U.S. patent application number 10/016965 was filed with the patent office on 2002-06-20 for proprioceptive golf club with analysis, correction and control capabilities.
This patent application is currently assigned to MechWorks Software Inc.. Invention is credited to Golnaraghi, Farid, Tuer, Kevin.
Application Number | 20020077189 10/016965 |
Document ID | / |
Family ID | 22968905 |
Filed Date | 2002-06-20 |
United States Patent
Application |
20020077189 |
Kind Code |
A1 |
Tuer, Kevin ; et
al. |
June 20, 2002 |
Proprioceptive golf club with analysis, correction and control
capabilities
Abstract
A method of analyzing the swing of a sport implement and player
over time in three dimensional space involving implanting implement
sensors at numerous locations in the implement adapted for
measurement of linear motion on three axes and angular motion on
said three axes, such as: linear motion inertial sensors; angular
motion sensors; axial strain gauges; flexural strain gauges; and
torsional strain gauges. Player sensors are set at a number of
locations on the player's body, also adapted for measurement of
linear motion on three axes and angular motion on said three axes.
Data from the sensor suites are communicated via a wireless
communications device to a processing unit by: infrared; radio
frequency; or the Bluetooth system. Data is processed from the
sensor units to derive an output communicated to the player via an
interface such as: visual graphics display; text display; sound
interface; tactile device; and vibratory device. The output
includes an actuator signal communicated to actuator units engaging
at least two actuatable portions of the sport implement moveable
relative to each other, such as: solenoids; fluid power cylinders;
piezoelectric actuators; magnetic actuators; magneto-restrictive
actuators; and rheological fluid actuators.
Inventors: |
Tuer, Kevin; (Waterloo,
CA) ; Golnaraghi, Farid; (Waterloo, CA) |
Correspondence
Address: |
MARK KUSNER COMPANY LPA
HIGHLAND PLACE SUITE 310
6151 WILSON MILLS ROAD
HIGHLAND HEIGHTS
OH
44143
|
Assignee: |
MechWorks Software Inc.
|
Family ID: |
22968905 |
Appl. No.: |
10/016965 |
Filed: |
December 14, 2001 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
60255571 |
Dec 14, 2000 |
|
|
|
Current U.S.
Class: |
473/151 |
Current CPC
Class: |
A63B 2220/40 20130101;
A63B 2220/16 20130101; A63B 2220/803 20130101; A63B 69/3632
20130101; A63B 71/0619 20130101; A63B 2220/833 20130101 |
Class at
Publication: |
473/151 |
International
Class: |
A63B 067/02 |
Claims
We claim:
1. A method of analysing the swing of a sport implement and player
over time in three dimensional space, the sport implement having a
manual grip on a shaft supporting a head with a strike face, the
method comprising: implanting an implement sensor suite comprising
a plurality of implement sensors disposed at a plurality of
locations in the implement, the implement sensors adapted for
measurement of linear motion on three axes and angular motion on
said three axes, the implement sensors selected from the group
consisting of: linear motion inertial sensors; angular motion
sensors; axial strain gauges; flexural strain gauges; and torsional
strain gauges; attaching a player sensor suite comprising a
plurality of player sensors disposed at a plurality of locations on
the player's body, the player sensors adapted for measurement of
linear motion on three axes and angular motion on said three axes,
the player sensors selected from the group consisting of: linear
motion inertial sensors; and angular motion sensors; communicating
data acquired from the sensor suites via a wireless communications
device to a processing unit, the wireless device selected from the
group consisting of: infrared; radio frequency; and the Bluetooth
system; processing data from the sensor units with the processing
unit to derive an output; communicating the processor output to the
player via an interface selected from the group consisting of:
visual graphics display; text display; sound interface; tactile
device; and vibratory device; and wherein the output includes an
actuator signal communicated to an actuator suite of actuator units
engaging at least two actuatable portions of the sport implement
moveable relative to each other, the actuator units selected from
the group consisting of: solenoids; fluid power cylinders;
piezoelectric actuators; magnetic actuators; magneto-restrictive
actuators; and Theological fluid actuators.
