Ball joint center locating method using data from attached inertial measurement unit
AssigneeThe Regents of the University of Michigan
InventorsNoel Perkins, Ryan McGinnis
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Abstract
A method for calculating the location of the center-of-rotation of a joint with an attached member. The method employs an inertial measurement unit (IMU) having an angular rate gyro and an accelerometer and coupling the inertial measurement unit to the member for detection of movement of the member. The inertial measurement unit outputs data representative of angular velocity and acceleration of the member mounted IMU in response to movement of the joint. The method further comprising analyzing the angular rate and acceleration data to determine the center-of-rotation of the joint.
Claims19
A method for calculating the location of the center-of-rotation of a joint of a member, said method comprising:
- providing an inertial measurement unit having an angular rate gyro and an accelerometer;
- fixedly coupling said inertial measurement unit to the member for movement therewith;
- outputting data from said inertial measurement unit in response to movement about the joint, said data being representative of angular velocity and acceleration of the member;
- calculating a center-of-rotation location of the joint based directly on said angular velocity data and said acceleration data without need to integrate said acceleration data;
- and
- outputting said center-of-rotation location.
A method for computing the location of the center-of-rotation of a joint of a member, said method comprising:
- fixedly coupling an inertial measurement unit having an angular rate gyro and an accelerometer to the member for movement therewith;
- outputting data from said inertial measurement unit representative of angular velocity and acceleration of the member in response to movement about the joint;
- computing a center-of-rotation location of the joint based directly on said angular velocity data and said acceleration data without need to integrate said acceleration data;
- and
- outputting said center-of-rotation location.
A method for displaying the location of the center-of-rotation of a joint of a limb, said method comprising:
- fixedly coupling an inertial measurement unit having an angular rate gyro and an accelerometer to the limb for movement therewith;
- outputting data from said inertial measurement unit representative of angular velocity and acceleration of the limb in response to movement about the joint;
- computing a center-of-rotation location of the joint based directly on said angular velocity data and said acceleration data via a processor according to a predetermined algorithm without need to integrate said acceleration data, said predetermined algorithm being stored in said processor on a non-transitory media;
- and
- outputting said center-of-rotation location via a display device.
Dependencies are inferred from the claim text.