RU2851437C1 - Method and system for telemetry of kinematic parameters of movement and training load of figure skater with biological feedback - Google Patents

Abstract

FIELD: measuring technology.

SUBSTANCE: invention relates to measuring technology, namely to sensors for recording, processing and telemetry of data on the kinematic parameters of movement and motor activity of an athlete. A tracker is placed on the skater's body to record events performed by the skater, the tracker is connected to a control unit, accounts for the skater and coach are created for the tracker, angular velocities, linear accelerations and changes in the skater's position in space are recorded during training, the events are analysed based on the data array and the indicators of the performed events and the stability of their performance in various phases are determined with the detection of events on a time scale, the load, volume, density and intensity of the training are analysed, during training in real time, the skater receives biological feedback in the form of sound, and/or vibration and/or light signals indicating an error or the achievement of a target parameter in the analysed events, upon receipt of which the skater corrects the actions being performed and/or changes the volume of training, and/or the intensity of training, and/or the density of training.

EFFECT: system with biological feedback to improve the effectiveness of the training process for figure skaters.

19 cl, 7 dwg, 1 tbl

Description

The invention relates to measuring equipment, namely to sensors for recording, processing and telemetry of data on the kinematic parameters of movement and motor activity of an athlete in figure skating for assessing the quality of exercise performance and load parameters for the purpose of optimizing and increasing the efficiency of the educational and training process [A63B 22/00, A63B 22/00, A63B 26/00, A63B 71/00, A63B 71/06, G08C 17/00, G01C 19/00, G01C 21/00, G01C 21/20, G01C 23/00, G06F 17/40, G01P 3/42, G01P 15/00].

Currently, there are a number of methods and devices designed to improve the technique of athletes in complex coordination sports, such as figure skating, artistic and rhythmic gymnastics, diving and trampoline diving, synchronized swimming, etc. These include the SYSTEM OF TRAINING AND MEASURING THE MOVEMENT PARAMETERS OF A FIGURE SKATER WHEN PERFORMING COMPLEX COORDINATION MOTOR ACTIONS OF A ROTATIONAL NATURE [RU 2319531 C2, publ. 20.03.2008], comprising a sound indication unit, characterised in that it contains a grouping sensor fixed to the figure skater's body in the region of the required position of the body links and connected to the sound indication unit, a grouping sensor closure unit and additional grouping sensors connected to it, fixed in the regions of the required position of the body links, a jump recognition unit, a jump duration measurement and indication unit, wherein the skate contact sensors with the ice and the grouping sensor are connected to the jump recognition unit connected to the jump duration measurement and indication unit, a linear accelerometer and a unit for calculating and indicating the angular velocity of the figure skater's rotation connected to it, wherein the linear accelerometer is fixed to the figure skater's body so that its sensitivity axis is perpendicular to the longitudinal axis of the figure skater's body.

The main drawback of this analogue is its limited functionality, due to its sole function of developing grouping skills based on biofeedback. Furthermore, the dispersed placement of the elements on the athlete's body is inconvenient for continuous use, as it essentially functions as a vest, which is not suitable for continuous use throughout a training session. This type of use, however, does not allow for the monitoring of load parameters throughout the entire training session, which would optimize and improve the effectiveness of the training process.

Also known is a METHOD FOR MEASURING THE PARAMETERS OF ROTATIONAL AND TRANSLATIONAL MOTION OF FIGURE SKATERS IN PAIR SKATING [RU 2493898 C2, published 20.09.2013], which consists in that a gyroscopic angular velocity sensor and an accelerometer are installed on the athlete and with their help the parameters of his rotational and translational motion are measured, characterized in that the gyroscopic angular velocity sensor and the accelerometer are installed on the belt of both athletes, the time generators of the angular velocity sensors of both skaters are synchronized, the current angular velocity of both skaters is measured when performing parallel jumps and spins over the same time interval, the average angular velocity of rotation of both skaters is calculated for the same time interval, the asynchrony of the average angular velocities of rotation of the skaters is calculated, by which the angle of misalignment between the two skaters is determined.

The analogue is an improved version of the previous patent RU 2493898 C2 and is designed for pair figure skating. However, the method tracks mutual movements using angular velocities and does not allow for determining changes in the athletes' spatial positions relative to the Earth's magnetic field, which complicates calculations and reduces measurement accuracy. Furthermore, the analogue can assess the synchronicity of skaters' performance, but does not allow for the evaluation of event parameters or monitoring of training load, thereby reducing its functionality.

In recent years, motion capture technology has become widespread. A known technology is the MOTION CAPTURING SYSTEM [RU 121947 U1, publ. 10.11.2012], comprising at least one mobile measuring device for determining and transmitting data with parameters of the captured motion, at least one signal receiver connected by wireless communication channels with at least one mobile measuring device, a data processing, storage and visualization unit connected to the data receiver, wherein the mobile measuring device includes an autonomous power source, a wireless sensor network module, an inertial measurement module connected by communication channels to the wireless sensor network module for calibration and wireless transmission of data to the data processing, storage and visualization unit, wherein the inertial measurement module includes a three-axis angular velocity sensor, a three-axis acceleration sensor, a three-axis magnetic field sensor, a temperature sensor and a microcontroller connected to them by communication channels that processes signals received from the sensors.

A disadvantage of this analog is the lack of modules for monitoring training load and event biomechanics, and it requires a significant amount of time to obtain the parameters necessary to improve the skater's training efficiency. For skaters whose training involves a great deal of movement and motion, this system is not entirely suitable, as numerous sensors are attached to various parts of the body. This requires time to secure the device, complicates its daily use during training, and makes it nearly impossible to accurately measure the skater's performance. The data processing, storage, and visualization unit, in particular, is located outside the mobile measuring device, meaning that if the wireless connection is lost, the data will be incompletely transmitted and lost.