2. A method according to claim 1 wherein the linear motion sensor
is a micro electromechanical accelerometer.
3. A method according to claim 1 wherein the angular motion sensors
are selected from the group consisting of: micro electromechanical
gyroscopes; angular accelerometers; a plurality of coacting linear
accelerometers.
4. A method according to claim 1 wherein the implement is a golf
club and the actuator units are programmed to control the level of
vibration induced within the shaft of the golf club.
5. A method according to claim 4 wherein the processor output is
selected from the group consisting of: sensor position relative to
a selected reference; sensor velocity; sensor acceleration;
movement of swing rotation center; golf club head impact position;
golf club face angle at impact; effective loft angle at impact;
wrist cock angle; and swing tempo profile.
6. A method according to claim 1 wherein the processor output
includes a parameter by parameter comparison of sensor data with an
optimal model data set.
7. A method according to claim 1 wherein the processor output
includes player body characteristics selected from the group
consisting of: trunk angle tilt; body rotation; center of rotation
shift; arm motion trajectory; and center of gravity shift.
8. A method according to claim 1 wherein processor output includes
a control signal communicating with the actuator suite.
9. A method according to claim 1 wherein the processing step
includes processing techniques selected from the group consisting
of: Kalman filtration; state estimation; and extrapolation of data
to predict motion.
10. A method according to claim 1 wherein the sport implement is
selected from the group consisting of: golf clubs; baseball bats;
racquets; cricket bats; and fencing swords.
Description
TECHNICAL FIELD
[0001] The invention relates to a method of sensing motion,
analysing, correcting and controlling the use of sporting
implements such as golf clubs, tennis racquets, and baseball bats,
that are swung in 3D space using intelligent active electronic
sensing, signal processing, actuating, vibration dampening, motion
computing and displaying components. The invention may also be used
in other applications involving sensing and/or controlling of
motion in 3D space such as automotive, aerospace, mining, and self
sensing, autonomous toys, to name a few.
BACKGROUND OF THE ART
[0002] A proprioceptive golf club or other sporting instrument is
one which includes sensors and electronics to provide signals from
within the golf club itself.
[0003] U.S. Pat. No. 3,945,646 to Hammond, for example, includes a
golf club with measurement system having accelerometers in the golf
club head, a torque strain gauge in the golf club shaft as well as
a flex strain gauge, radio transmitter and battery power source. FM
radio transmission is received by a remote receiver and signals are
fed into a computer, which analyses the data and organizes it for
display and processing.
[0004] U.S. Pat. No. 5,779,555 to Nomura et al. provides another
example of prior art swing type athletic equipment with a tri-axial
acceleration sensor that accurately determines whether or not a
golf ball has been hit on the "sweet spot" of a golf club head.
[0005] U.S. Pat. No. 5,941,779 to Zeiner-Gundersen also provides a
golf club swinging training device which includes two directional
gyroscopes, power source, a set of sensors and alarms to give an
audible or tactile alarm when the golf swing is outside of each
gyroscope's predetermined and set rotating direction.
[0006] U.S. Pat. No. 3,717,857 to Evans discloses a wrist mounted
measurement system for transmitting a signal from strain gauges and
accelerometers to analyses, compare and correct the swing of a
baseball player wrist during practice sessions.
[0007] U.S. Pat. No. 5,056,783 to Matcovich et al. discloses a
baseball bat with acceleration measurement that transmits a signal
to a processor for display of the swing performance.
[0008] Further objects of the invention will be apparent from
review of the disclosure, drawings and description of the invention
below.
DISCLOSURE OF THE INVENTION
[0009] The invention comprises a method of sensing motion,
analysing, correcting and controlling the use of sporting
implements such as golf clubs, tennis racquets, and baseball bats,
that are swung in 3D space using intelligent active electronic
sensing, signal processing, actuating, vibration dampening, motion
computing and displaying components.
