WO2010122172A1 - Systeme et procede de determination de l'activite d'un element mobile - Google Patents
Systeme et procede de determination de l'activite d'un element mobile Download PDFInfo
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- WO2010122172A1 WO2010122172A1 PCT/EP2010/055560 EP2010055560W WO2010122172A1 WO 2010122172 A1 WO2010122172 A1 WO 2010122172A1 EP 2010055560 W EP2010055560 W EP 2010055560W WO 2010122172 A1 WO2010122172 A1 WO 2010122172A1
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- Prior art keywords
- state
- frequency component
- motion sensor
- probability density
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/18—Complex mathematical operations for evaluating statistical data, e.g. average values, frequency distributions, probability functions, regression analysis
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/29—Graphical models, e.g. Bayesian networks
- G06F18/295—Markov models or related models, e.g. semi-Markov models; Markov random fields; Networks embedding Markov models
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1101—Detecting tremor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1116—Determining posture transitions
Definitions
- the present invention provides a system and method for determining the activity of a movable member.
- An object of the invention is to improve the accuracy of the determination of the activity of a mobile element, particularly for a living being, human or animal.
- a system for determining the activity of a mobile element comprising at least one motion sensor with at least one measurement axis, provided with fixing means for integrally binding said sensor. movement to said moving element.
- the system comprises: - a filter for selecting, for each measurement axis of the motion sensor, high frequencies higher than a first threshold;
- a hidden Markov model is defined by two random processes: a first one which is called a "state" in the present application and which is not observed, or, in other words, which is hidden, and a second which is the observation whose probability density at a given moment depends on the value of the state at the same instant.
- the state takes discrete values, i.e. 0 corresponding to the presence of oscillations and 1 to the absence of oscillations.
- the standard used may be, for example, the sum of the squares of the high frequencies of the measurement axes taken into account by the motion sensor or the square of the Euclidean standard of the high frequencies of the measurement axes taken into account by the motion sensor.
- a motion sensor is a sensor whose signal variations are representative of the motion. Such a system makes it possible to analyze the activity of a mobile element with improved accuracy. Indeed, taking into account the high frequency component allows to use additional information, which can detect small movements of the sensor, or, in other words, oscillations or vibrations, such as tremors.
- the signal produced by the motion sensor at time n may be denoted S (n), and a high frequency component y (n) may be extracted from this signal.
- the probability density P y j of obtaining the value (y (n)), when the mobile element is in a state i. for the high frequency component HF is defined by the following expression:
- k represents the degree of freedom of the high frequency component HF equal to the number of measurement axes taken into account of said motion sensor (CM);
- ⁇ y H is a quantity proportional to the time average of the variable y (n), in state i.
- ⁇ y U is the time average of the variable y (n) divided by k;
- the probability of the high frequency component is of good precision.
- said filter is further adapted to select, for each measurement axis of the motion sensor, low frequencies lower than a second threshold less than or equal to said first threshold, forming a low frequency component of dimension equal to the number measuring axes taken into account of the motion sensor.
- the present invention further utilizes a low frequency component, which makes it possible to determine an orientation of the sensor.
- the probability density for obtaining a pair of values for the low frequency component and the high frequency component is equal to the product of the probability density of the low frequency component.
- said low frequency value probability density, when the moving element is in the i state being defined by the following expression: -MX (H) -M X , YZ, 1 (X (H) -M X ,,) in which: x ⁇ n) represents the low frequency component to the sample of index n it is a vector of dimension q.
- ⁇ x ⁇ represents a vector of the same dimension as the low frequency component, representative of the state of the hidden Markov model considered; and ⁇ /
- ⁇ J ⁇ 2 h vahance of x (n) for the state i.
- the system comprises display means.
- the mobile element EM is a living being, human or animal.
- the system is adapted to determine the activity of the movable element among two states, at rest and in motion.
- the system is adapted to determine the activity of the mobile element among a set of states corresponding to different postures.
- said motion sensor comprises an accelerometer, and / or a magnetometer, and / or a gyrometer
- a method for determining the activity of a mobile element based on data transmitted by at least one motion sensor to at least one measuring axis integrally linked to said element.
- a one-dimensional high frequency component is determined equal to the square of the Euclidean norm of said high frequencies of the measurement axes taken into account by the motion sensor;
- the probability density of said high-frequency component is calculated, this probability density being defined by a Chi-2 law of degree of freedom equal to the number of measurement axes taken into account of said motion sensor;
- the probability density of obtaining the value for the high frequency component is defined by the following expression, when the mobile element is in the state i: y (n)
- k represents the degree of freedom of the high frequency component equal to the number of measurement axes taken into account of said motion sensor
- ⁇ y U is a quantity proportional to the time average of the variable y (n), in state i.
- ⁇ y H is the time average of the variable y (n) divided by k.
