Accurate, rapid, reliable position sensing using multiple sensing technologies

A device for measuring change in position of a movable entity along a path comprising:

• a delayed position sensor for providing a delayed signal value relating to a position of said entity along said path;
• a fast position sensor for providing a fast signal value relating to an approximation of a position of said entity along said path, wherein said fast signal value incorporates less delay and is less accurate than said delayed signal value;
• each one of said sensors mounted on sensor supports for positioning in functional relationship to said entity for measuring the movement of said entity;
• a data processor for receiving said fast and delayed signal values for said entity, said signal values comprising (a) a present fast signal value and a prior fast signal value relating to approximations of a present and prior position, respectively, from said fast position sensor and (b) a delayed signal value for said prior position from said delayed position sensor, receiving said fast signal value for said present position and said delayed signal value for said prior position in the same sampling cycle, upon receipt of each delayed signal value and using said delayed signal and said fast signal values for said prior position to improve said present fast signal value approximation for said present position.

A device for measuring changes in position of body parts along one or more paths comprising:

• one or more multiple degree of freedom electromagnetic sensors for providing a delayed signal value relating to a position for each body part along said one or more paths;
• one or more multiple degree of freedom accelerometers for providing a fast signal value relating to an approximation of a position for each body part along each of said paths, wherein said fast signal value incorporates less delay and is less accurate than said delayed signal value;
• each one of said sensors mounted on body part fitting supports for positioning in functional relationship to each of said body parts for measuring the movement of each of said body parts;
• a data processor for receiving, for each of said body parts, said fast and delayed signal values, said signal values comprising (a) a present fast signal value and a prior fast signal value for each said body part relating to approximations of a present and prior position, respectively, from said accelerometer and (b) a delayed signal value for said prior position from said electromagnetic sensor, receiving said fast signal value for said present position and said delayed signal value for said prior position in the same sampling cycle, and using said delayed signal and said fast signal values for said prior position to improve said present fast signal value approximation for said present position.

A device for measuring change in position along a path of a movable articulated entity comprising two links connected by a joint, said device comprising:

• a delayed position sensor for providing a delayed signal value relating to a position of said entity along said path;
• a fast position sensor for providing a fast signal value relating to an approximation of a position of said entity along said path, wherein said fast signal value incorporates less delay and is less accurate than said delayed signal value;
• a goniometer sensor mounted in functional relationship to the joint connecting said two links of said entity for providing a fast signal value relating to the bending of said joint;
• each one of said sensors mounted on sensor supports for positioning in functional relationship to said entity for measuring the movement of said entity;
• a data processor for receiving said fast and delayed signal values for said entity, said signal values comprising (a) a present fast signal value and a prior fast signal value relating to approximations of a present and prior position, respectively, from said fast position sensor, (b) a delayed signal value for said prior position from said delayed position sensor, and (c) a fast signal value from said goniometer sensor for providing the angle of bending of said joint, receiving said fast signal value for said present position and said delayed signal value for said prior position in the same sampling cycle, and using said delayed signal and said fast signal values for said prior position to improve said present fast signal value approximation for said present position.

A device for measuring changes in position of body parts along one or more paths comprising:

• one or more multiple degree of optical tracking sensors for providing a delayed signal value relating to a position for each body part along said one or more paths, wherein said delayed signal value is subject to blind spots and delay in processing;
• one or more secondary sensors for providing a continuous signal value relating to a position for each body part along each of said paths, wherein said continuous signal value is free of blind spots to which said optical tracking sensor is subject and is less accurate than said delayed signal value;
• each one of said sensors mounted on body part fitting supports for positioning in functional relationship to each of said body parts for measuring the movement of each of said body parts;
• a data processor for receiving, for each of said body parts, said continuous and delayed signal values, said signal values comprising (a) a present continuous signal value and a prior continuous signal value for each said body part relating to a present and prior position, respectively, from said secondary sensor and (b) a delayed signal value for said prior position from said optical tracking sensor, receiving said continuous signal value for said present position and said delayed signal value for said prior position in the same sampling cycle, and using said delayed signal and said continuous signal values for said prior position, or a previous prior position when there is no delayed signal value for said prior position, to improve said present continuous signal value approximation for said present position.