[0010] Specifically, the invention provides a method of analysing
the swing of a sport implement and player over time in three
dimensional space involving implanting implement sensors at
numerous locations in the implement adapted for measurement of
linear motion on three axes and angular motion on said three axes,
such as: linear motion inertial sensors; angular motion sensors;
axial strain gauges; flexural strain gauges; and torsional strain
gauges. Player sensors are set at a number of locations on the
player's body, also adapted for measurement of linear motion on
three axes and angular motion on said three axes. Data from the
sensor suites are communicated via a wireless communications device
to a processing unit by: infrared; radio frequency; or the
Bluetooth system. Data is processed from the sensor units to derive
an output communicated to the player via an interface such as:
visual graphics display; text display; sound interface; tactile
device; and vibratory device. The output includes an actuator
signal communicated to actuator units engaging at least two
actuatable portions of the sport implement moveable relative to
each other, such as: solenoids; fluid power cylinders;
piezoelectric actuators; magnetic actuators; magneto-restrictive
actuators; and rheological fluid actuators.
[0011] For example, a golf club can be constructed according to the
invention with a suite of inertial sensors, specifically a
combination of MEMS (Micro Electro-Mechanical Systems)
accelerometers and rate gyro sensors, able to sense and measure the
club's own motion. The invention also considers the golfer wearing
one or more sensor suites to measure the motion of the golfer
throughout the golf swing. The measurements made by the sensor
suites are then used in combination to analyse the dynamics and
mechanics of the golfer's swing and club/ball impact using Inertial
Navigation Systems (INS) techniques, compare the swing performance
to the optimal case, make recommendations for improvement, and
effect active control to reduce vibrations as a result of club
impact with the ball. In order to remove sensor or other sources of
noise, sophisticated methods of filtration and signal processing
such as Kalman Filters, state observers, low pass filters, and
other means of embedding modelled and/or empirical knowledge of the
motion of the golf club are used in hardware and software.
[0012] The invention can be applied to any sporting implement and
includes software and hardware with one or more
inertial/vibrational/torsional Sensor Suite(s) installed on/within
the sporting implement and attached to the user, an Electronics
Package, a Power Source, a Computational Capability, a Display
Device, an Actuator Suite, and Communications Links to facilitate
the exchange of information between components.
[0013] The invention may also be used in other applications
involving motion in 3D space such as automotive, aerospace, mining,
and self sensing, autonomous toys to name a few. Further advantages
of the invention will be apparent from the following detailed
description and accompanying drawings.
DESCRIPTION OF THE DRAWINGS
[0014] In order that the invention may be readily understood, one
embodiment of the invention is illustrated by way of example in the
accompanying drawings.
[0015] FIG. 1 is a schematic perspective view of a golf club
containing a sensor suite comprised of linear and rotational
sensors located in the club head, a sensor suite comprised of
linear and rotational sensors attached to the user, vibration
dampening actuators in the shaft as well as shaft sensors, a RF
transmitter and power source for each sensor suite, with a computer
housing RF receiver and the computational capability, electronics
package, and display devices.
[0016] FIG. 2 is a schematic diagram indicating the integration of
various components.
[0017] FIG. 3 is a schematic diagram indicating the physical and
communications interfacing of the components.
[0018] FIG. 4 is a schematic diagram of the underlying
software/hardware/firmware platform of the invention indicating the
communications, signal processing, Inertial Navigation System
techniques, embedded modelled and/or empirical knowledge, and
interfacing of the components.
[0019] Further details of the invention and its advantages will be
apparent from the detailed description included below.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
[0020] The device is comprised of software and hardware comprising
one or more Sensor Suites (club mounted and user mounted), an
Electronics Package, a Power Source, a Computational Capability, a
Display Device, an Actuator Suite, and Communications Links to
facilitate the exchange of information between components.
