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1. 发明授权

US10375660B2 System and method for synchronized distributed data collection 有权
公开(公告)号：US10375660B2
公开(公告)日：2019-08-06
申请号：US15355152
申请日：2016-11-18
申请人： Sharp Laboratories of America (SLA), Inc.
发明人： Bryan Hallberg
IPC分类号： H04W48/20 , H04W56/00 , H04W72/02 , H04W72/12 , A61B5/00 , A61B5/11 , H04W84/20
摘要： A system and method are provided for distributed data collection synchronization. Provided are communicating data generation units (DGUs) capable of data storage, having consumable power resources. In response to the DGUs comparing their availability and power resources, a master and slave DGUs are selected, and the slave DGUs synchronize their data collection to a common timing reference supplied by their master DGU. One example of consumable power is battery power. A first DGU may select itself as a master DGU in response to either waiting a first predetermined duration of time after reset, or receiving no link status message from a master DGU for a second predetermined duration of time. Alternatively, a slave first DGU may compare its own available power resources to the available power resources of its master second DGU and select itself as the master DGU when the available power resources of the first DGU are greater.

2. 发明授权

US10646157B2 System and method for measuring body joint range of motion 有权
公开(公告)号：US10646157B2
公开(公告)日：2020-05-12
申请号：US15155943
申请日：2016-05-16
申请人： Sharp Laboratories of America (SLA), Inc.
发明人： Bryan Hallberg
IPC分类号： A61B5/00 , A61B5/11
摘要： A system and method are provided for measuring body joint range of motion using inertial measurement unit (IMU) sensors capable of measuring their orientations relative to Earth. The method mounts a primary IMU sensor on a proximal body segment, and a secondary IMU sensor on a distal body segment connected to the proximal body segment via a joint. The sensor orientation relationship is measured between the primary IMU sensor and the secondary IMU sensor. In one aspect, the sensor orientation relationship is expressed as a quaternion. The sensor orientation relationship is converted into at least one physiologically modeled constituent joint rotation relationship between the proximal body segment and the distal body segment. More explicitly, the sensor orientation relationship is converted to a constituent axial axis, composite radial, or primary and secondary radial rotations of the distal body segment measured with respect to the proximal body segment.

3. 发明申请

US20160327396A1 System and Method for Determining the Orientation of an Inertial Measurement Unit (IMU) 有权
标题翻译：用于确定惯性测量单元（IMU）方向的系统和方法
公开(公告)号：US20160327396A1
公开(公告)日：2016-11-10
申请号：US14873946
申请日：2015-10-02
申请人： Sharp Laboratories of America (SLA), Inc.
发明人： Bryan Hallberg
IPC分类号： G01C21/16
CPC分类号： G01C21/165 , G01C21/16
摘要： A system and method are provided for determining the orientation of an inertial measurement unit (IMU). The method calculates a gyroscopic quaternion, and when the IMU accelerometer reading is about equal to gravity (1 G), a field quaternion is calculated using IMU accelerometer readings. Estimates are made of angular orientation errors due to IMU angular velocity and linear acceleration, and these angular orientation errors are used to selectively mix the gyroscopic quaternion and field quaternion to supply a current sample quaternion. Alternatively, if the accelerometer reading is not about equal to 1 G, the gyroscopic quaternion is used as the current sample quaternion. In one aspect, IMU gyroscope readings and IMU accelerometer readings are calibrated in response to determining a lack of IMU movement. Near-zero gyroscope reading jitter is removed by setting the IMU gyroscopic reading to zero, when the gyroscopic reading is near zero.
摘要翻译：提供了一种用于确定惯性测量单元（IMU）的取向的系统和方法。该方法计算陀螺四分数，当IMU加速度计读数约等于重力（1 G）时，使用IMU加速度计读数计算场四分数。由IMU角速度和线性加速度引起的角度定向误差的估计，并且这些角度定向误差用于选择性地混合陀螺四分数和场四分数以提供当前样本四元数。或者，如果加速度计读数不等于1G，则陀螺仪四元数被用作当前样本四元数。在一个方面，IMU陀螺仪读数和IMU加速度计读数是根据确定缺少IMU运动而被校准的。当陀螺仪读数接近零时，通过将IMU陀螺仪读数设置为零来消除近零陀螺仪读数抖动。

