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US20150120021A1 - Method for analyzing the game of a user of a racket - Google Patents

Method for analyzing the game of a user of a racket Download PDF

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Publication number
US20150120021A1
US20150120021A1 US14/399,619 US201314399619A US2015120021A1 US 20150120021 A1 US20150120021 A1 US 20150120021A1 US 201314399619 A US201314399619 A US 201314399619A US 2015120021 A1 US2015120021 A1 US 2015120021A1
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United States
Prior art keywords
racket
impact
axis
sensor assembly
strokes
Prior art date
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Abandoned
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US14/399,619
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English (en)
Inventor
Lubin Kerhuel
Cyrille Soubeyrat
Joe Youssef
Anne Frassati
Agnes Duval
Sebastien Riccardi
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Movea SA
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Movea SA
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Assigned to MOVEA reassignment MOVEA ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KERHUEL, LUBIN, DUVAL, AGNES, FRASSATI, ANNE, RICCARDI, SEBASTIEN, SOUBEYRAT, CYRILLE, YOUSSEF, JOE
Abandoned legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B60/00—Details or accessories of golf clubs, bats, rackets or the like
    • A63B60/46—Measurement devices associated with golf clubs, bats, rackets or the like for measuring physical parameters relating to sporting activity, e.g. baseball bats with impact indicators or bracelets for measuring the golf swing
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
    • A63B24/0006—Computerised comparison for qualitative assessment of motion sequences or the course of a movement
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0003—Analysing the course of a movement or motion sequences during an exercise or trainings sequence, e.g. swing for golf or tennis
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B69/00—Training appliances or apparatus for special sports
    • A63B69/38—Training appliances or apparatus for special sports for tennis
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
    • A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
    • A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
    • A63B71/0622—Visual, audio or audio-visual systems for entertaining, instructing or motivating the user
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00—Teaching not covered by other main groups of this subclass
    • G09B19/003—Repetitive work cycles; Sequence of movements
    • G09B19/0038—Sports
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
    • A63B2024/0068—Comparison to target or threshold, previous performance or not real time comparison to other individuals
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
    • A63B24/0062—Monitoring athletic performances, e.g. for determining the work of a user on an exercise apparatus, the completed jogging or cycling distance
    • A63B2024/0071—Distinction between different activities, movements, or kind of sports performed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/10—Positions
    • A63B2220/12—Absolute positions, e.g. by using GPS
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/30—Speed
    • A63B2220/34—Angular speed
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/40—Acceleration
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/50—Force related parameters
    • A63B2220/51—Force
    • A63B2220/53—Force of an impact, e.g. blow or punch
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/62—Time or time measurement used for time reference, time stamp, master time or clock signal
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/64—Frequency, e.g. of vibration oscillation
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/803—Motion sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00—Measuring of physical parameters relating to sporting activity
    • A63B2220/80—Special sensors, transducers or devices therefor
    • A63B2220/83—Special sensors, transducers or devices therefor characterised by the position of the sensor
    • A63B2220/833—Sensors arranged on the exercise apparatus or sports implement
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B49/00—Stringed rackets, e.g. for tennis
    • A63B49/02—Frames
    • A63B49/08—Frames with special construction of the handle

Definitions

  • Embodiments of the invention relate to a method for analyzing the game of a user of a racket, wherein an impact, notably of an associated projectile, is detected on the racket.
  • projectile is understood to refer to a ball, in general, in games or sports such as tennis, table tennis, squash, racquetball, or, for example, a shuttlecock for badminton.
  • Systems comprising rackets equipped with sensors to provide data related to the player.
  • United States patent publication no. 2011/183787 relates to a racket equipped with at least one sensor, for example an accelerometer, an anemometer, a pressure sensor, a stress sensor or a piezoelectric sensor.
  • a sensor for example an accelerometer, an anemometer, a pressure sensor, a stress sensor or a piezoelectric sensor.
  • This document is very general and concerns a racket equipped with at least one sensor, and a device incorporated into the racket, controlled by a motor, to modify at least one feature of the racket, for example stiffness or string tension, as a function of the sensor signal.
  • a device seems to have a high price and weight.
