second measurement device, wherein said plurality of measurements between said first measurement device and said second measurement device comprises at least one distance measurement between said first measurement device and said second measurement device; wherein said computing device is configured to compute, in three dimensions, a position of said second measurement device relative to said first measurement device using said plurality of measurements for tracking the position of said second body part relative to said first body part; and wherein said plurality of measurements between said first measurement device and said second measurement device comprises at least one direction measurement between said first measurement device and said second measurement device.