Tracking upper arm movements using sensor modules attached to the hand and forearm

A computer-implemented method comprising:

• identifying an orientation of a forearm, by a first sensor module configured to be attached to the forearm of a user and to generate first motion data, wherein the forearm is connected between a hand of the user and an upper arm of the user;
• identifying an orientation of the hand by a second sensor module configured to be attached to the hand of the user and to generate second motion data,
• determining an elevation of a wrist of the user using the first sensor module and the second sensor module, wherein the wrist connects the forearm and the hand;
• and
• determining, by a computing device communicatively coupled to the first sensor module and the second sensor module, an orientation of the upper arm based on the orientation of the forearm, a position of the forearm, and the orientation of the hand, wherein the orientation of the upper arm is further determined based on a lengthwise direction of the upper arm and based on a relative twist between a first orientation corresponding to a coordinate system associated with the hand and a second orientation corresponding to a coordinate system associated with the forearm.

A non-transitory computer storage medium storing instructions which, when executed by a computing device, cause the computing device to perform operations comprising:

• identifying an orientation of a forearm, by a first sensor module configured to be attached to the forearm of a user and to generate first motion data, wherein the forearm is connected between a hand of the user and an upper arm of the user;
• identifying an orientation of the hand by a second sensor module configured to be attached to the hand of the user and to generate second motion data,
• determining an elevation of a wrist of the user using the first sensor module and the second sensor module, wherein the wrist connects the forearm and the hand;
• and
• determining, by a computing device communicatively coupled to the first sensor module and the second sensor module, an orientation of the upper arm based on the orientation of the forearm, a position of the forearm, and the orientation of the hand, wherein the orientation of the upper arm is further determined based on a lengthwise direction of the upper arm and based on a relative twist between a first orientation corresponding to a coordinate system associated with the hand and a second orientation corresponding to a coordinate system associated with the forearm.