The closest in technical essence is the COMPACT SENSOR DEVICE FOR MOTION CAPTURING [CN 209728685 (U), published 03.12.2019], characterized in that it contains a housing, in the housing there is a printed circuit board with an inertial measurement unit, a wireless communication module, a battery and a power controller, the inertial measurement unit, the power controller and the wireless communication module are electrically connected to the battery, the battery is located on the back side of the printed circuit board, and the housing has the shape of a rectangular parallelepiped, the inertial measurement unit contains an accelerometer and a gyroscope.

The prototype's main technical problem is that the athlete's kinematic parameters are tracked using angular velocities, which are obtained using a gyroscope. This makes it difficult to determine changes in spatial position relative to the Earth's magnetic field due to the lack of a magnetometer. This complicates calculations and reduces the device's accuracy, and can lead to data loss due to the device's lack of a data storage module. Furthermore, the devices claimed to be similar to these devices have limited functionality and do not provide an effective training process due to the lack of automatic monitoring of training loads and biomechanical parameters specific to figure skating movements.

The objective of the invention is to eliminate the shortcomings of analogues and the prototype.

The technical result of the invention consists in providing the possibility of creating a system with biofeedback to improve the efficiency of the educational and training process for figure skaters.

The specified technical result is achieved due to the fact that the method of telemetry of the kinematic parameters of movement and training load of a figure skater, characterized in that a tracker is placed on the body of the figure skater, containing an inertial measurement module, configured to record events performed by the figure skater, the tracker is connected to the control unit, the skater and coach accounts are created for the tracker for their subsequent identification and storage of telemetry data received from the tracker of the figure skater, during training, the inertial measurement module records angular velocities, linear accelerations and changes in the position of the figure skater in space, processes and stores the recorded data in the tracker and transmits them to the control unit, in the control unit, based on the array of received data, events are analyzed and the indicators of the completed events and the stability of their performance in various phases are determined, while implementing the detection of events on a time scale in the sequence "spins - jumps - skating", while the event performed by the figure skater corresponds to only one of the types of these events and during the sequential analysis of these events at each of the following steps of their detection, previously detected ones are excluded events, for load analysis the sum of completed jumps and rotations in rotations is calculated taking into account the weighting coefficients of jump rotations and the number of rotations in rotations, the volume of training is calculated as the total number of events performed during training, the intensity of training is calculated as the ratio of the volume of the load to the duration of training, the density of training is calculated as the ratio of the duration of the completed load to the total duration of training, during the training in real time the figure skater is provided with biofeedback using sound and/or vibration and/or light signals indicating an error or the achievement of the target parameter in the analyzed events, upon receipt of which the figure skater corrects the actions performed and/or changes the volume of training and/or the intensity of training and/or the density of training.

In particular, sound signals differ in volume and/or tone and/or timbre and/or duration and/or content.

In particular, vibration signals differ in amplitude and/or period and/or duration of oscillations.

In particular, the light signals differ in color and/or duration.

A telemetry system for the kinematic parameters of a figure skater's movement and training load, characterized in that it contains at least one tracker attached to the body of the figure skater, including an inertial measurement module containing an accelerometer, a gyroscope, a magnetometer and configured to record events performed by the figure skater during the performance of a training program for angular velocities, linear accelerations and changes in the position of the figure skater in space and transmitting the recorded data on events to a control unit with the ability to process, according to algorithms recorded in the control unit, digital telemetry data on the kinematic parameters of the figure skater's movement, identifying training events, quantitative values of the event parameters, interpreting the results and visually displaying them, the control unit contains a controller to which a memory module, a communication module, a data output module, a data input module and functionally connected a biomechanical indicator module, a training load module, a training load control module, a training marking module are connected, wherein the biomechanical indicator module is configured to detect events performed by the figure skater during training on a time scale in the sequence "rotations - jumps - skating”, analysis of the biomechanical indicators of these events and determination of the time values of these events, the training load module is configured to calculate specific indicators for the performed jumps and revolutions in rotations, allowing to evaluate the training load performed by the figure skater during training, the training load control module is configured to monitor the performance of the optimal load by the figure skater in accordance with the training plan for the duration of the training and the specific indicators received from the training load module, and the training marking module is configured to mark events during training, wherein the system is configured to implement biological feedback for the figure skater for independent adjustment by the figure skater in real time of the actions performed and/or changing the volume of training, and/or intensity of training, and/or density of training, for which the tracker contains a module for reproducing sound signals, and/or a vibration signal module, and/or for which the control unit contains a module for reproducing sound signals, and/or a light notification module.

In particular, the data output module is designed in the form of a monitor screen, a mobile device, a television, a projector, or a holographic screen.

In particular, the data input module is designed in the form of a keyboard or together with the data output module in the form of a touch screen for entering the initial data into the control unit.

In particular, the control unit communication module is designed with the ability to connect several trackers to the control unit to organize a group training process.

In particular, the inertial measurement module is implemented in the form of an MPU-6050 microcircuit.

In particular, the magnetometer is made in the form of an e-Compass microcircuit.

In particular, the accelerometer, gyroscope and magnetometer are implemented in a single form factor based on the MPU-9250 microcircuit.

In particular, the accelerometer, gyroscope and magnetometer are three-axis.

In particular, the communication module is made wired, radio, optical with the ability to organize a communication channel between the tracker and the control module and transmit data on the kinematic parameters of the athlete's movement via a radio, optical or wire channel from the tracker to the control module.