[0021] Features of the Sensor Suite include the following:
[0022] The Sensor Suite will be able to measure up to 6 degrees of
motion (linear motion in three axes and angular motion in three
axes).
[0023] Linear motion shall be measured using inertial sensors (i.e.
sensors that can measure low frequency and constant signals) such
as MEMS accelerometers or custom sensors. This signal will be
integrated in hardware or software to provide acceleration, speed
and position information relative to an earth based reference
frame.
[0024] Angular motion shall be measured using inertial sensors such
as MEMS gyroscopes, angular accelerometers, multiple linear
accelerometers, or custom sensors. This signal will be integrated
in hardware or software one or more times to provide angular speed
and position information relative to the moving reference frame. In
addition to defining club face angles, this information will be
used to resolve the linear accelerometer signals into the
appropriate earth based co-ordinates (prior to integration) and to
facilitate the implementation of a gravity compensation
mechanism.
[0025] The Sensor Suite will accommodate a GPS or DGPS positioning
system capability. The Sensor Suite will measure sufficient signals
to provide all or some of the following information: acceleration,
speed, position, in both translation and rotation, of one or more
points on the club head, on the club shaft, or on the user (e.g.
the shift of the centre of swing rotation, the wrist cock angle,
etc.); ball/club head impact point; point of ball/club impact with
respect to the club head speed curve; angle of the club face at
impact; the effective loft angle of the club at impact; tempo of
the swing; and vibration induced within the club shaft.
[0026] The Sensor Suites will be embedded in the club head (block 1
shown in FIG. 1) or shaft (block 2), mounted on the club shaft 3,
or attached to the user 4 (e.g. wrist, waist, neck, etc.).
[0027] Features of the Electronics Package may include circuits 5
mounted in the club shaft 3 and as follows. The Electronics Package
is comprised of a microcontroller and memory for storage of
collected information. The Electronics Package may also contain
drivers and hardware to support communication of data. The
Electronics Package will possess the capability of initialising,
resetting and otherwise controlling the Sensor Suites.
[0028] The microcontroller will read in information from the
sensors at a pre-specified rate and associate a time base with each
piece of data. The microcontroller may contain part or all of the
Computational Capability. The microcontroller may also implement
vibration or other control laws. The microcontroller may also drive
control actuators 7, such as solenoids, fluid power cylinders,
piezoelectric materials, magnetic devices, magneto-restrictive or
Theological fluids, or other custom designed actuation means. The
microcontroller will control the communication of information to
the display device, such as computer monitor or a specially
designed display console.
[0029] The Electronics Package 8 will be embedded within the golf
club head or shaft, will be mounted externally on the shaft, or
will be attached to the user.
[0030] Features of the Power Source include the following. The
Sensor Suite will be powered using the device's battery power pack.
The Electronics Package will be powered using the device's battery
power pack. The Display Device local to the golf club will be
powered using the device's battery power pack or its own power
source. The Display Device local to the golfer will be powered via
its own power source. The Display Device remotely located will be
powered via its own power source. The Actuator Suite will be
powered using the device's battery power pack.
[0031] Features of the Computational Capability include the
following. The Computational Capability will derive, from the
sensor data, acceleration, speed, and position information in both
translation and rotation, movement of the centre of swing rotation,
club head/ball impact characteristics, club face angle at impact,
effective loft angle at impact, wrist cock angle, and tempo
profiles.
[0032] The Computational Capability will process sensor data and
generate a control signal to drive the actuator suite. The
Computational Capability will generate a time base which is to be
associated with the data. The Computational Capability will be able
to compare raw and derived information to an optimal case and make
recommendations for improved performance. The Computational
Capability will formulate an interactive mathematical model using
the collected swing data and provide a swing simulation capability.
In addition, the user will be able to change key parameters of the
swing model to ascertain the effect on swing performance. The
Computational Capability will include advanced filtration and
signal processing techniques such as Kalman filters, state
estimators, observers, and low pass filters to effectively reduce
noise and to estimate and predict motion. The Computational
Capability will be capable of storing, re-displaying and printing
graphical and/or numeric data associated with the golf swing.