  • U.S. Pat. No. 5,757,266 relates to an electronic system designed to monitor the capacity of a player to correctly center his ball on the stringbed of his racket on which a plurality of sensors, distributed around the periphery of the stringbed or strings of the racket, make it possible to detect relative arrival times of the waves created by an impact of a ball on the racket. Based on these signals, the position of the impact of the ball on the stringbed can be computed. This computation is carried out by a microprocessor embedded in the racket. Furthermore, a display device is provided on the racket to provide the player with information relating to the centering of the ball.
  • Such a system is not suitable for determining impacts on the racket that are not ball impacts. Furthermore, the number of sensors is large and the cost is high.
  • United States patent publication no. 2005/0239583 relates to a striking or percussive device, such as a racket, a bat or a baton, equipped with sensors including an acceleration sensor, to determine the velocity of the displaced object or of the striking device.
  • the described system seems relatively limited to evaluating a velocity of a striking or percussive element, or a velocity of the displaced object.
  • U.S. Pat. No. 6,134,965 relates to a racket equipped with vibration sensors, the frequency of which is analyzed to determine the velocity of the struck ball.
  • the described system seems relatively limited to evaluating a velocity of a striking or percussive element, or a velocity of the ball.
  • One aim of embodiments of the invention is to propose an improved method for analyzing the game of a user of a racket and of an associated projectile, making it possible to analyze the player's game in real or delayed time.
  • Another aim of embodiments of the invention is to improve the precision of the detection of an impact of the projectile on the racket.
  • a method for analyzing the game of a user of a racket wherein:
  • the game can be tennis, squash, table tennis, badminton, or any racket sport.
  • Such a method makes it possible to improve analysis of the game of a user of a racket and of an associated projectile, making it possible to analyze the game of the player in real or delayed time.
  • Such a method also makes it possible to eliminate impacts that are not part of the game in order to analyze only the strokes of the game.
  • said sensor assembly comprising at least one vibration sensor
  • an impact on the racket is detected from measurements of vibrations transmitted by the vibration sensor, by comparison of a parameter representing the vibrations with a threshold.
  • a vibration sensor for example a piezoelectric sensor, makes it possible to detect easily and at low cost.
  • said sensor assembly comprising an accelerometer with at least one measurement axis, an impact on the racket is detected when a parameter depending on the variations over time of the axial linear accelerations and/or variations over time of the angular rotational velocities is above a threshold.
  • impacts that are not related to strokes from a set of predetermined strokes are eliminated, on the basis of a comparison between a value representing the angular rotational velocity along an axis during an interval of time around the moment of impact and a threshold.
  • said gyrometer comprises at least two measurement axes, impacts that are not related to strokes from a set of predetermined strokes are eliminated, on the basis of a comparison between a first value representing the angular rotational velocity along a first axis during an interval of time around the moment of impact and a second value representing the angular rotational velocity along a second axis during said interval of time.
  • said gyrometer comprises three measurement axes and said sensor assembly comprises at least one accelerometer with three measurement axes, the attitude of the racket is determined with respect to a terrestrial frame of reference from the measurements of the axial linear accelerations and the measurements of the angular rotational velocities along said measurement axes.
  • a stroke is classified among a set of strokes by association of a stroke with a movement of the racket for which, around the moment of impact, the rotational velocity of the racket is essentially along a determined axis and the attitude of the racket is essentially at a determined attitude.
  • orientation or attitude refer to the angular separations of the axes of the reference frame linked to the racket with respect to the terrestrial frame of reference axes.
  • This attitude data item is conventionally expressed by a quaternion rotational matrix, Euler angles or any other suitable representation.
  • the attitude of the racket is preferably not random.
  • a stroke is classified among a set of strokes, furthermore on the basis of an item of information representing the left- or right-handedness of the player, and of the sign of the angular rotational velocity along the determined axis.
  • the set of the strokes is larger and the invention makes it possible to discern more strokes, with a higher precision.
  • the item of information representing the left- or right-handedness of the player is provided by the player or learnt automatically during the game, for example in particular phases of the game.
  • a stroke is detected among a set of strokes by associating a stroke with a determined form of a projection signal of a vector representing the attitude of the racket onto an axis determined over an interval of time around the moment of impact.