In particular, the tracker is made of a single board and is equipped with a shock-resistant, waterproof and impact-resistant housing.

In particular, the tracker is equipped with control elements in the form of buttons and switches located on the panel of the tracker body with the ability to turn the device on/off and control its operation.

In particular, the tracker is equipped with light indicators that allow monitoring of its operation.

In particular, the sound signal reproduction module is configured to change the volume and/or tone and/or timbre and/or duration and/or content of the signal.

In particular, the vibration signal module is designed with the ability to change the amplitude and/or period and/or duration of the oscillations.

In particular, the light notification module is designed with the ability to change the color and/or duration of the notification.

Brief description of the drawings

Fig. 1 schematically shows a telemetry system for kinematic parameters of movement and training load of a figure skater with biofeedback.

Fig. 2 shows an example of a figure skater's training protocol.

Fig. 3-6 show examples of displaying event parameters during figure skater training.

Fig. 7 shows examples of graphs of the speed of rotation and acceleration of a skater.

The following are indicated on the figures: 1 – tracker, 2 – control unit, 3 – control controller, 4 – accelerometer, 5 – gyroscope, 6 – magnetometer, 7 – memory module, 8 – communication module, 9 – binding module, 10 – battery, 11 – power controller, 12 – data output module, 13 – data input module, 14 – controller, 15 – biomechanical indicators module, 16 – training load module, 17 – training load control module, 18 – training marking module, 19 – power source, 20 – sound signal reproduction module, 21 – vibration signal module, 22 – light notification module.

Implementation of the invention

The telemetry system for kinematic parameters of movement and training load of a figure skater with biofeedback contains a tracker 1 and a control unit 2.

Tracker 1 is a device that registers and records data on the skater’s actions (jumps, spins, skating (gliding), rest, etc.) or, in other words, events during the skater’s performance of a training (single or group) or sports (competition) program and transmits the registered data on events to control unit 2.

Tracker 1 contains a control controller 3, to which an inertial measurement module is connected, which is a set of sensors that provide measurements of at least the linear acceleration and angular velocity of the part of the skater's body on which tracker 1 and a relative body position sensor are located.

The sensors for measuring the linear acceleration and angular velocity of the body are made in the form of an accelerometer 4 and a gyroscope 5, respectively, made in one housing (form factor), for example, in the form of an MPU-6050 microcircuit.

In one embodiment, the inertial measurement module contains a sensor for the relative position of the body, implemented in the form of a magnetometer 6, based on, for example, microcircuits of the e-Compass series.

In one embodiment, the accelerometer 4, gyroscope 5 and magnetometer 6 can be implemented in a single housing, for example, based on the MPU-9250 microcircuit.

Accelerometer 4, gyroscope 5 and magnetometer 6 are three-axis.

Connected to the control controller 3 is a memory module 7 with the ability to record data on the kinematic movements of the athlete and a communication module 8, configured to transmit in real time from said controller 3 or at the end of training from the memory module 7 to the control module 2 data on the kinematic movements of the athlete (registered events).

Combining the accelerometer 4, gyroscope 5 and/or accelerometer 4, gyroscope 5 and magnetometer 6 in one housing based on one microcircuit makes it possible to increase the speed of data transfer from the said sensors to the control controller 3 and memory module 7.

Connected to controller 3 is linking module 9 for synchronizing (matching) the athlete's training events (elements) with the time of their recording (registration) using controller 3 for further analysis of the athlete's movements and training event analysis. In other words, linking module 9 is designed to link events to time.

The binding module 9 allows you to record training loads in offline mode without prior synchronization of the tracker 1 time with the world time, which allows for the subsequent transfer of data to be adequately transmitted and analyzed.

Communication module 8 can be wired, radio, optical with the ability to organize a communication channel between tracker 1 and control module 2 and transmit data on the kinematic parameters of the athlete's movement via a radio, optical or wire channel from tracker 1 to control module 2. To transmit information via a radio channel, communication module 8 can be implemented in the form of a Wi-Fi module, or a Bluetooth module, or an IR module, etc.

To make tracker 1 autonomous in terms of power supply, it contains battery 10, which is connected to control controller 3 via power controller 11.

The control controller 3 is configured to control the accelerometer 4, the gyroscope 5, the magnetometer 6, the communication module 8, the memory module 7 and the power controller 11 and to implement interaction between them in accordance with the algorithm embedded in the control controller 3.

The control controller 3, the inertial measurement module in the form of an accelerometer 4, a gyroscope 5 and a magnetometer 6 combined by a single microcircuit, the communication module 8, the memory module 7, the binding module 9, the power controller 11 and the battery 10 are mounted on a single printed circuit board (not shown in the figures), which is mounted inside a plastic shock-resistant, moisture-proof and shock-proof, for example, made of PVC plastisol, case, made with the possibility of fixed placement on the body or clothing of a person, for example, with the help of belts, elastic bands, latches, etc. The shock-resistant, moisture-proof and shock-proof case ensures protection of the elements of the device mounted inside the case from damage in the event of a fall of the device or the athlete, as well as during training associated with water.

The tracker 1 may be provided with control elements in the form of buttons, switches, etc., located on the panel of the tracker 1 housing with the ability to turn the device on/off and control its operation, as well as light indicators designed to monitor the operation of the tracker 1.

The control unit 2 contains a controller 14, to which a memory module 7, a communication module 8, a data output module 12 and a data input module 13 and functionally connected biomechanical indicators module 15, a training load module 16 and a training load control module 17, a training marking module 18 are connected.

