公开(公告)号：US10379613B2

公开(公告)日：2019-08-13

申请号：US15787555

申请日：2017-10-18

Applicant: Finch Technologies Ltd.

Inventor： Viktor Vladimirovich Erivantcev ,  Rustam Rafikovich Kulchurin ,  Alexander Sergeevich Lobanov ,  Iakov Evgenevich Sergeev ,  Alexey Ivanovich Kartashov

IPC: G06F3/01 ,  G06F3/0346 ,  A63F13/211 ,  A63F13/212 ,  A63F13/235

Abstract: A system including: a first sensor module having an inertial measurement unit and attached to an upper arm of a user, the first sensor module generating first motion data identifying an orientation of the upper arm; a second sensor module having an inertial measurement unit and attached to a hand of the user, the second sensor module generating second motion data identifying an orientation of the hand; and a computing device coupled to the first sensor module and the second sensor module through communication links, the computing device calculating, based on the orientation of the upper arm and the orientation of the hand, an orientation of a forearm connected to the hand by a wrist of the user and connected to the upper arm by an elbow joint of the user.

公开(公告)号：US20190187784A1

公开(公告)日：2019-06-20

申请号：US15847669

申请日：2017-12-19

Applicant: Finch Technologies Ltd.

Inventor： Viktor Vladimirovich Erivantcev ,  Ravil Salavatovich Shafikov ,  Alexander Sergeevich Lobanov ,  Iakov Evgenevich Sergeev ,  Alexey Ivanovich Kartashov ,  Daniil Olegovich Goncharov

IPC: G06F3/01 ,  G06T7/70

Abstract: A system including: a sensor module having an inertial measurement unit and attached to the head of a user. The sensor module is initially calibrated to measure its orientation relative a reference pose. To recalibrate the sensor module according to a calibration pose, a camera of the sensor module is used to capture an image of at least one optical mark (e.g., configured on devices held in hands in the calibration pose in front of the user). A direction identified from the image is rotated according to the rotational transformation between the reference pose and the calibration pose measured by the sensor module and then projected on to a horizontal plane relative to the reference pose. The angle in the horizontal plane between the projected direction and the front facing direction is used for the calibration of the subsequent orientation measurements of the sensor module.