Sword Health S.a.

José Carlos Coelho Alves

Virgílio António Ferro Bento

Márcio Filipe Moutinho Colunas

Pedro Henrique Oliveira Santos

Luís António Correia De Oliveira

Pedro Filipe Xavier Rodrigues

Pedro Miguel Moreira De Sousa

João Paulo Dias Andrade

Luís Ungaro Pinto Coelho

Ivo Emanuel Marques Gabriel

Pedro Miguel Simões Bastos Martins

Rui Xavier Fialho Costa

André Moura Rodrigues Nogueira

A method for establishing wireless communications connections between sensors and a computing apparatus of a motion tracking system include the steps: processing radiofrequency signals received by the computing apparatus and transmitted by each sensor, each radiofrequency signal including an advertisement package of the respective sensor; providing a number of RSSI per sensor based on the processed radiofrequency signals; computing and storing mean RSSI values based on the number of RSSI so that a number of RSSImean values is computed per sensor; computing velocities of change of RSSImean, vRSSI, based on the number of RSSImean values so that a number of vRSSI values is computed per sensor; establishing the wireless communications for which at least the following is fulfilled: the computing apparatus determines that at least some vRSSI values within a first period of the number of vRSSI values of each sensor has a modulus greater than a predetermined minimum velocity.

Wireless connections between devices of motion tracking system and authentication of a user thereof

A method for allowing or disallowing control of a motion tracking system by means of voice, comprising: digitally processing sound detected by each microphone of the at least one microphone; digitally computing SNR by computing both first energy of a voice signal in the detected sound and second energy of noise in the detected sound; digitally processing electromagnetic waves captured by each antenna of the at least one antenna so as to detect data packets transmitted to the computing apparatus by each sensor of the plurality of sensors, each data packet including RSSI of a respective sensor; digitally computing distance between each sensor and the computing apparatus based on the RSSI of the data packets received from the respective sensor; digitally computing a percentage of sensors of the plurality of sensors having at least one of: a distance exceeding a predetermined maximum distance threshold, and a change in distance exceeding a predetermined maximum changing distance threshold; and digitally setting allowance or disallowance of voice control based on both the SNR computed and the percentage of sensors computed.

Detection of environment for voice control of motion tracking system

Motion tracking systems and methods for determining how a plurality of trackers is positioned on a plurality of body members of a person may include: wirelessly receiving, by a computing device, one or more first data packets of each tracker of the plurality of trackers; digitally determining a first direction in which the computing device is relative to the respective tracker by computing an angle of departure of the one or more first data packets; digitally determining based on the first directions, a second direction in which each tracker of the plurality of trackers is relative to one or more other trackers of the plurality of trackers; and digitally determining on which body member is each tracker of the plurality of trackers positioned on the person at least based on both the second directions and the plurality of body members requiring to have a tracker positioned thereon.

Assessment of position of motion trackers on a subject based on wireless communications

A method includes the following steps: processing, by a computing device, at least a stretch value per strap of straps of a motion tracking system; comparing, by the computing device, the stretch value of each strap or a length value derived therefrom with a stored baseline value of the respective strap, the stored value being associated with the same person, and the length value being representative of a length of a respective strap at least based on the respective stretch value. The method further includes executing, by the computing device, a corrective action at least when one of the comparisons made exceeds a predetermined threshold. Also, a motion tracking system, a data processing device, a computer program, and a computer-readable medium are related.

Sensing of stretching of straps of motion tracking system for enhanced usage of the system

A method for controlling a motion tracking system, including the steps of: digitally processing sound waves detected by a plurality of microphones so as to detect a voice of a user and estimate a first direction of the user; digitally processing electromagnetic waves captured by antennas so as to detect data packets transmitted to a computing apparatus by sensors and estimate second directions of each sensor; digitally averaging the second directions so as to provide an average direction for the sensors; digitally computing a difference between the first direction and the average direction; and starting to digitally track motion of the user based on measurements of each sensor when the computed difference does not exceed a predetermined difference threshold.

Control of a motion tracking system by user thereof

A method for assessing whether one or more trackers are positioned on a person according to a predetermined configuration of tracker positions, comprising: transmitting, from a computing device to at least one tracker of the one or more trackers, an instruction to change an operation of the light emitter of the tracker to which the instruction is transmitted; taking one or more images by the optical sensing device; digitally processing the one or more images to digitally determine both first positions of a plurality of joints of the person on each image, and second positions of the one or more trackers positioned on the person on each image based on both a light of the light emitter of each of the one or more trackers and the transmitted instructions; digitally determining on which body member each of the one or more trackers is positioned on the person based on the first and second positions; and digitally comparing the position of each of the one or more trackers on the body members with the predetermined configuration of tracker positions.

Digital assessment of position of motion trackers on a person

A method comprising: wirelessly receiving, at a first device, at least one data packet from each second device of a plurality of second devices arranged at predetermined locations of a target; detecting an angle of arrival of each at least one data packet wirelessly received of at least a pair of second devices; calculating at least one angle difference between the angles of arrival associated with the pair of second devices, or between the angles of arrival associated with each of the pair of second devices and a predetermined direction; and determining whether the target is at a predetermined distance range from the first device by estimating the distance based on the at least one angle difference, and a predetermined distance between the predetermined locations; or checking whether each of the at least one angle difference is within a predetermined angle range for the predetermined locations of the pair of second devices. Also, a method for making such determination based on angles of departure.

Estimation or verification of distance of a target with angle of arrival or angle of departure data

A method including: wirelessly transmitting and receiving data packets between first and second apparatuses; determining first and second angles of arrival at each apparatus for electromagnetic waves of the received data packets; providing first and second directions of arrival corresponding to the angles of arrival; converting the first and second directions into a global frame; projecting the first and second converted directions onto a horizontal plane; and computing a first drift estimate for a gyroscope or IMU of the first apparatus relative to the second apparatus, and/or computing a second drift estimate for a gyroscope or IMU of the second apparatus relative to the first apparatus, the first drift estimate being based on a difference between the projected second direction and a mirrored projected first direction, and the second drift estimate being based on a difference between the projected first direction and a mirrored projected second direction.

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Oporto, Portugal

José Carlos Coelho Alves