Power supply of control unit 2 is provided from power source 19, connected to controller 14.

The control unit 2 may be implemented in the form of a personal computer, a server, including a cloud server, a laptop, or a mobile device (tablet, smartphone), with the ability to process digital telemetry data on the kinematic parameters of the athlete's movement, identify training events, their phases, quantitative values of the parameters of events and phases, interpret the results and visually display them using the data output module 12 connected to the control unit 2. The data output module 12 may be implemented in the form of a monitor screen, a mobile device, a television, a projector, a holographic screen, etc.

The data input module 13 is designed in the form of a keyboard or, together with the data output module 12, in the form of a touch screen for entering initial data into the control unit 2.

The controller 14 of the control unit 2 is configured to control the memory module 7, the communication module 8, the data output module 12, the data input module 13, the biomechanical indicators module 15, the training load module 16, the training load control module 17, the training marking module 18 and to execute the operating algorithms of the control unit 2, recorded in the memory module 7.

The memory module 7 is configured to store the operating algorithms of the control unit 2, to store a database of trackers 1 connected to the control unit 2, and a database of athletes who carry trackers 1 and their training achievements.

Communication module 8 of control unit 2 enables remote wireless connection of tracker 1 to control unit 2 to collect information on the skater's training progress for further processing, analysis, and storage of this information and its results. Communication module 8 of control unit 2 allows connection of multiple trackers 1 to control unit 2 to organize group (team) training (competition) processes.

It's important to note that the skater's movements are recorded in large volumes when using the system. A prerequisite for accurately assessing the skater's movement performance, evaluating the quality of exercise execution, and assessing training load parameters, with the goal of optimizing and improving the effectiveness of the training process, is the complete preservation of this telemetry data. If any portion of the telemetry data is lost during the direct transmission of telemetry data from tracker 1 to control unit 2 due to an unstable communication channel, the accuracy, completeness, and, consequently, the quality of the received data on the athlete's kinematic parameters and motor activity will be reduced. It is quite difficult to ensure a 100% stable communication channel using hardware and software, ensuring the transmission of all data without loss. In this case, memory module 7 of tracker 1 helps mitigate data loss.

The biomechanical indicators module 15 is configured to detect events (jumps, rotations, skating, rest) performed by a figure skater during training, analyze the biomechanical indicators of these events, and determine the time values of these events.

The biomechanical indicators module 15 receives data from the tracker 1 on the signals about events recorded by the accelerometer 4, gyroscope 5, magnetometer 6, analyzes the said signals with the purpose of determining the indicators of the completed event and the stability of their execution in various phases and comparing them with a similar event performed by the same figure skater, or his partner, or his opponent in previous periods with the possibility of determining the dynamics of changes in the technique of performing the event.

Training load module 16 is capable of calculating specific indicators for assessing the training load performed by a figure skater during training. These specific indicators may include training volume (training load), training intensity, training density, skater efficiency, jump load, rotational load, number of jumps of 1, 2, 3, and 4 rotations, etc.

The training load control module 17 is designed with the ability to control the performance of the optimal load by the figure skater in accordance with the training plan for the duration of the training and the specific indicators received from the training load module 16.

The training marking module 18 is configured to mark events during training, for example, by series of jumps, rotations, slides, etc.

To implement biofeedback between the skater and the tracker 1, the control unit 2, and the system as a whole, the system includes modules for notifying the skater of the events performed by him, their quality and quantity, and the ability for the skater to independently adjust the actions performed and/or change the training volume and/or the training intensity and/or the training density in real time. For this purpose, in one embodiment, the tracker 1 comprises a sound signal reproduction module 20 and/or a vibration signal module 21 connected to its control controller 3, generating sound signals or vibrations, respectively, providing biofeedback. In another embodiment, to implement biofeedback, a sound signal reproduction module 20 and/or a light notification module 22 are connected to the controller 14 of the control module 2.

The system, in addition to the described particular embodiments of the biological feedback, may also include various embodiments, for example, when sound signal reproduction modules 20 are connected to the control controller 3 of the tracker 1 and to the controller 14 of the control module 2, and/or a vibration signal module 21 is connected to the control controller 3 of the tracker 1, and/or a light notification module 22 is connected to the controller 14 of the control module 2.

The sound signal reproduction module 20 of both the tracker 1 and the control unit 2 can be designed with the possibility of connecting headphones (headset) to them for fastening to the skater's ear.

The vibration signal module 21 can be implemented, for example, in the form of a vibration motor.

In the memory module 7 of the control unit 2, the algorithms for implementing biological feedback executed by the controller of said control unit 2 are stored, during the execution of which the skater receives a sound signal from the sound signal reproduction module 20 of the tracker 1 and/or the control unit 2, and/or a vibration signal from the vibration signal module 21, and/or a light notification from the light notification module 22 about the quality and/or completeness of the actions performed by him, and/or the volume of training, and/or the intensity of training, and/or the density of training.

Similarly, in the memory module 7 of the control controller 3 of the tracker 1, the algorithms for implementing biological feedback, executed by the control controller 3 of the said tracker 1, are stored, during the execution of which the skater receives a sound signal from the sound signal reproduction module 20 of the tracker 1 and/or a vibration signal from the vibration signal module 21 about reaching the parameter for angular velocity along the axes X, Y, Z separately or in combination, or about reaching the parameter for acceleration along the axes X, Y, Z separately or in combination, as well as when combining the parameters for angular velocity and acceleration.