  • the player can pay attention to the correct execution of the various strokes, obtain statistics on his game, and improve his technique.
  • said gyrometer comprises at least two measurement axes and the impact is due to a projectile; the intensity of an effect given to the projectile is determined, at the moment of impact, from a comparison of the angular rotational velocity along a first axis during an interval of time around the moment of impact and of the angular rotational velocity along a second axis during said interval of time.
  • the player obtains statistics on the use that he makes of the effects, on their intensity and can learn and progress in the use of effects.
  • said axes comprise a first transverse axis in the direction of the width of the racket and a second transverse axis in the direction of the thickness of the racket, and a backspin effect is differentiated from a topspin effect on the basis of the sign of the angular rotational velocity along the second transverse axis and an orientation of the racket during said interval of time.
  • the axes comprise a longitudinal axis oriented from the shaft toward the head of the racket, said gyrometer with at least one measurement axis is capable of delivering a rotational velocity along the longitudinal axis, and the impact is due to a projectile striking a longitudinal impact strip on the stringbed of the racket, wherein the impact of the projectile having taken place, is determined from a variation of the angular rotational velocity along the longitudinal axis over an interval of time immediately following the impact.
  • the player has access to a statistic on the centering of the projectile on the stringbed of the racket, he can improve his impact position when he strikes the projectile, and thus optimize his regularity, his precision and his energy loss.
  • said gyrometer with at least one measurement axis is capable of delivering a rotational velocity along a first transverse axis in the direction of the width of the racket, and said determination of the longitudinal impact strip is corrected by an item of information representing the velocity of the racket around the moment of impact.
  • the determination of the longitudinal impact strip is thus improved.
  • the sensor assembly comprises at least one vibration sensor and the impact is due to a projectile striking a radial impact strip, wherein the impact of the projectile having taken place, is determined on the basis of the energy and the phase of the signal transmitted by the vibration sensor due to the impact.
  • the player has access to a statistic on the centering of the projectile on the stringbed of the racket, he can improve the position of impact of the projectile, and optimize his regularity, his precision and limit his loss of energy.
  • the sensor assembly comprises an accelerometer with three measurement axes and/or a gyrometer (G) with three measurement axes, and the impact is due to a projectile, and during a start of a phase of the game, a launch velocity of the projectile is respectively computed from the measurements of the axial accelerations and/or the measurements of the angular rotational velocities during the phase of acceleration of the racket preceding the impact.
  • G gyrometer
  • the computed launch velocity of the projectile is corrected on the basis of the knowledge of a zone of impact of the projectile and/or of the intensity of the effect given to the projectile.
  • the location of the player on the game space is determined from the data provided by a system for locating the player or the racket.
  • the sensor assembly comprises at least one accelerometer, and when during an interval of time around the moment of impact the signals of said sensor or sensors are saturated, an extrapolation of the signals provided by the sensor or sensors is carried out over said saturation time interval.
  • one provides, in real or delayed time, qualitative and/or quantitative statistics relative to the player's manner of playing.
  • the player or his coach can be able to track his level of play either directly, or in a delayed manner, to improve.
  • the level of play can be tracked in a qualitative and/or quantitative way.
  • a system for analyzing the game of a user of a racket comprising:
  • said sensor assembly is mounted in a fixed manner in an outer casing equipped with fixing means adapted to be mounted/dismounted at will on the racket, or is mounted in a fixed manner on the racket.
  • said sensor assembly is mounted on the racket in a fixed manner in such a way that two measurement axes of said sensor assembly form an angle of 45° with a first transverse axis in the direction of the width of the racket and a longitudinal axis in the direction of the length of the racket.
  • the system comprises an autonomous part which can be adapted to any racket.
  • the system comprises sensors mounted on the racket in a permanent manner, which makes it possible to optimize the operation to the features of the racket.
  • the sensor assembly is mounted in a fixed manner on the racket and comprises an accelerometer and a gyrometer arranged in the shaft of the racket at the bottom of the grip, and a vibration sensor arranged on the shaft of the racket between the grip and the bottom of the head of the racket.