- low frequencies lower than a second threshold lower than or equal to said first threshold are selected, and a low frequency component of dimension equal to the number of axes of measurement taken into account of the motion sensor.
- low frequencies lower than one are selected.
- second threshold less than or equal to said first threshold, and determining a low frequency component representing a low frequency component of the measured signal, along the measurement axes taken into account by the motion sensor.
- the low frequency component is a noted vector of dimension q, x (n).
- Pi probability density
- FIGS. 1a and 1b illustrate two exemplary embodiments of a system for determining the activity of a mobile element, according to the invention
- FIG. 2 illustrates an exemplary recording of a system according to one aspect of the invention.
- FIG. 3 illustrates an exemplary recording of a system according to another aspect of the invention.
- FIG. 1 illustrates a system for determining the activity of a mobile element EM, such as a living being, comprising at least one motion sensor CM with at least one measurement axis, internal to a housing BT, provided with means for fixing comprising for example a resilient element, for integrally bonding the motion sensor CM to the movable element EM, via the housing BT.
- the CM motion sensor can be, an accelerometer, a magnetometer, or a gyrometer, with one, two, or three measurement axes.
- the system includes a FILT filter for selecting, for each measurement axis of the CM motion sensor, high frequencies above a threshold S.
- the system also includes a DET determination module of a one-dimensional RF high frequency component equal to the square of the Euclidean norm of said high frequencies of the measurement axes taken into account by the motion sensor CM, and a calculation module CALC the probability of said high-frequency component, said high-frequency component being defined by a Chi-2 law of degree of freedom equal to the number of measuring axes taken into account CM motion sensor.
- the standard used may be the sum of the squares of the high frequencies of the measurement axes taken into account by the motion sensor or the square of the Euclidean standard of the high frequencies of the measurement axes taken into account by the motion sensor.
- AN analysis means make it possible to detect oscillations or vibrations of the moving element EM as a function of time by using a hidden Markov model with 2 states respectively corresponding to the presence or the absence of oscillations or vibrations.
- k represents the degree of freedom of the high frequency component HF equal to the number of measurement axes taken into account of said motion sensor CM
- ⁇ y , t is a quantity proportional to the time average of the variable y (n), in the state i.
- ⁇ y U is the time average of the variable y (n) divided by k.
- the hidden Markov model is in this case defined by:
- This variable, or state is a Markov sequence of order 1, and is therefore characterized by the probabilities of passing from one state to another.
- the probability of passage P (0; 1) between the state 0 and the state 1 is chosen in the range of values [ ⁇ ; 1], for example equal to 0.1
- the probability of passage P (1; 0) between the state 1 and the state 0 is chosen in the range of values [ ⁇ ; l], for example equal to 0.1;
- k 3 and ⁇ y , -, depends on the value of the state i at the moment considered.
- ⁇ y ⁇ y G [l.lO ⁇ . ⁇ .LO "1 ]
- ⁇ y 2.10 ⁇ ⁇
- ⁇ y 1.10 ⁇ ⁇
- ⁇ y 1 -
- Pi (y (n)) represents the probability density associated with the state i, at time n, of y (n).
- Pyj (y (n)) n is generally unsatisfactory. Indeed, the observation of a single sample does not, in general, to determine an attitude: it is necessary to observe several.
- P ⁇ E (0:: N - ⁇ )
- P ⁇ E is proportional to: p (E (O)) p ( ⁇ (O) / E (O)) ⁇ [p (E (n) / E (n-1) p ( ⁇ (n) / E (nj)
- the probabilities p (E (n) / E (n-1)) correspond to probabilities of transition from a state E (n-1) to a state E (n).
- Such a system makes it possible to determine, at reduced cost, a beginning of movement, for example by detecting the transition from state 0 to state 1.
- Figures 2 and 3 illustrate system recordings according to two aspects of the invention, using the low frequency components BF and HF high frequencies of the system sensors.
- the FILT filter for selecting, for each measurement axis of the CM motion sensor, high frequencies above a threshold S, and low frequencies below said threshold S.
- a first threshold S1 to select the high frequencies
- a second threshold S2 less than or equal to a first threshold S1
- the DET determination module is capable of determining a one-dimensional HF high frequency component equal to the square of the Euclidean norm of said high frequencies of the measurement axes taken into account by the motion sensor CM, and a low frequency component BF corresponding to a low signal.
- CM motion sensor frequency is capable of determining a one-dimensional HF high frequency component equal to the square of the Euclidean norm of said high frequencies of the measurement axes taken into account by the motion sensor CM, and a low frequency component BF corresponding to a low signal.
- an SG * (n) estimate of SG (n) is obtained.
- x (n) we can then define a low frequency component x (n), equal to SG * the instant n.
