Goniometer-based body-tracking device and method

An apparatus for measuring angles of portions of a human body, said portions comprising at least one of the shoulder and the hip, said apparatus comprising:

• a kinematic structure comprising a plurality of device links having terminal links and connected by device revolute joints with parallel axes;
• at least one of the following sensing devices:
• a first sensing device comprising a long resistive bend sensor extending over said revolute multiple joints from terminal link to terminal link and generating a first sensor signal;
• and
• a second sensing device comprising multiple short resistive bend sensors, with each sensor measuring one revolute joint angle and generating a second sensor signal;
• for the shoulder, means for securing said apparatus to said human body to measure the angle of the humerus in relation to the torso such that one terminal link moves with said humerus and the other terminal link moves with said torso;
• for the hip, means for securing said apparatus to said human body to measure the angle of the femur in relation to the torso such that one terminal link moves with said femur and the other terminal link moves with said torso;
• a data processor for receiving said electrical signals from said at least one sensing device and determining angles from said at least one signal.

An apparatus for measuring angles of portions of a human body, said portions comprising at least one of the shoulder and the hip, said apparatus comprising:

• a kinematic structure comprising a plurality of device links having terminal links and connected by device revolute joints with parallel axes;
• at least one prismatic sensing device for measuring said angle in relation to at least one of said shoulder and hip;
• optionally at least one of the following revolute sensing devices:
• a first sensing device comprising a long resistive bend sensor extending over said revolute multiple joints from terminal link to terminal link;
• and
• a second sensing device comprising multiple short resistive bend sensors, with each sensor measuring one revolute joint angle;
• at least one resistive bend sensor for measuring an elbow, wrist, knee or ankle body part;
• means for mounting said resistive bend sensor in angle-measuring relation to said elbow, wrist, knee or ankle body part;
• for the shoulder, means for securing said apparatus to said human body to measure the angle of the humerus in relation to the torso, whereby one terminal link moves with said humerus and the other terminal link moves with said torso;
• for the hip, means for securing said apparatus to said human body to measure the angle of the femur in relation to the torso, whereby one terminal link moves with said femur and the other terminal link moves with said torso;
• a data processor for receiving electrical signals from said sensing devices and sensors and determining angles from said signals.

An apparatus for measuring the orientation of two body parts having up to three degrees of freedom of orientation and position relative to each other, said device comprising:

• a kinematic structure comprising a plurality of device links having terminal links and connected by device revolute joints with parallel axes;
• at least two revolute sensing devices connected together:
• wherein said sensing devices are selected from:
• a first sensing device comprising a long resistive bend sensor extending over said revolute multiple joints from terminal link to terminal link;
• and
• a second sensing device comprising multiple short resistive bend sensors, with each sensor measuring one revolute joint angle;
• where when said second sensing device is absent, at least two of said first sensing devices articulate in different planes;
• means for securing said terminal links to said body parts;
• a data processor for receiving electrical signals from said sensing devices and determining orientation from said signals, and when solely said second sensing device is used, further determining position from said signals.

An apparatus comprising a plurality of links and at least one revolute joint, said apparatus comprising:

• assembled units, where each unit comprises a body with first and second components secured together, said units comprising linking means for linking a series of units and a passageway for receiving a sensor extending through said assembled units,
• said units formed by joining face-to-face said first and second components, each of said components comprising a post at one end extending outward, where the two posts are spaced apart when said units are joined to define a portion of said passageway, an orofice at the other end for receiving a post of an adjoining unit, and one half of said passageway;
• a sensor extending through said passageway;
• and
• means for electrical connection to said sensor.

A method for measuring angles of portions of a human body wherein at least one of said portions comprises at least one of the shoulder and the hip, said method comprising:

• providing a kinematic structure comprising a plurality of device links having terminal links and connected by device revolute joints with parallel axes, and further providing a sensing device selected from the group of sensing devices consisting of:
• (i) a first sensing device including a long resistive bend sensor extending over said revolute multiple joints from terminal link to terminal link;
• (ii) a second sensing device including multiple short resistive bend sensors and multiple links, with each sensor measuring one revolute joint angle;
• for the shoulder, securing said kinematic structure to said human body proximate the shoulder;
• and measuring the angle of the humerus in relation to the torso such that one terminal link moves with said humerus and the other terminal link moves with said torso;
• for the hip, securing said kinematic structure to said human body;
• and measuring the angle of the femur in relation to the torso, such that one terminal link moves with said femur and the other terminal link moves with said torso;
• and
• receiving electrical signals from said sensing devices and processing said signals in a computer processor to determine angles from said signals.

An apparatus comprising:

• a plurality of assembled units, each assembled unit comprising a body portion having first and second components secured together, linking means for linking a series of said assembled units, and a passageway for receiving a sensor extending through said assembled units;
• said assembled units formed by joining face-to-face said first and second components;
• each of said first and second components including an outwardly extending post disposed at one end, said post extending from said first component and said post extending from said second component being spaced apart when said assembled units are joined to define a portion of said passageway, and an orifice at the other end of said components receiving a post of an adjoining unit;
• and
• a sensor extending through said passageway.