公开(公告)号：US20190332171A1

公开(公告)日：2019-10-31

申请号：US16508249

申请日：2019-07-10

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 ,  A63F13/212 ,  A63F13/235 ,  A63F13/211

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：US20190212807A1

公开(公告)日：2019-07-11

申请号：US15864860

申请日：2018-01-08

Applicant: Finch Technologies Ltd.

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

IPC: G06F3/01

Abstract: A system including a plurality sensor modules, each having an inertial measurement unit and attached to a portion of a user (e.g., upper arm, hand, and/or head) to measure the current orientation of the corresponding portion of the user. A computing device coupled to the sensor modules is configured to identify a type of the current pose of the user, compute a front facing direction of the torso of the user from the sensor measurements, select a torso leaning model based on the pose type, project onto a vertical plane the lengthwise directions of the arms of the user as tracked by the sensor modules attached to the upper arms of the user, and calculate a torso leaning angle from the projected lengthwise directions of the arms.

公开(公告)号：US20230011082A1

公开(公告)日：2023-01-12

申请号：US17369239

申请日：2021-07-07

Applicant: Finch Technologies Ltd.

Inventor： Viktor Vladimirovich Erivantcev ,  Rustam Rafikovich Kulchurin ,  Ratmir Rasilevich Gubaidullin ,  Alexey Andreevich Gusev ,  Roman Tagirovich Karimov ,  Guzel Kausarevna Khurmatullina

IPC: H04W84/18 ,  G06N3/08 ,  G06K9/62

Abstract: A system to combine inertial-based measurements and optical-based measurements via a Kalman-type filter. For example, a sensor module uses an inertial measurement unit to generate first positions and first orientations of the sensor module at a first time interval during a first period of time containing multiple of the first time interval. At least one camera is used to capture images of the sensor module at a second time interval, larger than the first time interval, during the first period of time containing multiple of the second interval. Second positions and second orientations of the sensor module during the first period of time are computed from the images. The filter receives the first positions, the first orientations, the second positions, and the second orientations to generate estimates of position and orientation of the sensor module at a time interval no smaller than the first time interval.

公开(公告)号：US20200081534A1

公开(公告)日：2020-03-12

申请号：US16683648

申请日：2019-11-14

Applicant: Finch Technologies Ltd.

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

IPC: G06F3/01 ,  G06F3/038 ,  G06F3/0354 ,  G06F3/0346 ,  A63F13/24 ,  A63F13/211 ,  A63F13/235

Abstract: A data input device having inertial sensor units, one or more touch input devices, a microcontroller configured to collect sensor data from the inertial sensors and the one or more touch input devices and process the sensor data to generate processed sensor data, and a wireless transceiver configured to transmit the processed sensor data to a host computer. A method can include: receiving sensor data from a handheld device; calculating hand movement characteristics in three dimensional space based on the sensor data; calculating the position and orientation of the components of the handheld device; identifying positions and movements of one or more fingers of a user manipulating the handheld device; identifying a gesture from the positions and movements of one or more fingers of a user manipulating the handheld device; identifying a recognized gesture corresponding to the identified gesture; and dispatching an event notifying the gesture to an application.

公开(公告)号：US20180335834A1

公开(公告)日：2018-11-22

申请号：US15813813

申请日：2017-11-15

Applicant: Finch Technologies Ltd.

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

IPC: G06F3/01 ,  B81B7/02

CPC classification number: G06F3/012 ,  B81B7/02 ,  B81B2201/0235 ,  B81B2201/0242 ,  G06F3/011 ,  G06F3/016

Abstract: A system including: two arm modules each having an inertial measurement unit and attached to an upper arm of a user to measure the current orientations of the upper arms of the user; a head module having an inertial measurement unit and attached to the head of the user to measure the current orientation of the head; and a computing device coupled to the arm modules and the head module to calculate, based on the current orientations of the upper arms and the current orientation of the head, the current orientation of the torso of the user.

公开(公告)号：US20230214027A1

公开(公告)日：2023-07-06

申请号：US17565765

申请日：2021-12-30

Applicant: Finch Technologies Ltd.

Inventor： Viktor Vladimirovich Erivantcev ,  Ravil Rustemovich Kurbanaev ,  Rustam Rafikovich Kulchurin

IPC: G06F3/0346 ,  G06F3/01

CPC classification number: G06F3/0346 ,  G06F3/011 ,  G06F3/016

Abstract: A system to extrapolate from motion states measured for past time instances during a user movement to predict motion states at a subsequent time instance at a display of a virtual object corresponding to the user movement. The prediction can be used to render the display and reduce or eliminate the lag between user action and corresponding action of the virtual object. An artificial neural network can be trained to improve the prediction accuracy based on patterns of user movements in the use of the application displaying virtual reality, augmented reality, mixed reality, and/or extended reality.

公开(公告)号：US10509464B2

公开(公告)日：2019-12-17

申请号：US15864860

申请日：2018-01-08

Applicant: Finch Technologies Ltd.

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

IPC: G06F3/01

Abstract: A system including a plurality sensor modules, each having an inertial measurement unit and attached to a portion of a user (e.g., upper arm, hand, and/or head) to measure the current orientation of the corresponding portion of the user. A computing device coupled to the sensor modules is configured to identify a type of the current pose of the user, compute a front facing direction of the torso of the user from the sensor measurements, select a torso leaning model based on the pose type, project onto a vertical plane the lengthwise directions of the arms of the user as tracked by the sensor modules attached to the upper arms of the user, and calculate a torso leaning angle from the projected lengthwise directions of the arms.

公开(公告)号：US20180335855A1

公开(公告)日：2018-11-22

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

CPC classification number: G06F3/014 ,  A63F13/211 ,  A63F13/212 ,  A63F13/235 ,  G06F3/011 ,  G06F3/017 ,  G06F3/0346

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：US20180335843A1

公开(公告)日：2018-11-22

申请号：US15792255

申请日：2017-10-24

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

Abstract: A system including: a first sensor module having an inertial measurement unit and attached to a palm of a hand of a user; a second sensor module having an inertial measurement unit and attached to a first bone of a finger (e.g., a middle or proximal phalange bone) on the palm; and a computing device coupled to the first sensor module and the second sensor module to calculate, based on the orientation of the palm and the orientation of the first bone, orientations of the second bones of the finger (e.g., a distal or proximal phalange bone, a metacarpal bone of the thumb) that have no separately attached inertial measurement unit, according to a predetermined ratio of rotation from a reference orientation along a same axis of rotation.

公开(公告)号：US11093036B2

公开(公告)日：2021-08-17

申请号：US16508249

申请日：2019-07-10

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.