The mentioned biofeedback algorithms also contain conditions under which:

the sound signal reproduction module 20 sets the volume and/or tone and/or timbre and/or duration and/or content of the reproduced signal,

and/or vibration signal module 21 sets the amplitude, and/or period, and/or duration of oscillations,

and/or the light notification module 22 sets the color and/or duration of the light notification.

The telemetry system for kinematic parameters of movement and training load of a figure skater with biofeedback is used as follows.

When using the system for the first time, using communication modules 8, one or more trackers 1 are connected to control unit 2, and for each of the trackers 1, new records are created in the database of memory module 7 of control unit 2, in which telemetry data received from a specific tracker 1 will subsequently be stored.

Next, using data input module 13 of control unit 2, a new entry is created in the database stored in memory module 7 of control unit 2 containing the coach's data. The coach's data may include their last name, first name, patronymic, or other information that allows for subsequent identification of the coach. If the skater trains independently, this entry may not be created.

Next, using data input module 13 of control unit 2, a new entry is created in the database stored in memory module 7 of control unit 2 with the skater's data, allowing for identification of the skater. The skater's data may include the skater's last name and/or first name, age, height, weight, maximum jump rotations performed by the skater, etc.

To create a training group and add skaters to it, a new record is created in the database stored in memory module 7 of control unit 2 with training group data that allows this group to be identified, for example, by the name of the group, the name of the coach, the names of the skaters, etc. Data about the coach from the records about the coaches contained in the database and data about the skaters contained in the database of memory module 7 of control unit 2 are added to the record about the new training group.

The entered data is displayed on the data output module 12.

The system allows you to create multiple training groups. Each group can include all or some of the skaters of a specific coach, and/or all and/or some of the skaters of another coach. A group can be created for a specific training session or sporting event.

Next, before the start of training, the skater is given tracker 1. Tracker 1 is turned on and synchronization of tracker 1 with control unit 2 is ensured.

Using input modules 13 and output modules 12, a coach, skater, or group is selected from the corresponding database lists. The date and time of the training session are determined using the binding module 9 of tracker 1 at the start of the training session, which are transmitted to the control unit 2's controller 14. Then, for each skater, using data input module 13, the previously assigned tracker 1 is selected based on their identification data.

Control unit 2 allows you to add or remove a skater during training. Adding a skater is done in the same manner as described above. To remove a skater, use data input module 13 to end the training session for that skater. The data obtained during the training session is then recorded in memory module 7 of control unit 2, linked to the skater from whose tracker 1 the data was obtained.

Tracker 1 is attached to the skater's body. The skater then trains. Accelerometer 4, gyroscope 5, and magnetometer 6 record the skater's angular velocity, linear acceleration, and changes in spatial position relative to the Earth's magnetic field as the skater performs his or her movements. These changes are processed by tracker 1's controller 3, stored in tracker 1's memory module 7, and transmitted via a communication channel established by communication modules 8 to controller 14 of control unit 2.

For example, the characteristic stages and parameters of a jump are takeoff, flight, and landing. During the takeoff phase, parameters such as rotational speed at takeoff, duration of the push-off before takeoff, and the number of revolutions before takeoff are calculated. During the flight phase, parameters such as maximum rotational speed, flight duration, and the number of revolutions during flight are calculated. During the landing phase, parameters such as rotational speed at landing, total jump duration, and the total number of revolutions are calculated. These parameters are obtained using accelerometer 4, gyroscope 5, and magnetometer 6, while the binding module 9 synchronizes the athlete's movements with real time or the time from the start of the training session or any part thereof, allowing for the marking of stages on a time scale.

During training, data output module 12 displays the cards of the participating skaters. The cards display skater identification data, tracker 1, coach, event metrics, training specific metrics, training load metrics, and more in real time. This data may be referred to as a training log. An example of a training log display is shown in Fig. 2.

Analysis of 15 events in the biomechanical parameters module, based on signals recorded by accelerometer 4, gyroscope 5, and magnetometer 6 of tracker 1, allows us to determine the performance indicators of completed events and the stability of their execution in different phases. For example, to compare the technique of different jumps, a "positive transfer" technique is used, where a well-executed part of one jump can be transferred to the execution of a similar part of another jump. For example, if the analysis reveals that a skater has a "poor" takeoff on a triple toe loop, but a "good" one on a double toe loop, then a "positive transfer" of the execution technique is performed. An example of displaying event parameters during training is shown in Figures 3-6.

The input to the biomechanical parameters module 15 receives an array of data measured by the accelerometer 4, gyroscope 5, and magnetometer 6. Each row of the array contains the time and values of the measured parameters. The biomechanical parameters module 15 implements the following event type detection sequence: rotations, jumps, and skating (rest). Any event performed by the skater corresponds to only one of these event types, and during the sequential analysis of these events at each subsequent detection step, previously detected events are excluded. Detection and analysis of events is possible by linking them to a time scale.

For example, to detect rotations, the following data is analyzed:

about the angular velocities obtained from gyroscope 5, the values of which must be within a given range of values over a period of time;

about the accelerations obtained from accelerometer 4, the values of which should not exceed the specified thresholds;

about the direction of movement (course) of the skater based on the magnetic field values along the axes obtained from magnetometer 6, the structure of the signals of which must have a periodic structure similar to harmonic oscillations, and the period of which must correspond to the angular velocities measured by the gyroscope.

To determine the boundaries of the rotation time interval, the biomechanical indicators module 15 identifies the moments of sharp changes in angular velocity at the beginning and end of the rotation. Since a skater can change body position during a rotation (vertical rotation, horizontal rotation, sit spin), which alters the rotation axis, these types of rotations are defined as separate events.