A device for collecting data relating to change in position of a body part along a path and at least one additional event, said device comprising:

• a delayed position sensor for providing a delayed signal value relating to a position of said entity along said path;
• a fast position sensor for providing a fast signal value relating to an approximation of a position of said entity along said path, wherein said fast signal value incorporates less delay and is less accurate than said delayed signal value;
• each one of said sensors mounted on sensor supports for positioning in functional relationship to said entity for measuring the movement of said entity;
• means for measuring changes in said event and providing an event associated signal value;
• a data processor for receiving said event associated signal value and said fast and delayed signal values for said entity, said signal values comprising (a) a present fast signal value and a prior fast signal value relating to approximations of a present and prior position, respectively, from said fast position sensor and (b) a delayed signal value for said prior position from said delayed position sensor, receiving said fast signal value for said present position and said delayed signal value for said prior position in the same sampling cycle, and using said delayed signal and said fast signal values for said prior position to improve said present fast signal value approximation for said present position and relating said improved present fast signal value to said event associated signal value.

A method for accurately determining the movement of an entity along a path, wherein mounted in functional relationship to said entity for measuring the movement of said entity is a delayed position sensor for providing a delayed signal value relating to a position for said entity along said path;

• and a fast position sensor for providing a fast signal value relating to an approximation of a position for said entity along said path, wherein said fast signal value incorporates less delay and is less accurate than said delayed signal value;
• said method comprising:
• transmitting said fast and delayed signals for said entity to a data processor;
• and
• processing said fast and delayed signal values, said signal values comprising (a) a present fast signal value and a prior fast signal value for said entity relating to approximations of a present and prior position, respectively, from said fast sensor and (b) a delayed signal value for said prior position from said delayed sensor, receiving said fast signal value for said present position and said delayed signal value for said prior position in the same sampling cycle, upon receipt of each delayed signal value and using said delayed signal and said fast signal values for said prior position to improve said present fast signal value approximation for said present position.

A method for accurately determining the movement of a body part along a path, wherein mounted in functional relationship to said body part for measuring the movement of said body part is a multiple degree of freedom electromagnetic sensor for providing a delayed signal value relating to a position for said body part along said path;

• and a multiple degree of freedom accelerometer for providing a fast signal value relating to an approximation of a position for said body part along said path, wherein said fast signal value incorporates less delay and is less accurate than said delayed signal value;
• said method comprising:
• transmitting said fast and delayed signals for said body part to a data processor;
• and
• processing said fast and delayed signal values, said signal values comprising (a) a present fast signal value and a prior fast signal value for said body part relating to approximations of a present and prior position, respectively, from said accelerometer and (b) a delayed signal value for said prior position from said electromagnetic sensor, receiving said fast signal value for said present position and said delayed signal value for said prior position in the same sampling cycle, and using said delayed signal and said fast signal values for said prior position to improve said present fast signal value approximation for said present position.

A method for accurately determining the movement along a path of an articulated body part comprising at least two links connected by a joint, wherein mounted in functional relationship to said body part for measuring the movement of said body part is a delayed position sensor for providing a delayed signal value relating to a position for said body part along said path;

• a fast position sensor for providing a fast signal value relating to an approximation of a position for said body part along said path, wherein said fast signal value incorporates less delay and is less accurate than said delayed signal value;
• and a goniometer mounted in functional relationship to the joint connecting two links of said body part for providing a fast signal value relating to the bending of said joint;
• said method comprising:
• transmitting said delayed and fast signal values for said body part to a data processor;
• and
• processing said fast and delayed signal values, said signal values comprising (a) a present fast signal value and a prior fast signal value for said body part relating to approximations of a present and prior position, respectively, from said fast sensor, (b) a delayed signal value for said prior position from said delayed sensor, and (c) a fast signal value from said goniometer sensor for providing the angle of bending of said joint, receiving said fast signal value for said present position and said delayed signal value for said prior position in the same sampling cycle, and using said delayed signal and said fast signal values for said prior position to improve said present fast signal value approximation for said present position.

A device for measuring change in position of a movable entity along a path comprising:

• a first position sensor for providing a first signal value relating to a position of said entity along said path subject to periods of unreliability;
• a second position sensor for providing a second signal value relating to an approximation of a position of said entity along said path, wherein said second signal value is not subject to said periods of unreliability and is less accurate than said first position sensor;
• each one of said sensors mounted on sensor supports for positioning in functional relationship to said entity for measuring the movement of said entity;
• a data processor for receiving said first and second position sensor signal values for said entity, said signal values comprising (a) a present second signal value and a prior second signal value relating to approximations of a present and prior position, respectively, from said second position sensor and (b) a first signal value for said prior position from said first position sensor upon receipt of each second signal value, using said first signal value and said second signal values for said prior position to improve said present second signal value approximation for said present position;
• and during a period of unreliability, using said improved second signal value prior to said period of unreliability as the initial position of said entity at the beginning of said period of unreliability.