[0033] Features of the Communications Links include the following.
There will be three primary Communications Links--Sensor Suite(s)
to Electronics Package, Electronics Package to Actuator Suite, and
Electronics Package to Display Device. The Sensor Suites to
Electronics Package Communications Link is used to transmit signals
from each sensor in the sensor suite to the microcontroller. The
Electronics Package to Actuator Suite Communications Link is used
to transmit control signals generated by the Electronics Package to
the actuators. The Electronics Package to Display Device
Communications Link is used to transmit performance information for
display to the user. This link also passes commands issued by the
user via the Display Device to the Electronics Package. Each of
these Communications Links will be via wired or wireless means
(e.g. infrared (IR), radio frequency (RF), Bluetooth, etc.).
[0034] Features of the Display Device 6 include the following.
Information regarding the golfer's swing statistics will be
communicated to a Display Device. The Display Device is local to
the golfer, local to the golf club, or remotely located. The
Display Device local to the golf club may be mounted on the golf
club shaft. A Display Device local to the golfer could be wrist
mounted (e.g. watch), belt or waist mounted or a device hung around
the golfer's neck. A Display Device remotely located may include a
personal data system (e.g. PalmPilot.TM.), a laptop or notebook
computer, a desktop computer, a personal gaming device (e.g.
Gameboy.TM.) or any other remote device capable of computation and
display of data. The Display Device may contain part or all of the
Computational Capability. The Display Device will have the
capability to store raw data and display raw or processed data in
graphical or numeric format. The Display Device will be capable of
accepting commands from the user regarding the operation of the
invention via a graphical user interface, a text based menu or a
command line.
[0035] Features of the Actuator Suite include the following. The
Actuator Suite will be comprised of active or passive actuators for
the purpose of controlling the dynamics of the club head or club
shaft, including vibration. The Actuator Suite 7 will be attached
to or embedded within the club head or club shaft. This technology
is applicable to a variety of sports instruments for which golfing
is but one example. Other examples include baseball bats, tennis or
racquetball racquets, cricket bats and fencing swords. Although the
above description relates to a specific preferred embodiment as
presently contemplated by the inventor, it will be understood that
the invention in its broad aspect includes functional equivalents
of the elements described herein.
[0036] The invention may also be used in other applications
involving sensing and/or controlling motion in 3D space such as
automotive, aerospace, mining, and self sensing, autonomous toys to
name a few.
[0037] The invention includes full 6 degree-of-freedom (DOF) motion
sensing and measurement capabilities (3 DOF in translation, 3 DOF
in rotation). Prior art typically incorporates a sensor suite of
reduced measurement capability (i.e. less than 6 DOF) and the
adoption of assumptions regarding the motion of the club (e.g. U.S.
Pat. Nos. 5,779,555, 5,233,544, 3,717,857).
[0038] Both the golf club and the player be instrumented with
sensor suites and data be collected from each. This collected data
will be fused to perform the analysis. For example, the club path
information derived from the club mounted sensor suite will be
combined with the shift motion of the user measured using the
player mounted sensor suite to isolate characteristics of the
swing. Prior art shows instrumentation of the club (e.g. U.S. Pat.
Nos. 5,779,555, 5,233,544) or instrumentation of the user but not
instrumentation of both and the combined use of data to analyse the
swing.
[0039] Given a complete data set, the swing can be scrutinised to
indicate source of problems--not just indicate that a problem
exists. Quite often, prior art shows devices with capabilities to
indicate that there is a problem with the swing (e.g. U.S. Pat. No.
5,779,555) but there are often several possible sources of the
problem, which the devices fail to identify.
[0040] Given the ability to define sources of problems,
recommendations for correcting swing problems can be made. Many of
the analysis and training devices are able to provide feedback
(e.g. audible, tactile) that a problem exists (e.g. U.S. Pat. No.