- x (n) can determine x (n) using only one component (for example the vertical axis), or several components Sk of the signal S.
- the calculation module CALC makes it possible to calculate the probability density P y , j, corresponding to the state i, of said high frequency component HF and the probability density P x j, corresponding to the state i, of said low component BF frequency, said high frequency component HF being defined by a Chi-2 law with a degree of freedom and said low frequency component BF being defined by a Gaussian law.
- the analysis means AN make it possible to determine a posture of the user as a function of time by using a hidden Markov model with N states respectively corresponding to N postures.
- the calculation module calculates, for each state, the probability probability density Pi (x (n), y (n)) for obtaining a pair of values (x (n), y (n)), which here we can call here the joint probability density associated with the state i for the low frequency component BF and the high frequency component HF being equal to the product of the probability density P x of obtaining the value x (n) for the low frequency component BF and the probability density P y of obtaining the value y (n) for the high frequency component HF, said probability densities P x j, P y j being defined by the following expressions:
- x ⁇ n represents the low frequency component BF to the index sample
- ⁇ x ⁇ represents a vector of the same dimension as the low frequency component BF, representative of the state of the hidden Markov model considered
- i represents the absolute value of the determinant of the covariance matrix ⁇ i for the state iy (n) represents the sample of index n
- ⁇ y , t is a quantity proportional to the time average of the variable y (n), in state i.
- ⁇ y U is the time average of the variable y (n) divided by k.
- Pi (x (n), y (n)) represents the joint probability density associated with the state i, at time n, of x (n) and y (n). It corresponds here to the product of the previously defined probability densities P x ⁇ (x (n)) and P y ⁇ (y (n)).
- the observed data ⁇ (n) are derived from the processing of the signal S (n) measured by the motion sensor CM.
- ⁇ (n) ⁇ (n), y (n) ⁇ , x (n) and y (n) are respectively said low and high frequency components of the signal S (n) considered at 1 moment n.
- the system also includes an AFF display screen.
- the system comprises an accelerometer with a measurement axis and a fixing element for fixing the accelerometer at the torso of the user so that the measurement axis coincides with the vertical axis VT of the body. when the user is upright.
- the hidden Markov model used includes four states corresponding to four postures, standing or sitting posture
- the transition probability probabilities P (state / state j ) of a state state corresponding to a posture of the hidden Markov model to another state state j corresponding to a hidden Markov model posture are as follows, chosen so as to ensure good stability to the system:
- the analysis module AN determines the most probable sequence of states (postures), as previously described: from
- the various elements of the system may, for example be integrated in the same housing as shown in Figure 1a, or some outsourced, for example in a laptop, as shown in Figure 1b.
- Figure 2 illustrates an example of a system user registration of the first example, on the lower graph, and the result provided by the system that indicates that the user was in the standing or sitting posture (state 1) while 36 seconds, then in the walking posture (state 2) for 16 seconds, then in the standing or sitting posture (state 1) for 8 seconds, then in the leaning posture (state 3) for 18 seconds, then in the upright posture or sitting (state 1) for 6 seconds, then in the walking posture (state 2) for 30 seconds, then in the tilted posture (state 3) for 38 seconds, then in the standing or sitting posture (state 1) for 8 seconds. seconds, then in the walking posture (state 2) for 51 seconds, and finally ends up in standing or sitting posture (state 1).
- the system comprises a first accelerometer with a measurement axis and a first attachment element for fixing the first accelerometer at the torso of the user so that the measurement axis coincides with the vertical axis VT. of the body when the user is standing upright, and a second accelerometer to a measurement axis and a second attachment element to fix the second accelerometer at the level of the thigh of the user so that the measurement axis coincides with the VT vertical axis of the body when the user is standing upright.
- S (n) represents the signal from the two accelerometers at instant n.
- the hidden Markov model used includes four states corresponding to four postures, standing posture (state 1), sitting posture (state 2), elongated posture (state 3), and posture walking (state 4).
- x (n) represents the pair of respective low frequency components BF of said two accelerometers along the measurement axis coinciding with the vertical axis VT
- y (n) represents the high frequency component RF of said second accelerometer.
- x (n) is of dimension 2.
- the probability density P x j for a state i of obtaining the value x (n) is defined by the following expression:
- ⁇ i is a diagonal matrix of dimensions 2, whose first term is ⁇ , i and whose second term is ⁇ i 2 .
- This matrix describes the covariance matrix of the signal x (n) for the state i of the model.
- ⁇ x , i represents a two-component column vector, representative of the state i of the model.
