JP2024011553A - motion capture device - Google Patents
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- JP2024011553A JP2024011553A JP2022113633A JP2022113633A JP2024011553A JP 2024011553 A JP2024011553 A JP 2024011553A JP 2022113633 A JP2022113633 A JP 2022113633A JP 2022113633 A JP2022113633 A JP 2022113633A JP 2024011553 A JP2024011553 A JP 2024011553A
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- 210000003423 ankle Anatomy 0.000 claims abstract description 37
- 238000005259 measurement Methods 0.000 claims abstract description 22
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 20
- 210000003127 knee Anatomy 0.000 claims abstract description 17
- 238000001514 detection method Methods 0.000 claims description 17
- 230000003287 optical effect Effects 0.000 claims description 2
- 210000003371 toe Anatomy 0.000 description 7
- 210000002683 foot Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 210000000549 articulatio subtalaris Anatomy 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 210000001149 inferior tibiofibular joint Anatomy 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000001699 lower leg Anatomy 0.000 description 1
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Abstract
Description
特許法第３０条第２項適用申請有り 令和３年７月１６日に自社のＴｗｉｔｔｅｒ ｈｔｔｐｓ：／／ｔｗｉｔｔｅｒ．ｃｏｍ／ｓｈｉｆｔａｌｌ＿ｊｐ／ｓｔａｔｕｓ／１４１５９６６３２７５８８６１８２４４にて公開 〔刊行物等〕 令和３年７月１６日に株式会社Ｓｈｉｆｔａｌｌから一般顧客に向け商品を発送Application for application of Article 30, Paragraph 2 of the Patent Act has been filed.On July 16, 2021, the company's Twitter https://twitter. Published at com/shiftall_jp/status/1415966327588618244 [Publications, etc.] Products will be shipped from Shiftall Co., Ltd. to general customers on July 16, 2021.
本発明は、膝から足首までの少なくとも一部に装着可能なモーションキャプチャ装置に関する。 The present invention relates to a motion capture device that can be worn on at least a portion of the body from the knee to the ankle.
膝から足首を経てつま先までの人体の動きを取得するために、膝から足首までのどこかにモーションキャプチャ装置を装着する。ただし、これだけでは、遠位脛腓関節、距腿関節、距骨下関節の3つの関節からなる関節（以下、足首関節という）の動きを取得することはできない。従来は、足の甲や足の裏など、足首からつま先までの間にもう1つのモーションキャプチャ装置を装着することで足首関節の動きを取得していた。 In order to capture the movement of the human body from the knee to the ankle to the toes, a motion capture device is attached somewhere from the knee to the ankle. However, with this alone, it is not possible to obtain the movement of the three joints (hereinafter referred to as the ankle joint): the distal tibiofibular joint, the talocrural joint, and the subtalar joint. Previously, the movement of the ankle joint was captured by attaching another motion capture device between the ankle and the toes, such as the top of the foot or the sole of the foot.
しかしながら、この従来手法ではモーションキャプチャ装置の個数が増えて原価が高くなると共に、装着箇所が増えることで被装着者の負担が増えるという問題があった。
そこで本発明は、これを解決するモーションキャプチャ装置を提供することを目的とする。
However, this conventional method has the problem that the number of motion capture devices increases, which increases the cost, and increases the number of attachment points, which increases the burden on the wearer.
Therefore, an object of the present invention is to provide a motion capture device that solves this problem.
上記目的を達成するために、本発明のモーションキャプチャ装置は、膝から足首までの少なくとも一部に装着可能なモーションキャプチャ装置であって、膝から足首までのいずれかの人体部位の動きを測定または推測可能な第1センサ、または外部の装置によって膝から足首までのいずれかの人体部位の動きを測定または推測可能な物理的あるいは電気的第２センサ、あるいはその両方を備え、足首関節の動きを取得することを目的とした第３センサと、を備えることを特徴とする。第１センサは加速度センサと角速度センサと地磁気センサと気圧センサのうち少なくとも１つを含むものとする。第２センサとは、例えば筐体に印字または刻印されたマーカー等カメラ等の機器によって光学的に識別容易な特徴、あるいは電波または音波または光波によって識別容易な物理的または電気的な特徴を指すものとする。 In order to achieve the above object, the motion capture device of the present invention is a motion capture device that can be attached to at least a portion of the body from the knee to the ankle, and is capable of measuring the movement of any part of the human body from the knee to the ankle. A first sensor capable of estimating movement of the ankle joint, and/or a second physical or electrical sensor capable of measuring or inferring movement of any body part from the knee to the ankle by an external device. A third sensor for the purpose of acquiring information. The first sensor includes at least one of an acceleration sensor, an angular velocity sensor, a geomagnetic sensor, and an atmospheric pressure sensor. The second sensor refers to a feature that can be easily identified optically by a device such as a camera, such as a marker printed or engraved on the housing, or a physical or electrical feature that can be easily identified by radio waves, sound waves, or light waves. shall be.
