Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
1998-10-01
2001-11-06
Cuchlinski, Jr., William A. (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S245000, C700S263000, C607S048000, C607S049000, C607S059000, C607S060000, C607S061000, C607S062000, C600S561000
Reexamination Certificate
active
06314339
ABSTRACT:
BACKGROUND OF THE INVENTION
1. Field of the Invention
The field of art to which this invention relates is optimization of human physical performance, and more particularly to methods and apparatus for improving human physical performance as it relates to training for athletic activities, preventing injury, and physical therapy.
2. Description of the Related Art
Motion analysis systems are known in the art. They typically comprise a combination of hardware and software which records a physical motion, such as a golf swing, typically in slow motion. The motion is then subjectively analyzed by an expert in that particular motion, such as a golf pro, who then offers advice, based upon his own experience with the motion, on how to optimize or improve the motion.
While these systems are useful, they suffer from several disadvantages. They are typically complex and costly, a large part of the cost being the labor of the expert. However, the greatest disadvantage is their subjectiveness. Different experts may very well offer differing advice on how to optimize the motion.
For these reasons, there is a need in the art for a simple, inexpensive, and objective method and apparatus for optimizing the performance of an actual motion to perform a desired task.
SUMMARY OF THE INVENTION
Therefore, it is an object of the present invention to provide a simple and inexpensive method and apparatus for optimizing an actual motion to perform a desired task by a performer.
It is yet another object of the present invention to provide an objective method and apparatus for optimizing an actual motion to perform a desired task by a performer.
Based on years of research in the area of high speed robot dynamics and ultra high performance motion planning for robots and recent studies of the dynamics of human motion in sport activities such as in tennis and golf by expert players, a method useful for training athletes to maximize their performance is disclosed. However, the method of the present invention can be used to optimize many human physical motions, not just those involved in sports.
Briefly, the present invention shows that the maximum performance by an athlete, for example, in striking a tennis ball during serving or striking a golf ball or a baseball with the maximum possible speed is dependent on the geometry of the athlete's limbs, the maximum force that he/she can generate by his/her muscles, and the motion pattern with which he/she executes the task. The novelty of the present invention is based upon the highly complex and nonlinear dynamics of motion. A novel method is disclosed that given the approximate physical characteristics of an athlete, optimal achievable motions that would maximize the performance can be determined. The information can then be used to visualize and quantify motion modifications that can lead to better performance, to determine which muscles or groups of muscles should be strengthened for maximum gain in performance, and/or to determine the necessary modifications to the motion pattern to reduce the chances of short term and long term injuries, etc. A number of devices for the purpose of sensing the actual motions and providing real time feedback to the athlete during his/her training are also provided in the present invention.
Accordingly, a method for optimizing an actual motion to perform a desired task by a performer is disclosed. The performer having joints connected to body parts. The joints being actuated by muscle forces resulting in body part motion. The actual motion occurring as a result of generated muscle forces which torque the joints, resulting in the actual motion of connective body parts and/or an implement connected thereto. The joints, body parts, implements and their physical characteristics comprise a dynamic system. The method comprises the steps of deriving dynamics equations relating muscle forces to the dynamic behavior of the dynamic system; and computing the optimal motion for performing the desired task by minimizing the higher harmonic content of the muscle forces.
A preferred method for optimizing and correcting the actual motion comprises a first step of performing the actual motion to be analyzed in which each joint in the dynamic system participates in an actual motion. A second step of recording the actual motion is performed simultaneously with the first step. A third step of analyzing the actual motion by measuring the joint angles and absolute joint positions as a function of time is next performed. However, the second step is not essential to practicing the invention since the third step can be done in real time instead of from the recorded actual motion. The analyzed actual motion is then converted into a numerical representation of joint angle and absolute joint position versus time for each joint in the dynamic system in a fourth step. The numerical representation is then extended to form a full period of motion in a fifth step. Alternatively, the in numerical representation is stored for later use. The extended numerical representation is then analyzed in a sixth step to determine the harmonic content for the full period of motion. In a seventh step, dynamics equations are then derived which relate muscle forces to the dynamic behavior of the dynamic system according to the equations of motion. Muscle forces are then computed for the full period of motion using the equations of motion in an eighth step. The optimal motion for performing the desired task is then computed in a ninth step by minimizing the higher harmonic content of the muscle forces. The actual motion is then compared to the optimal motion (or that part of the optimal motion corresponding to the un-extended portion of the full period of motion, namely, the actual motion) in a tenth step. Alternatively, a feedback to the performer is generated in which the performer is instructed and/or prompted on how to modify the actual motion and/or system dynamics in order to more closely achieve the optimal motion.
Another aspect of the present invention is an apparatus for optimizing an actual motion to perform a desired task by a performer. The apparatus comprising a means for analyzing the actual motion to determine the joint angles and absolute joint positions as a function of time for each joint in the dynamic system, a computing means for converting the analyzed actual motion into a numerical representation of joint angle and absolute joint position versus time for each joint in the dynamic system, for extending the numerical representation to form a full period of motion, for analyzing the extended numerical representation to determine the harmonic content for the full period of motion, for computing muscle forces for the full period of motion using dynamic equations of motion, for computing the optimal motion for performing the desired task by minimizing the higher harmonic content of the muscle forces, and for comparing the actual motion to the corresponding segment of the optimal motion. Alternatively, the computing means also generates a feedback signal instructing and/or prompting the performer how to modify the actual motion and/or system dynamics in order to more closely achieve the optimal motion.
The apparatus also preferably comprises a feedback device receiving the generated feedback signal from the computing means for generating modification forces to at least one of the joints in the dynamic system while performing an actual motion for more closely obtaining the optimal motion and an output device, such as a monitor, for superimposing an optimal motion over the actual motion.
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Mattice Michael
Rastegar Jahangir S.
Cuchlinski Jr. William A.
Marc McDieunel
Scully Scott Murphy & Presser
The Research Foundation of State University of New York
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