4. 发明申请

US20160324447A1 System and Method for Determining Orientation of Body Segments Using Inertial Measurement Units 审中-公开
标题翻译：使用惯性测量单位确定车体段方向的系统和方法
公开(公告)号：US20160324447A1
公开(公告)日：2016-11-10
申请号：US15091869
申请日：2016-04-06
申请人： Sharp Laboratories of America (SLA), Inc.
发明人： Bryan Hallberg
IPC分类号： A61B5/11 , G01B5/24 , G01P15/02 , G01B7/30
CPC分类号： A61B5/1122 , A61B5/7246 , A61B5/7282
摘要： A system and method is provided for determining the orientation of a body segment using an inertial measurement unit (IMU) sensor capable of measuring its orientation relative to Earth. In general, the method mounts a primary IMU sensor on a first body segment, with an unknown first alignment orientation relationship between the primary IMU sensor and the first body segment. A primary IMU sensor orientation is measured, and an alignment orientation relationship is calculated between the primary IMU sensor orientation and a first body segment orientation. The method may also measure a primary IMU sensor initial orientation and a subsequent orientation. As a result, a subsequent orientation of the first body segment is determined based upon the primary IMU sensor initial and subsequent orientations, as well as the calculation of the alignment orientation relationship between the primary IMU sensor initial orientation and the first body segment orientation.
摘要翻译：提供了一种用于使用能够测量其相对于地球的取向的惯性测量单元（IMU）传感器来确定身体段的取向的系统和方法。通常，该方法将主IMU传感器安装在第一主体段上，其中主IMU传感器和第一主体段之间具有未知的第一对准取向关系。测量主要的IMU传感器方向，并且在主IMU传感器方向和第一身体段方位之间计算对准取向关系。该方法还可以测量初级IMU传感器的初始取向和随后的取向。结果，基于初级IMU传感器初始和随后的取向以及初级IMU传感器初始取向与第一身体段取向之间的对准取向关系的计算，确定第一身体段的随后取向。

5. 发明申请

US20160324461A1 System and Method for Measuring Body Joint Range of Motion 审中-公开
标题翻译：测量身体关节运动范围的系统和方法
公开(公告)号：US20160324461A1
公开(公告)日：2016-11-10
申请号：US15155943
申请日：2016-05-16
申请人： Sharp Laboratories of America (SLA), Inc.
发明人： Bryan Hallberg
IPC分类号： A61B5/00 , A61B5/11
CPC分类号： A61B5/4528 , A61B5/0024 , A61B5/1114 , A61B5/1121 , A61B5/742 , A61B5/7475 , A61B2562/0219
摘要： A system and method are provided for measuring body joint range of motion using inertial measurement unit (IMU) sensors capable of measuring their orientations relative to Earth. The method mounts a primary IMU sensor on a proximal body segment, and a secondary IMU sensor on a distal body segment connected to the proximal body segment via a joint. The sensor orientation relationship is measured between the primary IMU sensor and the secondary IMU sensor. In one aspect, the sensor orientation relationship is expressed as a quaternion. The sensor orientation relationship is converted into at least one physiologically modeled constituent joint rotation relationship between the proximal body segment and the distal body segment. More explicitly, the sensor orientation relationship is converted to a constituent axial axis, composite radial, or primary and secondary radial rotations of the distal body segment measured with respect to the proximal body segment.
摘要翻译：提供了一种使用惯性测量单元（IMU）传感器测量身体关节运动范围的系统和方法，该传感器能够测量相对于地球的方向。该方法将主IMU传感器安装在近端主体段上，并且通过接头将远端主体段上的辅助IMU传感器安装到近端主体段。在主IMU传感器和次IMU传感器之间测量传感器方位关系。在一个方面，传感器取向关系用四元数表示。传感器取向关系被转换成近端主体段和远端主体段之间的至少一个生理学建模的组成关节旋转关系。更明确地，传感器取向关系被转换成相对于近端主体段测量的远侧主体部分的组成轴线，复合径向或初级和次级径向旋转。

6. 发明授权

US09846040B2 System and method for determining the orientation of an inertial measurement unit (IMU) 有权
公开(公告)号：US09846040B2
公开(公告)日：2017-12-19
申请号：US14873946
申请日：2015-10-02
申请人： Sharp Laboratories of America (SLA), Inc.
发明人： Bryan Hallberg
IPC分类号： G01C21/16
CPC分类号： G01C21/165 , G01C21/16
摘要： A system and method are provided for determining the orientation of an inertial measurement unit (IMU). The method calculates a gyroscopic quaternion, and when the IMU accelerometer reading is about equal to gravity (1 G), a field quaternion is calculated using IMU accelerometer readings. Estimates are made of angular orientation errors due to IMU angular velocity and linear acceleration, and these angular orientation errors are used to selectively mix the gyroscopic quaternion and field quaternion to supply a current sample quaternion. Alternatively, if the accelerometer reading is not about equal to 1 G, the gyroscopic quaternion is used as the current sample quaternion. In one aspect, IMU gyroscope readings and IMU accelerometer readings are calibrated in response to determining a lack of IMU movement. Near-zero gyroscope reading jitter is removed by setting the IMU gyroscopic reading to zero, when the gyroscopic reading is near zero.