To detect jumps, the biomechanical indicators module 15 analyzes signals in the following sequence:

about the angular speeds of rotation received from the gyroscope 5 according to the angular speed of rotation around the vertical axis, which must exceed a specified limit, while searching for the maximum value of the rotation speed and if the maximum value of the angular speed is in a specified interval, then the biomechanical indicators module 15 analyzes the signals from the accelerometer 4, otherwise it shifts to the next element of the array;

The accelerations obtained from accelerometer 6 are recorded relative to the moment of maximum rotation speed, while searching for acceleration peaks corresponding to takeoff and landing. If the values of these accelerations correspond to the specified values, biomechanical indicator module 15 determines that a new event, a jump, has been detected in the analyzed interval, the beginning and end of which are determined by the moments of acceleration change;

about the direction of movement (course) of the skater based on the magnetic field values along the axes obtained from magnetometer 6, within a certain interval based on the number of full periods and the total phase of the change in signals, according to which the total angle of rotation during the jump is calculated in the biomechanical indicators module 15.

To detect skating, the biomechanical indicators module 15 detects periodic changes based on the vertical acceleration signal magnitude with a frequency corresponding to the possible frequency of pushing off from the ice.

If, after determining the listed events, no other events are detected during training, then the biomechanical indicators module 15 classifies them into the “rest” event category.

Biomechanical indicators module 15 enables the display of rotational velocity and acceleration graphs on data output module 12, data obtained using accelerometer 4, gyroscope 5, and magnetometer 6 of tracker 1. This is a useful function for viewing the rotational velocity and acceleration graphs during the takeoff, flight, and landing phases (see Fig. 7). This allows for a detailed assessment of jump execution technique, specifically recording the rate of rotation during takeoff, the time to reach maximum speed, the time to maintain the tuck position, the speed, the tuck position density, the distuck position, the landing hardness, and the cohesion and integrity of the jump execution. The graphs can be viewed in two scales: close-up and zoomed-out.

To monitor the training load, data input module 13 sends a command to controller 14 to calculate the current load. Controller 14, based on data received from biomechanical indicators module 15, training load module 16, and training load monitoring module 17, calculates the current load and transmits it to data output module 12 for display. This current load calculation shows how close, for example, as a percentage, the skater's load is to the maximum over the entire observation period.

To schedule a workout using data entry module 13, in the workout schedule module 18, select the name of the planned event or group of events, and select the skaters from the participating teams who will perform these events. Once the events are completed, select the skaters who have completed the events.

To analyze the load (its volume) in training load module 17, using data obtained via accelerometer 4, gyroscope 5, and magnetometer 6 of tracker 1, the sum of completed jumps and rotations is calculated, taking into account weighting factors for the number of completed jumps and rotations. The weighting factors are entered into training load module 17 using data input module 13. Examples of weighting factors are presented in the table.

Jump turnover Estimated turnover Up to 0.6 0.61-1.1 1.11-1.5 1.51-2.1 2.11-2.5 2.51-3.1 3.11-3.5 3.51-4.1 4.11-4.5 Weighting coefficient 0.5 2 3 5 6 8 9 11 12 All rotations 0.5 points/turnover

The training volume (training load) in the training load module 16 is calculated as the total number of events performed during the training.

The intensity of training in the training load module 16 is calculated as the ratio of the volume of the load to the duration of the training and is expressed in points per minute.

The training density in the training load module 16 is calculated as the ratio of the duration of the completed load (jumps, rotations, sliding) to the total duration of the training and can be expressed as a percentage.

Efficiency (COP)—the number of successfully completed events relative to the total number of events—is also calculated in Training Load Module 16 and can be expressed as a percentage. Events completed for COP determination can be broken down into groups—jumps, rotations, and glides.

The Training Load Monitoring Module 17 allows for comparison of a skater's workload during each training session. Weekly, monthly, minimum, average, and maximum loads can be used as comparison values.

If it is not possible to transmit data during training, after its completion, connect tracker 1 to control unit 2 and copy the data stored in memory module 7 of tracker 1 to memory module 7 of control unit 2.

As already indicated above, control unit 2 allows for the processing of information about events, their visualization using data output module 12, visually and programmatically identifying training events, its phases, quantitative values of parameters of events and phases and interpreting the results, while synchronizing the movements of the skater using the binding module 9 allows for the identification of training events, its phases and their interpretation with reference to a specific time and/or duration of the event.

In other words, by tracking the skater's kinematic parameters using the device, data is generated on the kinematic parameters of exercises, their phases, the quality of exercise execution, and the parameters of the completed training load, all tied to time. Recommendations are then generated for optimizing and increasing the effectiveness of the training process. This means implementing both mechanical and technological approaches to the athlete's technical preparation.

The mechanical approach is implemented at the first stage of technique development, during the development of the spatio-temporal parameters of the biomechanical model of motor action, where available information about the elementary composition and structural connections of the movement being studied is used.

The technological approach is implemented at the stage of in-depth learning of the technique of motor action, which involves the analysis of not only the internal functioning of the formed movement system, but also its connections with the external environment, that is, on the basis of biological feedback.

In the mechanical approach, using information on the elementary composition and structural relationships of the skater's movement being studied, actual telemetry data on the skater's kinematic parameters, obtained using accelerometer 4, gyroscope 5, and magnetometer 6, is analyzed by superimposing reference kinematic parameters on the actual ones, and the skater is informed of their errors or progress toward achieving target indicators. To facilitate training, the reference kinematic parameters are visualized using data output module 12. As the skater performs the training, the actual kinematic parameters are visually projected onto them on data output module 12. Biofeedback is used to communicate the results of the events, their quality and quantity, to the skater, and to provide the skater with the ability to independently adjust their actions in real time, and/or change the training volume, intensity, and density.

