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Patent US10786728
Issued 2020-09-29
Motion Mirroring System That Incorporates Virtual Environment Constraints
A system that mirrors motion of a physical object by displaying a virtual object moving in a virtual environment. The mirroring display may be used for example for feedback, coaching, or for playing virtual games. Motion of the physical object is measured by motion sensors that may for example include an accelerometer, a gyroscope, and a magnetometer. Sensor data is transmitted to a computer that calculates the position and orientation of the physical object and generates a corresponding position and orientation of the virtual object. The computer may correct or adjust the calculations using sensor data redundancies. The virtual environment may include constraints on the position, orientation, or motion of the virtual object. These constraints may be used to compensate for accumulating errors in position and orientation. The system may for example use proportional error feedback to adjust position and orientation based on sensor redundancies and virtual environment constraints.
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- 1. A motion mirroring system that incorporates virtual environment constraints, comprising
a motion capture element configured to couple with a moveable object located in a real environment, wherein said motion capture element comprises
a sensor configured to capture one or more values associated with an orientation, position, velocity, acceleration, angular velocity, and angular acceleration of said motion capture element;
a first communication interface; and,
a microprocessor coupled with said sensor and said first communication interface, wherein said microprocessor is configured to
collect data that comprises said one or more values from said sensor;
transmit said data via said first communication interface;
a computer that comprises
a display;
a memory that contains
a virtual environment state comprising a position and orientation of a virtual object in a virtual environment, wherein said virtual object represents said moveable object in said virtual environment, and wherein said virtual environment state mirrors motion of said moveable object in said real environment with motion of said virtual object in said virtual environment; and,
one or more constraints on said position and orientation of said virtual object in said virtual environment;
a second communication interface configured to communicate with said first communication interface to obtain said data;
wherein said computer is configured to
receive said data via said second communication interface;
calculate a position and orientation of said moveable object in said real environment from said data;
apply one or more corrections to said position and orientation of said moveable object in said real environment based on one or more redundancies in said data,
wherein said sensor comprises a 3-axis accelerometer, a 3-axis rate gyroscope, and a 3-axis magnetometer, and
wherein said one or more redundancies in said data is obtained from said 3-axis rate gyroscope combined with said 3-axis accelerometer and said a 3-axis magnetometer;
transform said position and orientation of said moveable object in said real environment into said position and orientation of said virtual object in said virtual environment after said apply said one or more corrections;
apply said one or more constraints in said virtual environment to compensate for accumulating errors in said position or orientation;
determine whether said position and orientation of said virtual object in said virtual environment satisfies said one or more constraints;
when said position and orientation of said virtual object in said virtual environment does not satisfy one or more of said one or more constraints, modify said position and orientation of said virtual object in said virtual environment to satisfy said one or more constraints to compensate for an error in said position and orientation not fully corrected by said one or more corrections as an error correction applied after said one or more constraints are applied in said virtual environment,
wherein said error correction is in addition to said one or more corrections,
wherein said error correction comprises continuous error correction or periodic proportional error correction, and
wherein said continuous error correction or said periodic proportional error correction is based on a type of constraint of said one or more constraints, such that said type of constraint determines whether said continuous error correction is applied or whether said periodic proportional error correction is applied; and, display said virtual environment and said virtual object on said display.