本発明のモーションキャプチャ装置は、その個数を減らすことができる。 The number of motion capture devices of the present invention can be reduced.
（実施の形態１）
本発明にかかる実施の形態１について図１を用いて説明する。
図１において、モーションキャプチャ装置１は、膝から足首までの少なくとも一部である、すね部１０の前側（むこうずね側）に取付具８等によって装着される。モーションキャプチャ装置１は、膝から足首までのいずれかの人体部位の動きを測定または推測可能な、加速度センサと角速度センサと地磁気センサと気圧センサのうち少なくとも１つを含む第1センサ２、または外部の装置によって膝から足首までのいずれかの人体部位の動きを測定または推測可能な物理的あるいは電気的第２センサ１６、あるいはその両方を備える。第２センサ１６は、例えば筐体に印字または刻印されたマーカー等カメラ等の機器によって光学的に識別容易な特徴、あるいは電波または音波または光波によって識別容易な物理的または電気的な特徴を指すものとする。また、モーションキャプチャ装置１は、足首関節からつま先までの間に存在する測定箇所１５までの距離１１を測定可能な距離センサを含む第３センサ３を備える。測定箇所１５は単一の点であってもよいし、複数の点や一定面積を持つ面などでもよい。第３センサ３が、電波式センサ、レーザ式センサ、光学式センサ（カメラ含む）、音波式センサ等の非接触式センサの場合、人体に接触する部分が少ないため装着時の不快感が少なく、顧客利便性を向上させることができる。
(Embodiment 1)
Embodiment 1 of the present invention will be described using FIG. 1.
In FIG. 1, a motion capture device 1 is attached to the front side (far shin side) of a shin portion 10, which is at least a portion from the knee to the ankle, using a mounting tool 8 or the like. The motion capture device 1 includes a first sensor 2 including at least one of an acceleration sensor, an angular velocity sensor, a geomagnetic sensor, and an air pressure sensor, or an external sensor capable of measuring or estimating the movement of any part of the human body from the knee to the ankle. A physical and/or electrical second sensor 16 is provided that is capable of measuring or inferring movement of any body part from the knee to the ankle. The second sensor 16 refers to a feature that can be easily identified optically by a device such as a camera, such as a marker printed or engraved on the housing, or a physical or electrical feature that can be easily identified by radio waves, sound waves, or light waves. shall be. The motion capture device 1 also includes a third sensor 3 including a distance sensor capable of measuring a distance 11 to a measurement point 15 located between the ankle joint and the toe. The measurement point 15 may be a single point, a plurality of points, a surface with a constant area, or the like. If the third sensor 3 is a non-contact sensor such as a radio wave sensor, a laser sensor, an optical sensor (including a camera), or a sonic sensor, there is less discomfort when wearing it because there are fewer parts that come into contact with the human body. Customer convenience can be improved.
第１センサと第３センサ、あるいは第２センサと第３センサ、あるいは第１センサと第２センサと第３センサは、必ずしも同一の筐体４に収納されている必要はない。
なお、第３センサ３が非接触式センサの場合、第３センサ３は、発信部５と受信部６を備えていても良い。
The first sensor and the third sensor, the second sensor and the third sensor, or the first sensor, the second sensor, and the third sensor do not necessarily need to be housed in the same housing 4.
In addition, when the 3rd sensor 3 is a non-contact type sensor, the 3rd sensor 3 may be provided with the transmitting part 5 and the receiving part 6.
