# US 11,304,628 B2 · Smart clothing with dual inertial sensors and dual stretch sensors for human motion capture

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- Number: US 11,304,628 B2
- Document ID: US11304628B2
- Status: Granted
- Kind: B2
- Application number: 17/356,377
- Filed: 2021-06-23
- Published: 2021-10-14
- Granted: 2022-04-19
- Earliest claimed: 2013-09-17
- Assignees: Medibotics LLC
- Applicants: Robert A. Connor
- Inventors: Robert A. Connor
- Web page: https://patentgrep.com/patent/US11304628B2

## CPC

- A61B 5/11: Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb {(A61B5/1038 takes precedence; motion detection to correct for motion artifacts in physiological signals A61B5/721)}
- A61B 5/1126: {using a particular sensing technique}
- A41D 1/002: {adapted to accommodate electronic equipment (patients' garments for medical monitoring A41D13/1281; luminous ornaments A41D27/085)}
- A61B 5/4528: {Joints (A61B5/4533, A61B5/4538 take precedence)}
- A61B 5/6804: {Garments; Clothes}
- A61B 5/6805: {Vests, e.g. shirts or gowns}
- A61B 2562/0219: Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
- A61B 2562/0261: Strain gauges
- A61B 2562/0266: Optical strain gauges
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- A41D: OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES

## Abstract

This invention is smart clothing which enables human motion capture through combined analysis of data from dual inertial sensors and dual stretch (or bend) sensors. In a preferred embodiment, a first inertial motion sensor is located proximal to a body joint, a second inertial sensor is located distal to the body joint, and two stretch sensors span the body joint in different configurations.

## Claims

### Claim 1

A device or system for capturing human motion comprising:
an article of clothing worn by a person, wherein a portion of the article of clothing has a longitudinal axis which spans a body joint, wherein the portion has a first cross-sectional circumference which is proximal relative to the body joint, wherein the portion has a second cross-sectional circumference which is distal relative to the body joint, and wherein proximal means closer to (and distal means farther from) the person's heart when the person is in Vitruvian Man configuration;
a first inertial motion sensor which is incorporated into or attached to the portion at the first cross-sectional circumference;
a second inertial motion sensor which is incorporated into or attached to the portion at the second cross-sectional circumference;
a first stretch (or bend) sensor which is incorporated into or attached to the portion and spans the body joint between the first cross-sectional circumference and the second cross-sectional circumference; wherein the first stretch (or bend) sensor is made from a thermoplastic elastomer which has been embedded, impregnated, doped, or coated with conductive material; wherein the first stretch (or bend) sensor comprises an elastomeric insulating layer between two elastomeric conductive layers; and wherein the first stretch sensor collects data concerning the transmission of energy through the first stretch sensor;
a second stretch (or bend) sensor which is incorporated into or attached to the portion and spans the body joint between the first cross-sectional circumference and the second cross-sectional circumference; wherein the second stretch (or bend) sensor is made from a thermoplastic elastomer which has been embedded, impregnated, doped, or coated with conductive material; wherein the second stretch (or bend) sensor comprises an elastomeric insulating layer between two elastomeric conductive layers; and wherein the second stretch sensor collects data concerning the transmission of energy through the second stretch sensor; and
a data processor which analyzes data from the first inertial motion sensor, the second inertial motion sensor, the first stretch sensor, and the second stretch sensor to measure a configuration or motion of the body joint.

### Claim 2

A device or system for capturing human motion comprising:
an article of clothing worn by a person, wherein a portion of the article of clothing has a longitudinal axis which spans a body joint, wherein the portion has a first cross-sectional circumference which is proximal relative to the body joint, wherein the portion has a second cross-sectional circumference which is distal relative to the body joint, and wherein proximal means closer to (and distal means farther from) the person's heart when the person is in Vitruvian Man configuration;
a first inertial motion sensor which is incorporated into or attached to the portion at the first cross-sectional circumference;
a second inertial motion sensor which is incorporated into or attached to the portion at the second cross-sectional circumference;
a first stretch (or bend) sensor which is incorporated into or attached to the portion and spans the body joint between the first cross-sectional circumference and the second cross-sectional circumference; wherein the first stretch (or bend) sensor is made from polydimethylsiloxane (PDMS) which has been embedded, impregnated, doped, or coated with conductive material; wherein the first stretch (or bend) sensor comprises an elastomeric insulating layer between two elastomeric conductive layers; and wherein the first stretch sensor collects data concerning the transmission of energy through the first stretch sensor;
a second stretch (or bend) sensor which is incorporated into or attached to the portion and spans the body joint between the first cross-sectional circumference and the second cross-sectional circumference; wherein the second stretch (or bend) sensor is made from polydimethylsiloxane (PDMS) which has been embedded, impregnated, doped, or coated with conductive material; wherein the second stretch (or bend) sensor comprises an elastomeric insulating layer between two elastomeric conductive layers; and wherein the second stretch sensor collects data concerning the transmission of energy through the second stretch sensor; and
a data processor which analyzes data from the first inertial motion sensor, the second inertial motion sensor, the first stretch sensor, and the second stretch sensor to measure a configuration or motion of the body joint.