  • FIG. 1 schematically illustrates a method for analyzing the game of a user of a racket and an associated projectile according to one embodiment of the invention
  • FIG. 2 schematically illustrates the axes of the racket corresponding to the measurements, or to which one refers the measurements of the sensors linked to the racket in a fixed manner in terms of movement, according to one embodiment of the invention
  • FIG. 2 a schematically illustrates the measurement axes or the axes to which one refers the measurements of the sensors linked to the racket in a fixed manner in terms of movement, inclined at 45° with respect to the racket axes, according to one embodiment of the invention
  • FIG. 3 schematically illustrates the elimination of unwanted impacts, according to one embodiment of the invention
  • FIG. 4 illustrates the determination of the attitude or orientation of the racket, according to one embodiment of the invention
  • FIG. 5 schematically illustrates the detection of a stroke among a set of strokes, according to one embodiment of the invention
  • FIG. 6 schematically illustrates the orientation of the longitudinal axis of the racket with respect to the gravity vector, by projection of the longitudinal axis onto the gravity vector, according to one embodiment of the invention
  • FIG. 7 schematically illustrates the evolution of this projection during a service, according to one embodiment of the invention.
  • FIG. 8 schematically illustrates the orientation of the first transverse axis x in the direction of the width of the racket with respect to the gravity vector, by projection of the first transverse axis onto the gravity vector, according to one embodiment of the invention
  • FIG. 9 schematically illustrates a table of the result of a determination of a forehand or backhand stroke, according to one embodiment of the invention.
  • FIG. 10 schematically illustrates three longitudinal impact strips, one high-impact strip, one medium-impact strip, and one low-impact strip, of the racket, according to one embodiment of the invention
  • FIG. 11 schematically illustrates the variation of the angular rotational velocity along the longitudinal axis z oriented from the shaft toward the head of the racket during an impact of the projectile, according to one embodiment of the invention
  • FIG. 12 schematically illustrates three radial impact strips of the racket, according to one embodiment of the invention.
  • FIG. 13 schematically illustrates the phase ⁇ 1 of the signal conveyed by the piezoelectric sensor as a function of the normalized energy E E1 , in the case of FIG. 12 , according to one embodiment of the invention
  • FIG. 14 schematically illustrates the evolution over time of the racket during a service, according to one embodiment of the invention.
  • FIG. 15 schematically illustrates the evolution over time of the acceleration of the racket in a service according to one embodiment of the invention.
  • FIG. 16 illustrates the computation of the velocity of the projectile according to one embodiment of the invention.
  • FIG. 1 illustrates a method for analyzing the game of a user of a racket and of an associated projectile, wherein an impact of the projectile is detected on the racket, with which a moment of impact t 0 is associated from measurements representing a shock experienced by the racket, for example by a sensor assembly comprising a gyrometer with at least one measurement axis.
  • the sensor assembly may furthermore comprise at least one vibration sensor, and/or at least one accelerometer with at least one measurement axis.
  • the sensor assembly comprises an accelerometer with at least one measurement axis and a gyrometer with at least one measurement axis, the measurement axes being, for example, directly orthogonal to the accelerometer A and to the gyrometer G correspond respectively to a first transverse axis x in the direction of the width of the racket Ra, a second transverse axis y in the direction of the thickness of the racket Ra, and a longitudinal axis z oriented from the shaft to the head of the racket Ra.
  • the associated projectile Pj is a tennis ball.
  • the axes of the sensor assembly can be different from the axes of the racket (transverse in the direction of the width of the racket Ra, transverse in the direction of the thickness of the racket Ra, and oriented from the shaft toward the head of the racket Ra).
  • the sensor assembly can comprise a first axis x c offset by 45° with respect to a transverse axis x in the direction of the width of the racket Ra and a second axis z c offset by 45° with respect to a transverse axis z in the direction of the length of the racket.
  • the risks of sensor saturation can be reduced. Indeed, at the beginning of a service, there is a high acceleration along the z-axis because the racket Ra is tangent to the trajectory of the racket Ra, as illustrated on the right-hand part of FIG. 14 .
  • the acceleration Az along the z-axis of the racket is measured by the sensors along the axes x c and z c .