本発明のモーションキャプチャ装置１は、足首関節からつま先までの間に存在する測定箇所１５とモーションキャプチャ装置１の位置関係を第３センサ３によって計測することで足首関節の動きを取得する。その結果、足首関節からつま先までの間にもう1つのモーションキャプチャ装置を装着することなく、足首関節の動きを把握することができる。 The motion capture device 1 of the present invention acquires the movement of the ankle joint by measuring the positional relationship between the motion capture device 1 and the measurement point 15 existing between the ankle joint and the toe using the third sensor 3. As a result, it is possible to grasp the movement of the ankle joint without having to attach another motion capture device between the ankle joint and the toe.
第３センサ３の測定箇所１５と第３センサ３を結ぶ直線は、筐体４の主面（すね部１０の前側に対向する面）に対して5度から40度の方向に傾くことが望ましい。このように第３センサ３の取付角度７を設けることで、筐体４と第３センサ３の測定箇所１５との間に余剰の衣服が挟まれることに起因する第３センサ３の誤測定を防ぐことができる。特に、取付具８によって衣服が圧縮され、モーションキャプチャ装置１の下部の空間９に衣服の余り部がせり出すことがある。結果、第３センサ３または第３センサ３が発信した計測用の媒体（電波・音波・レーザ波等を含むがこれに限らない）が衣服に当たり、第３センサ３が測定箇所１５との距離を正しく測定することができないことが多い。その場合を考慮すると、第３センサ３の計測点と第３センサ３を結ぶ直線は、筐体４の主面に対して５度から40度の方向に傾くことが望ましい。
なお、第２センサ１６は複数個を備えてもよく、設置位置は筐体４の内部あるいは表面いずれに備えてもよい。
It is preferable that the straight line connecting the measurement point 15 of the third sensor 3 and the third sensor 3 be inclined in the direction of 5 degrees to 40 degrees with respect to the main surface of the housing 4 (the surface facing the front side of the shank portion 10). . By providing the mounting angle 7 of the third sensor 3 in this way, it is possible to prevent erroneous measurements of the third sensor 3 due to excess clothing being caught between the housing 4 and the measurement point 15 of the third sensor 3. It can be prevented. In particular, clothing may be compressed by the attachment 8, and an excess portion of the clothing may protrude into the space 9 below the motion capture device 1. As a result, the third sensor 3 or the measurement medium (including but not limited to radio waves, sound waves, laser waves, etc.) transmitted by the third sensor 3 hits the clothing, and the third sensor 3 measures the distance to the measurement point 15. It is often impossible to measure correctly. Considering that case, it is desirable that the straight line connecting the measurement point of the third sensor 3 and the third sensor 3 be inclined in the direction of 5 degrees to 40 degrees with respect to the main surface of the housing 4.
Note that a plurality of second sensors 16 may be provided, and the second sensor 16 may be installed either inside or on the surface of the casing 4.
（実施の形態２）
本発明にかかる実施の形態２について図２を用いて説明する。実施の形態１と２とで同様の構成は説明を省略する。
図２において、足首関節からつま先までの間に存在する測定箇所１５に触れるよう筐体４から延びた足首動作検出用棒１２と、足首動作検出用棒１２の状態を計測するためのセンサ１３からなる、第３センサを備える。
(Embodiment 2)
Embodiment 2 of the present invention will be described using FIG. 2. Descriptions of configurations that are similar between Embodiments 1 and 2 will be omitted.
In FIG. 2, an ankle motion detection rod 12 extends from the casing 4 so as to touch a measurement point 15 existing between the ankle joint and the toe, and a sensor 13 for measuring the state of the ankle motion detection rod 12. A third sensor is provided.
実施の形態１で用いた第３センサとは異なり、足首動作検出用棒１２を用いることで、実施の形態１と比較すると、足首を大きく動かして筐体４の主面（すね部１０の前側に対向する面）と足の甲の角度が１８０―実施の形態１の図１における取り付け角度７より大きな角度となる姿勢、例えばバレェダンスにおけるポワントの姿勢においても正しく足首関節の動きを取得することができる利点がある。 Unlike the third sensor used in the first embodiment, by using the ankle motion detection rod 12, the ankle movement detection rod 12 is used. Correct movement of the ankle joint can be obtained even in a posture in which the angle between the surface (opposed to There are advantages that can be achieved.