It is then clearly visible where the skater "went off course," where he "underperformed" the exercise, where he "overperformed," where he failed to maintain the exercise duration, where he failed to maintain the training time, etc. Subsequently, the skater, using the information obtained, corrects the errors and again the actual kinematic parameters of his movements are superimposed on the standard ones and visualized using the data output module 12, which allows for a re-analysis of the errors made, as well as an assessment of the stability of the skater's performance of the training events (elements) and their individual phases, based on the calculated deviations from the central tendency (mean value or median) in the recorded series of events.

Biofeedback can be implemented, among other things, only with the help of the tracker 1 and the sound signal reproduction module 20 and/or the vibration signal module 21 connected to its control controller 3, including in the absence of synchronization of the tracker 1 with the control unit 2. The tracker 1, by means of the mentioned modules 20, 21, notifies the skater about reaching the parameter for angular velocity along the axes X, Y, Z separately or in combination, or about reaching the parameter for acceleration along the axes X, Y, Z separately or in combination, as well as with a combination of parameters for angular velocity and acceleration.

Examples of the operation of the sound signal reproduction modules 20, and/or the vibration signal module 21, and/or the light notification module 22 when providing biological feedback of the system with the skater are given in the table.

Table. Examples of biofeedback setup conditions

Feedback module Setting parameter Activation condition Example of meaning/effect Sound signal module 20 Volume Exceeding the training load above 90% Increase volume Volume Entering the rest phase Decrease the volume Key Violation of the grouping in rotation High tonality Key Slowing down the rotation speed Low tonality Timbre High Load Density Alarm A sharp, metallic timbre Timbre Correct execution of the technique Soft timbre Signal duration Landing error Long beep Signal duration Marking the end of a phase (e.g. take-off, flight) Short beep Signal duration Exceeding the angular velocity threshold for the X, Y, Z axes individually or in combination A long sound signal, the duration of which is determined by the duration of the angular velocity threshold being exceeded Signal content Violation of execution technique Synthesis: "Slow Down", "Grouping Error" Vibration signal module 21 Oscillation amplitude Severe body deviation High vibration amplitude Oscillation amplitude Minor error Low vibration amplitude Period of oscillation Harsh braking, risk of injury Frequent (short period) vibrations Period of oscillation General Notice (Entering the Rest Phase) Slow (long period) oscillations Duration of oscillations System error Long vibration signal Duration of oscillations Local technical error Short-term impulse Light Alert Module 22 Color Error, excess efficiency Red Color Approaching the load threshold Yellow Color Correct execution of the event Green Color Start/end of training Blue Color Entering rest mode Violet Duration of the light signal Error or fall Flashing signal Duration of the light signal Working mode Continuous light

The inventors developed a telemetry system for tracking the kinematic parameters of figure skaters' movement and training load, complete with biofeedback. This system was used to train one group of skaters. Another group trained without the system. The training structure was identical for both groups. Analysis of the training dynamics revealed that the first group, which was supported by the system, achieved the greatest success. For example, the first group's jump and spin development was approximately 45% faster in terms of time and effort. Visually displaying the training process allowed skaters to quickly analyze errors and increase their motivation for training.

Additionally, through the implementation of biofeedback through sound, vibration and light signals, athletes of the first group:

received signals about technical errors in real time (for example, incorrect grouping, insufficient revolutions, shift in the center of gravity during landing);

quickly adjusted the execution technique, which led to a reduction in the number of repetitions required to master the element;

demonstrated greater stability in performing jumps and rotations, including in a series of elements;

demonstrated an increase in training efficiency by an average of 30-35%, which was expressed in a decrease in the number of unsuccessful attempts and an increase in training density;

noted an improvement in sensorimotor response and concentration due to instant vibration and light alerts, especially in highly dynamic sections of the training program.

Thus, the use of biofeedback as part of the stated system not only facilitated the accelerated acquisition of complex coordination elements, but also ensured higher quality and consistency of performance, and contributed to increased engagement and motivation of athletes.

Due to the compact design of Tracker 1, where all the elements are placed in a single housing, figure skaters noted the absence of discomfort when using Tracker 1 due to its compact size and light weight.

The compact size of Tracker 1 affects the measurement accuracy. This is due to the fact that all components, including gyroscope 5, accelerometer 4, and magnetometer 6, are mounted on a single board in a single housing and are slightly spaced apart. Due to their close relative positions, gyroscope 5, accelerometer 4, and magnetometer 6 ensure high measurement accuracy, as they function as a point receiver, meaning their dimensions are small compared to the athlete's size and the training area, making these dimensions negligible. The enclosure housing the board, measuring 55 x 40 x 22 mm and weighing up to 55 grams, allowed for the integration of all sensors within a single housing, which is attached to the skater's belt. Tracker 1 utilizes a 900 mAh battery (10), and its power controller (11) utilizes a universal TYPE-C charging port, ensuring extended use on a single charge and fast charging. Tests showed that power consumption in measurement mode is only 45 mA, and in data synchronization mode, 100 mA. With such low power consumption, Tracker 1 can operate for 20 hours in measurement mode and 9 hours in data synchronization mode on a single charge.

Combining the accelerometer 4, gyroscope 5 and/or accelerometer 4, gyroscope 5 and magnetometer 6 in one housing based on one microcircuit makes it possible to increase the speed of data transfer from the said sensors to the control controller 3 and memory module 7.