7. 发明授权

US09750457B2 System and method for determining poor sensor contact in a multi-sensor device 有权
公开(公告)号：US09750457B2
公开(公告)日：2017-09-05
申请号：US14951169
申请日：2015-11-24
申请人： Sharp Laboratories of America (SLA), Inc.
发明人： Bryan Hallberg
IPC分类号： A61B5/00 , A61B5/021 , A61B5/022 , A61B5/024 , A61B5/0408
CPC分类号： A61B5/6843 , A61B5/02416 , A61B5/0245 , A61B5/0408 , A61B5/0428 , A61B5/7221 , A61B5/7246 , A61B5/7475 , A61B2560/0276
摘要： A system and method are provided for determining sensor contact in a multi-sensor device. The method measures a series of photoplethysmography (PPG) heart beat signals, while simultaneously measuring a series of electrocardiogram (ECG) heart beat signals. The method detects a correlation in time between each of a plurality of PPG signals and corresponding ECG signals. In response to the timing between correlated PPG and ECG signals remaining within a first correlation deviation limit, a correlation state is determined. For example, a correlation state may be determined in response to n out of m number of correlated PPG and ECG signals remaining within the correlation deviation limit, where n and m are integers greater than zero.

8. 发明申请

US20170143265A1 System and Method for Determining Poor Sensor Contact in a Multi-Sensor Device 有权
公开(公告)号：US20170143265A1
公开(公告)日：2017-05-25
申请号：US14951169
申请日：2015-11-24
申请人： Sharp Laboratories of America (SLA), Inc.
发明人： Bryan Hallberg
IPC分类号： A61B5/00 , A61B5/0408 , A61B5/024
CPC分类号： A61B5/6843 , A61B5/02416 , A61B5/0245 , A61B5/0408 , A61B5/0428 , A61B5/7221 , A61B5/7246 , A61B5/7475 , A61B2560/0276
摘要： A system and method are provided for determining sensor contact in a multi-sensor device. The method measures a series of photoplethysmography (PPG) heart beat signals, while simultaneously measuring a series of electrocardiogram (ECG) heart beat signals. The method detects a correlation in time between each of a plurality of PPG signals and corresponding ECG signals. In response to the timing between correlated PPG and ECG signals remaining within a first correlation deviation limit, a correlation state is determined. For example, a correlation state may be determined in response to a out of m number of correlated PPG and ECG signals remaining within the correlation deviation limit, where n and m are integers greater than zero.

9. 发明申请

US20170078988A1 System and Method for Synchronized Distributed Data Collection 审中-公开
标题翻译：用于同步分布式数据收集的系统和方法
公开(公告)号：US20170078988A1
公开(公告)日：2017-03-16
申请号：US15355152
申请日：2016-11-18
申请人： Sharp Laboratories of America (SLA), Inc.
发明人： Bryan Hallberg
IPC分类号： H04W56/00
CPC分类号： H04W56/001 , A61B5/0024 , A61B5/1114 , A61B5/1121 , A61B5/4528 , A61B5/742 , A61B5/7475 , A61B2562/0219 , H04W84/20
摘要： A system and method are provided for distributed data collection synchronization. Provided are communicating data generation units (DGUs) capable of data storage, having consumable power resources. In response to the DGUs comparing their availability and power resources, a master and slave DGUs are selected, and the slave DGUs synchronize their data collection to a common timing reference supplied by their master DGU. One example of consumable power is battery power. A first DGU may select itself as a master DGU in response to either waiting a first predetermined duration of time after reset, or receiving no link status message from a master DGU for a second predetermined duration of time. Alternatively, a slave first DGU may compare its own available power resources to the available power resources of its master second DGU and select itself as the master DGU when the available power resources of the first DGU are greater.
摘要翻译：提供了用于分布式数据收集同步的系统和方法。提供能够进行数据存储的通信数据生成单元（DGU），具有可消耗的电力资源。响应于DGU比较其可用性和功率资源，选择主和从DGU，从属DGU将其数据收集同步到由其主DGU提供的公共定时参考。消耗功率的一个例子是电池电量。响应于等待复位后的第一预定持续时间，或者在第二预定持续时间内不从主DGU接收链路状态消息，第一DGU可以将其自身选择为主DGU。或者，从第一DGU可以将其自己的可用功率资源与其主第二DGU的可用功率资源进行比较，并且当第一DGU的可用功率资源较大时，将其自身选择为主DGU。

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