5,941,779) but fail to quantify the depth of the problem or suggest
recommendations for corrections.
[0041] Using the data collected from the swing, an accurate
mathematical model of a user's golf swing is developed. This model
can be used for parametric analysis studies to see how changing
aspects of the swing can change the swing performance. Prior art
shows some devices with the capability to replay the swing or
display characteristics of the swing (e.g. U.S. Pat. No. 5,056,783)
but none have been found that develop a mathematical model of the
swing. Further, the use of Inertial Navigation Systems and advanced
signal processing methods such as Kalman Filters, state estimators
and observers, as well as embedded modelled or empirical knowledge
of golf club motion have not been addressed.
[0042] An optimal trajectory and swing parameters may be obtained
for the player. Using the data collected from the sensor suite, a
full dimensional path of the club can be defined in an earth fixed
or inertial reference frame. Most of the prior art shows the use of
video systems or external, earth fixed measuring devices to measure
club trajectory.
[0043] Using the club head orientation information, the
acceleration, velocity, and position data can be resolved into
their components to identify problems with the swing. Once again,
prior art does not show this being done to the proposed level of
kinematics detail (i.e. 6 degrees of freedom).
[0044] Parameter by parameter comparison capability to a standard
or optimal swing is possible. This is made possible by the
availability of full kinematics information, which is not present
in the prior art.
[0045] Given complete kinematics information and a mathematical
model, information regarding the use of the player's muscles can be
derived. Although prior art includes muscle trainers, none are
known to quantify the degree of use of muscles in generating a
swing.
[0046] The invention has the ability to communicate via wired or
wireless means to a variety of new display and computational
devices, such as a PalmPilot.TM., a Gameboy.TM., etc. Although
prior art shows the use of both wired and wireless communication
(e.g. U.S. Pat. Nos. 5,233,544, 5,056,783), specific application
level details differ with the availability of new display
devices.
[0047] The user mounted sensor suite can be used to define body
characteristics such as trunk angle tilt, body rotation, shift of
the centre of rotation, arm motion, weight shift, etc., all of
which are known to effect swing performance. U.S. Pat. No.
5,233,544, claim 4 makes some mention of this concept but in little
detail.
[0048] Depending on the display device of choice, the invention can
be self-contained and portable.
[0049] Having a complete set of swing information available means
that many aspects of the swing can be analysed using the same
device. Prior art shows existing devices target only certain
aspects of a swing.
[0050] Club face angle can be measured in two directions because of
full orientation data being available. One of these angles will
provide information on the effective loft angle of the club, which
is known to affect ball trajectory. Prior art shows measurement of
club face angle in one direction (e.g. U.S. Pat. No. 3,945,646) but
none have been identified that are able to measure the club face
angle that defines the effective loft angle of the club.
[0051] The location of the club face/ball impact point is defined
using impact measurements made by the sensor suites. Prior art
shows the use of special club faces or sensor arrays (e.g. U.S.
Pat. No. 4,991,850) to accomplish this task.
[0052] Active vibration control. Most prior art systems use passive
means (e.g. U.S. Pat. No. 5,718,643, 5,935,027) to reduce shaft
vibrations. The sensor suite supports the interchangeability of
sensors to maximise versatility. Improved performance are realised
from the sensor suite by quantifying characteristics of the sensor
and embedding this knowledge, be it modelled or empirical, into the
platform software.
[0053] Significant performance enhancement is achieved via embedded
knowledge of the motion of the golf club and the sensor suite.
Moreover, embedded knowledge of the motion of the gold club may
result in a reduction in the number of sensors required to generate
the full kinematic/dynamic details of the golf swing/club leading
to a more cost effective solution.
[0054] Although the above description relates to a specific
preferred embodiment as presently contemplated by the inventors, it
will be understood that the invention in its broad aspect includes
mechanical and functional equivalents of the elements described
herein.
* * * * *