The improvement of the quality and efficiency of the training process is achieved by automating the processing of signals coming from the tracker 1 and obtaining information about the training load and biomechanical parameters of the skaters' movements based on the results of their processing in the control unit 2, while ensuring guaranteed data transmission and convenience during the constant use of the declared system in the training process.

Claims (19)

1. A method for telemetry of the kinematic parameters of movement and training load of a figure skater, characterized in that a tracker is placed on the body of the figure skater, containing an inertial measurement unit configured to record events performed by the figure skater, the tracker is connected to a control unit, skater and coach accounts are created for the tracker for their subsequent identification and storage of telemetry data received from the skater's tracker, during training, the inertial measurement unit records angular velocities, linear accelerations and changes in the skater's position in space, processes and stores the recorded data in the tracker and transmits them to the control unit, in the control unit, events are analyzed from the data array and the indicators of the completed events and the stability of their performance in various phases are determined, while event detection is implemented on a time scale in the sequence "spins - jumps - skating", while the event performed by the figure skater corresponds to only one of the types of these events and during a sequential analysis of these events, at each of the following steps of their detection, previously detected events are excluded, for load analysis, the sum of the completed events is calculated jumps and rotations in rotations taking into account the weighting coefficients of the rotation rate of jumps and the number of rotations in rotations, the volume of training is calculated as the total number of events performed during training, the intensity of training is calculated as the ratio of the volume of the load to the duration of training, the density of training is calculated as the ratio of the duration of the performed load to the total duration of training, during training in real time the figure skater is provided with biofeedback using sound and/or vibration and/or light signals indicating an error or the achievement of the target parameter in the analyzed events, upon receipt of which the figure skater corrects the actions performed and/or changes the volume of training and/or the intensity of training and/or the density of training. 2. The method according to paragraph 1, characterized in that the sound signals differ in volume and/or tone and/or timbre and/or duration and/or content. 3. The method according to paragraph 1, characterized in that the vibration signals differ in amplitude and/or period and/or duration of oscillations. 4. The method according to paragraph 1, characterized in that the light signals differ in color and/or duration. 5. A telemetry system for the kinematic parameters of movement and training load of a figure skater, characterized in that it contains at least one tracker attached to the body of the figure skater, including an inertial measurement module containing an accelerometer, a gyroscope, a magnetometer and configured to record events performed by the figure skater during the performance of a training program for angular velocities, linear accelerations, and changes in the position of the figure skater in space and transmitting the recorded data on events to a control unit with the possibility of processing according to algorithms recorded in the control unit of digital telemetry data on the kinematic parameters of the figure skater's movement, identifying training events, quantitative values of the event parameters, interpreting the results and visually displaying them, the control unit contains a controller to which a memory module, a communication module, a data output module, a data input module and functionally connected a biomechanical indicators module, a training load module, a training load control module, a training marking module are connected, wherein the biomechanical indicators module is configured to detect events performed by the figure skater during training on a time scale in the sequence of "rotations – jumps – skating”, analysis of biomechanical indicators of these events and determination of time values of these events, the training load module is configured to calculate specific indicators for the performed jumps and rotations in spins, allowing to evaluate the training load performed by the figure skater during training, the training load control module is configured to monitor the performance of the optimal load by the figure skater in accordance with the training plan based on the duration of the training and specific indicators received from the training load module, and the training marking module is configured to mark events during training, wherein the system is configured to implement biofeedback for the figure skater for independent adjustment by the figure skater in real time of the actions performed and/or change in the volume of training, and/or intensity of training, and/or density of training, for which the tracker contains a module for reproducing sound signals, and/or a vibration signal module, and/or for which the control unit contains a module for reproducing sound signals, and/or a light notification module. 6. The system according to paragraph 5, characterized in that the data output module is made in the form of a monitor screen, a mobile device, a television, a projector, or a holographic screen. 7. The system according to claim 5, characterized in that the data input module is designed in the form of a keyboard or together with the data output module in the form of a touch screen for entering initial data into the control unit. 8. The system according to paragraph 5, characterized in that the communication module of the control unit is designed with the possibility of connecting several trackers to the control unit to organize a group training process. 9. The system according to paragraph 5, characterized in that the inertial measurement module is made in the form of an MPU-6050 microcircuit. 10. The system according to paragraph 5, characterized in that the magnetometer is made in the form of an e-Compass microcircuit. 11. The system according to paragraph 5, characterized in that the accelerometer, gyroscope and magnetometer are made in a single form factor based on the MPU-9250 microcircuit. 12. The system according to paragraph 5, characterized in that the accelerometer, gyroscope and magnetometer are three-axis. 13. The system according to paragraph 5, characterized in that the communication module is made wired, radio, or optical with the ability to organize a communication channel between the tracker and the control module and transmit data on the kinematic parameters of the athlete’s movement via a radio, optical, or wired channel from the tracker to the control module. 14. The system according to paragraph 5, characterized in that the tracker is made as a single-board and is equipped with a shock-resistant, moisture-proof and shock-proof housing. 15. The system according to paragraph 5, characterized in that the tracker is equipped with control elements in the form of buttons and switches located on the panel of the tracker body with the ability to turn the device on/off and control its operation. 16. The system according to paragraph 5, characterized in that the tracker is equipped with light indicators designed to allow monitoring of its operation. 17. The system according to claim 5, characterized in that the sound signal reproduction module is designed with the ability to change the volume, and/or tonality, and/or timbre, and/or duration, and/or content of the signal. 18. The system according to claim 5, characterized in that the vibration signal module is designed with the ability to change the amplitude and/or period and/or duration of the oscillations. 19. The system according to claim 5, characterized in that the light notification module is designed with the ability to change the color and/or duration of the notification.