  • Each sensor measures an acceleration Az/ ⁇ square root over (2) ⁇ . Consequently, it is possible to measure a higher acceleration Az along the z-axis (by a factor of ⁇ square root over (2) ⁇ ) before the accelerometers begin to saturate.
  • the y-axis of the sensors is identical to the second transverse axis y of the racket Ra. If, furthermore, the y-axis of the sensors is turned to 45 degrees with respect to the second transverse axis y of the racket Ra, by analogy, a factor of ⁇ square root over (3) ⁇ is gained instead of a factor of ⁇ square root over (2) ⁇ because the measurements are made along three axes instead of along two axes.
  • a moment of impact t 0 is associated from variations over time with the axial linear accelerations Ax, Ay and Az delivered by the accelerometer A along the x-, y- and z-axes respectively.
  • a module for determining the attitude of the racket Ra can be incorporated, as illustrated in FIG. 4 .
  • the set of predetermined strokes can, for example, comprise the following strokes: service, forehand, and backhand.
  • An impact not linked to a stroke from this set can correspond to an impact of the racket Ra on a sports shoe to dislodge clay, or correspond to rebounds of the ball on the stringbed of the racket Ra made by a player who is going to serve, between two periods of play.
  • the stringbed of the racket is horizontal, and it can therefore not be a service, forehand, or backhand.
  • 2 ) ⁇ ), the norm 1 ( ⁇ DVA ⁇ 1
  • ), the norm p ( ⁇ DVA ⁇ p (
  • p ) 1/p ), or the infinite norm ( ⁇ DVA ⁇ ⁇ max(
  • a large variation can be detected by comparison with a threshold, in this case the threshold S1.
  • an impact is detected by testing if the norm 1 of DVA is above the threshold S1, for example equal to 11:
  • the value of the threshold S1 is conventionally obtained by training on a test basis.
  • the value of the threshold S2 is conventionally obtained by training on a test basis. S2 is low so as not to miss strokes lacking power.
  • This second comparison can, for example, be written in the following form:
  • dt represents the first value
  • dt represents the second value
  • C1 is a criterion that can for example have a value of 1 ⁇ 2.
  • gyrometers supplied by Analog DevicesTM with the reference ADXRS300TM, or the ITG3200TM from InvensenseTM or the gyrometers supplied by STMTM.
  • accelerometers it is, for example, possible to use the accelerometers with the reference ADXL103 from Analog DevicesTM and LIS302DL by STMTM. FreeScaleTM and KionixTM also supply such sensors.
  • inertial devices embedded in the object comprising accelerometer and gyrometer combinations.
  • the accelerometers make it possible to measure the orientation of the object with respect to a fixed vector related to the earth, i.e. terrestrial gravity.
  • the gyrometers measure the inherent angular velocity of the movements of the object.
  • the gyrometers are generally affected by a significant temporal drift that must be regularly corrected.
  • the accelerometer makes it possible to supply an absolute orientation with respect to a terrestrial frame of reference. Gyrometers are effective for estimating orientations during phases of rapid movements, between two absolute orientations.
  • the sensors can be microelectromechanical systems or MEMS, optionally integrated, or made using other non-integrated technologies.
  • Each type of sensor can include one, two or three axes.
  • a single sensor type in this case generally with three axes
  • the perturbations or temporal drift can be considered negligible so that the final orientation data item, desirable for embodiments of the invention, is precise enough, or be corrected without resorting to another sensor type.
  • a combination of at least two sensor types will be used for embodiments of the invention, for example accelerometer and gyrometer.
  • the tri-axial version gyrometer supplies angular velocity measurements in relation to three Degrees of Freedom (DOF), and makes it possible to estimate the attitude by integration of the angular velocity. It therefore makes it possible to compute a relative orientation with respect to a given orientation. This principle of estimating the orientation is subject to a drift because of the integration operation and the gyrometer bias, if the gyrometer is used alone.
  • the tri-axial version accelerometer supplies two items of angular information (the angles of roll and yaw) that are absolute with respect to a terrestrial frame of reference, but is subject to perturbations when the movements are not quasi-static since it measures at the same time the acceleration parameters due to the movement.