さらに、第３センサは、足首動作検出用棒１２が測定箇所１５に接触するための加圧装置１４を備えても良い。これにより、さらに確実に、足首動作検出用棒１２を足首関節からつま先までの間に存在する測定箇所１５に接触させることができる。この加圧装置１４は必須ではなく、足首動作検出用棒１２の位置や歪み形状やこれに掛かる圧力などから足首関節の動きを測定できればよい。例えばセンサ１３に歪みを計測する電子部品を用い、足首動作検出棒１２の歪みを検出する構成であれば、加圧装置１４は不要となり得る。なお、足首動作検出用棒１２の内部または表面にセンサ１３を備えることもできる。 Further, the third sensor may include a pressurizing device 14 for bringing the ankle motion detection rod 12 into contact with the measurement location 15. Thereby, the ankle motion detection rod 12 can be brought into contact with the measurement point 15 existing between the ankle joint and the toe more reliably. This pressurizing device 14 is not essential, and is sufficient as long as it can measure the movement of the ankle joint from the position and strained shape of the ankle motion detection rod 12, the pressure applied thereto, and the like. For example, if the sensor 13 is configured to use an electronic component that measures strain to detect the strain of the ankle motion detection rod 12, the pressurizing device 14 may be unnecessary. Note that the sensor 13 may be provided inside or on the surface of the ankle motion detection rod 12.
なお、足首動作検出用棒１２の形状によっては測定箇所１５を図３に示したように足の側面や裏面（足の裏）とすることもできるし、図４に示したように足首より後ろ側つまり踵付近とすることもできるし、図４に示した通り複数の測定箇所を設けることもできる。 Note that depending on the shape of the ankle movement detection rod 12, the measurement point 15 can be the side or sole of the foot as shown in FIG. 3, or it can be placed behind the ankle as shown in FIG. It is possible to set the measurement point to the side, that is, near the heel, or to provide a plurality of measurement points as shown in FIG.
本発明のモーションキャプチャ装置は、人体用のモーションキャプチャ装置として有用であり、エンターテインメント事業、医療向け事業等の様々な場面で利用可能性がある。 The motion capture device of the present invention is useful as a motion capture device for the human body, and can be used in various situations such as entertainment business and medical business.
１ モーションキャプチャ装置
２ 第１センサ
３ 第３センサ
４ 筐体
５ 発信部
６ 受信部
７ 取付角度
８ 取付具
９ 空間
１０ すね部
１１ 距離
１２ 足首動作検出用棒
１３ 足首動作検出用棒１２の状態を計測するセンサ
１４ 加圧装置
１５ 測定箇所
１６ 第２センサ
1 Motion capture device 2 First sensor 3 Third sensor 4 Housing 5 Transmitting section 6 Receiving section 7 Mounting angle 8 Mounting tool 9 Space 10 Shin section 11 Distance 12 Ankle motion detection rod 13 Indicates the state of the ankle motion detection rod 12 Measuring sensor 14 Pressure device 15 Measurement point 16 Second sensor
Claims (7)
膝から足首までのいずれかの人体部位の動きを測定または推測可能な第1センサと、
足首関節の動きを取得することを目的とした第３センサと、
を備えることを特徴とするモーションキャプチャ装置。 A motion capture device that can be attached to at least a portion of the body from the knee to the ankle,
a first sensor capable of measuring or inferring movement of any human body part from the knee to the ankle;
a third sensor for the purpose of acquiring the movement of the ankle joint;
A motion capture device comprising:
外部の装置によって膝から足首までのいずれかの人体部位の動きを測定または推測可能な物理的あるいは電気的第２センサと、
足首関節の動きを取得することを目的とした第３センサと、
を備えることを特徴とするモーションキャプチャ装置。 A motion capture device that can be attached to at least a portion of the body from the knee to the ankle,
a physical or electrical second sensor capable of measuring or inferring the movement of any body part from the knee to the ankle by an external device;
a third sensor for the purpose of acquiring the movement of the ankle joint;
A motion capture device comprising:
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| JP2022113633A JP2024011553A (en) | 2022-07-15 | 2022-07-15 | motion capture device |
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| JP2022113633A JP2024011553A (en) | 2022-07-15 | 2022-07-15 | motion capture device |
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| JP2024011553A true JP2024011553A (en) | 2024-01-25 |
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