- the probabilities of the variables x (n) and y (n) associated with these states are defined by the probabilities above, with the following parameters: - for the standing posture (state 1), the parameters of the densities of
- ⁇ (n) ⁇ x (n), y (n) ⁇ , x (n) and y (n) are respectively low and high frequency components of the signal S (n) measured by two accelerometers at time n,
- transition probability probabilities P (state / state j ) of a state state corresponding to a posture of the hidden Markov model to another state state j corresponding to a hidden Markov model posture are as follows, chosen so as to ensure good stability to the system:
- Figure 3 shows an example of a system user record of the first example, on the lower graph, and the result provided by the system which indicates that the user has been in the sitting posture (state 2) for 50 seconds, then in the stance (state 4) for 85 seconds, then in the upright posture (state 1) for 50 seconds, then in the walking posture (state 4) for 61 seconds, then in the sitting posture (state 2) for 8 seconds, then in the lying posture (state 3) for 94 seconds, then in the walking posture (state 4) for 54 seconds, and finally ends up in the sitting posture (state 2).
- the set of observed quantities ⁇ (n) can also gather said high frequency component y (n) and a component x (n), the latter representing a low frequency component of S (n).
- ⁇ ⁇ n) ⁇ x (ti), y ⁇ n) ⁇
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Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/266,094 US9489600B2 (en) | 2009-04-24 | 2010-04-26 | System and method for determining the activity of a mobile element |
JP2012506529A JP2012524578A (ja) | 2009-04-24 | 2010-04-26 | 可動要素の活動を決定するためのシステム及び方法 |
CN2010800226262A CN102438522A (zh) | 2009-04-24 | 2010-04-26 | 用于确定移动元素的活动的***和方法 |
EP10715837A EP2421437A1 (fr) | 2009-04-24 | 2010-04-26 | Systeme et procede de determination de l'activite d'un element mobile |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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FR0952690 | 2009-04-24 | ||
FR0952690 | 2009-04-24 |
Publications (1)
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WO2010122172A1 true WO2010122172A1 (fr) | 2010-10-28 |
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PCT/EP2010/055560 WO2010122172A1 (fr) | 2009-04-24 | 2010-04-26 | Systeme et procede de determination de l'activite d'un element mobile |
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US (1) | US9489600B2 (fr) |
EP (1) | EP2421437A1 (fr) |
JP (1) | JP2012524578A (fr) |
KR (1) | KR20120016236A (fr) |
CN (2) | CN104036283A (fr) |
WO (1) | WO2010122172A1 (fr) |
Cited By (2)
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JP2012187162A (ja) * | 2011-03-09 | 2012-10-04 | Hitachi Ltd | 臥位推定装置、臥位推定システム及び臥位推定方法 |
EP2835769A1 (fr) | 2013-08-05 | 2015-02-11 | Movea | Procédé, dispositif et système de capture annotée de données de capteurs et de modélisation de la foule d'activités |
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CN103115783B (zh) * | 2013-01-18 | 2015-12-09 | 浙江吉利汽车研究院有限公司杭州分公司 | 一种有线控制爆胎模拟装置 |
CN104076392B (zh) * | 2014-05-28 | 2015-04-22 | 中国矿业大学(北京) | 基于网格搜索和牛顿迭代的微震震源定位联合反演方法 |
JP6684834B2 (ja) * | 2015-08-19 | 2020-04-22 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 口腔清掃装置の位置特定のための方法及びシステム |
KR102324546B1 (ko) * | 2020-01-02 | 2021-11-10 | 우주라컴퍼니 주식회사 | 가속도 센서에 기반한 고양이의 동작 분석 방법 |
EP4346582A2 (fr) * | 2021-05-23 | 2024-04-10 | Mellodge, Patricia, A. | Appareil et procédé de mesure de changements progressifs dans une commande posturale partielle |
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- 2010-04-26 WO PCT/EP2010/055560 patent/WO2010122172A1/fr active Application Filing
- 2010-04-26 CN CN201410184276.XA patent/CN104036283A/zh active Pending
- 2010-04-26 EP EP10715837A patent/EP2421437A1/fr not_active Withdrawn
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- 2010-04-26 US US13/266,094 patent/US9489600B2/en active Active
- 2010-04-26 CN CN2010800226262A patent/CN102438522A/zh active Pending
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JP2012187162A (ja) * | 2011-03-09 | 2012-10-04 | Hitachi Ltd | 臥位推定装置、臥位推定システム及び臥位推定方法 |
EP2835769A1 (fr) | 2013-08-05 | 2015-02-11 | Movea | Procédé, dispositif et système de capture annotée de données de capteurs et de modélisation de la foule d'activités |
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KR20120016236A (ko) | 2012-02-23 |
US20120158351A1 (en) | 2012-06-21 |
CN104036283A (zh) | 2014-09-10 |
EP2421437A1 (fr) | 2012-02-29 |
JP2012524578A (ja) | 2012-10-18 |
US9489600B2 (en) | 2016-11-08 |
CN102438522A (zh) | 2012-05-02 |
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