  • the combination of the two sensors makes it possible to supply measurements of absolute attitude with respect to a terrestrial frame of reference, with the exception of the heading (angle with respect to the North in the terrestrial frame of reference) with respect to the earth, whose value can only be estimated using the gyrometer and therefore as a relative value with respect to a reference orientation.
  • a stroke is detected among a set of strokes, by associating a stroke with a movement for which, at the moment of impact, the velocity of the racket Ra is essentially along a determined axis, as illustrated in FIG. 5 .
  • a stroke is detected among a set of strokes, by associating a stroke with a movement for which, at the moment of impact, the velocity of the racket Ra is essentially along a determined axis, as illustrated in FIG. 5 .
  • an item of information representing the left- or right-handedness of the player for detecting a stroke among a set of strokes, an item of information representing the left- or right-handedness of the player, and representing the direction of the movement determined from the sign of the angular rotational velocity along the determined axis.
  • the information item representing the left- or right-handedness of the player can be supplied by the player or learnt during the game.
  • the player turns the racket around the z-axis, and the direction of the movement gives the information on the left- or right-handedness of the player (Rotation Gz>0: right-handed, and Gz ⁇ 0: left-handed).
  • the axes of interest are the z-axis for a service and the x-axis for a forehand or a backhand, as illustrated in the following example.
  • a tracking of the orientation of the longitudinal axis ⁇ right arrow over (z) ⁇ of the racket Ra with respect to the gravity vector ⁇ right arrow over (g) ⁇ is used, as illustrated in FIG. 6 .
  • the attitude of the racket Ra is determined from the measurements from the accelerometer A and the gyrometer G, then the projection of the longitudinal axis ⁇ right arrow over (z) ⁇ of the racket Ra on the gravity vector ⁇ right arrow over (g) ⁇ is computed.
  • the value of the projection of ⁇ right arrow over (z) ⁇ onto ⁇ right arrow over (g) ⁇ can be seen.
  • this projection has a value of ⁇ 1
  • this projection has a value of 0
  • this projection has a value of 1.
  • FIG. 7 illustrates an example of the evolution of this projection over a service, during which, at the moment of impact of the ball (impact detection peak PDA), the racket Ra is substantially vertical oriented upward, and the projection of ⁇ right arrow over (z) ⁇ onto ⁇ right arrow over (g) ⁇ has a value of substantially ⁇ 1.
  • Different players can have different services.
  • different criteria can be used, for example three criteria are used to determine a service:
  • the thresholds required for the operation of the method can be advantageously determined on a test basis representing the scenarios of use.
  • the service movement can also be used to determine whether the player is left- or right-handed.
  • the player turns the racket Ra about the x-axis. This rotation can be measured by the gyroscope z, and from its sign, it is possible to deduce if the player is left- or right-handed (Rotation Gz>0: right-handed, and Gz ⁇ 0: left-handed).
  • the value 1 is associated with a right-handed player and the value ⁇ 1 with a left-handed player, it is possible to determine the type of stroke by multiplying these three factors. If the result is positive (i.e. has a value of 1) the stroke is a forehand stroke, and if the result is negative (i.e. has a value of ⁇ 1) the stroke is a backhand stroke.
  • the various cases are represented in FIG. 9 .
  • a backspin effect is distinguished from a topspin effect from the sign of the angular rotational velocity G y along the second transverse axis y and of the orientation or attitude of the racket Ra during said first interval of time.
  • the player can give a backspin or topspin effect to the ball by adjusting the angular velocity Gy of the racket Ra upon impact.
  • a stroke with no effect has an angular rotational velocity only in the x-direction, represented by a gyrometric signal along Gx.
  • An effect is given by applying a rotation about the y-axis, thereby increasing the gyroscopic signal along Gy.
  • a stroke is considered to have an effect when
  • ) can also be used to have a parameter corresponding to the intensity of the effect.
  • several longitudinal impact strips are defined, in this case three longitudinal impact strips, a high-impact strip, a medium-impact strip, and a low-impact strip.
  • the gyrometer Gz that measures the angular rotational velocity Gz about the z-axis displays an oscillation, as represented in FIG. 11 .
  • the downward slope represents the rotation of the racket Ra by reason of the impact, and the re-ascending slope is due to the overcompensation by the action of the player's wrist.
  • the amplitude of the oscillation max(Gz) ⁇ min(Gz) is taken as a measurement of the rotation effect due to an impact outside the axes.
  • the problem with this measurement is that a high impact velocity slightly outside the axes, and a low-velocity impact near the edge of the racket Ra, have the same effect. This means that it is desirable to compensate for the velocity, i.e. the power of the stroke E GXY just before impact.
  • This energy can be represented by the following relationship:
  • Gx and Gy represent the angular rotational velocities of rotation about the x- and y-axes.
  • a normalization using ⁇ right arrow over (E GXY ) ⁇ works well.
  • a threshold C for example equal to 2 can be used to tell the difference between impacts in the medium band (C ⁇ 2), and impacts outside the axes (C>2).
  • the threshold can be kept fixed, or can be slightly modified (between 1.7 and 2.1) according to the type of stroke (service, backhand, forehand stroke etc.) in order to increase precision.
  • the best threshold is determined by training on a test basis.
  • an impact of the projectile Pj on the racket Ra can furthermore be detected from vibration measurements transmitted by a piezoelectric sensor mounted in a fixed manner on the racket Ra, by comparing a parameter representing vibrations with a threshold. It is for example possible to integrate the signal over a frequency window and to compare the result with this threshold.
  • Im represents the “imaginary part” function
  • Re represents the “real part” function
  • the signal s(t) conveyed by the piezoelectric sensor P makes it possible to determine in which radial strip the impact has occurred.
  • FIG. 13 which represents the phase ⁇ 1 of the signal s(t) as a function of the normalized energy E E1 , does indeed show that it is possible to deduce therefrom a radial strip to which the impact position belongs, in this case B1, B2 or B3.
  • an impact zone along the axes x and z of the racket Ra is determined, in a precise manner.
  • the racket Ra has zero velocity
  • the ball velocity after the impact is equal to the velocity of the racket Ra just before the impact.
  • the racket Ra and the projectile Pj form a single system, and that the projectile Pj thus takes the velocity of the racket Ra.
  • FIG. 14 represents the evolution over time of the position of the racket Ra during a service, for various intermediate positions of the racket Ra.
  • ⁇ pod represents the angular velocity of the racket measured by the gyrometer or gyrometers
  • ⁇ ′ represents the angular velocity linked to the trajectory or the velocity of the hand of the player
  • R represents the instantaneous radius of curvature of the trajectory.
  • the racket Ra makes a “pause” behind the back of the player.
  • This pause can be considered as a local minimum of the acceleration, as illustrated in FIG. 15 .
  • This minimum can be considered as the start of the movement. However, for players having a high standard of play, this minimum may not exist, or not correspond to the start of the movement.
  • This time frame can extend over 5 or 6 samples for beginner players (either for one sampling every 5 ms, over 25 or 30 ms), up to 30 samples for the most energetic (150 ms).
  • the energy on impact can therefore essentially rely on the values of the other components of the acceleration.
  • the slope of the acceleration profile it is the most representative over the 50 ms before impact. The smaller the slope, the greater the acceleration before the impact, and the wider the chosen range of integration to obtain the velocity. If the movement is very strong, the acceleration along the x-axis saturates very quickly and the corresponding signal is constant (horizontal). Because of this, the slopes of the profile of the accelerations computed from the three axes are small.
  • MaxAcc representing the acceleration maximum, over all the axes, reached just before impact
  • Acc50 representing the acceleration to (t 0 ⁇ 50 ms). If MaxAcc is below 35, the integration is carried out over 10 samples before impact. If MaxAcc is between 35 and 45, the integration is carried out over 15 samples before impact. If MaxAcc is above 45, the integration is carried out over 18 samples before impact.
  • the estimated velocity can be corrected, taking into account the presence of an effect.
  • the effect can be a topspin or a slice, for example.
  • This parameter ⁇ is between 0 and 1.
  • a function decreasing with ⁇ makes it possible to re-evaluate the velocity.
  • the velocity can, independently or in combination, be corrected taking into account the centering of the ball, by using the centering criterion C previously defined.
  • the thresholds required for the operation of the method can advantageously be determined on a test basis representing the scenarios of use.
  • the velocity of the projectile is computed in km/h, using training by means of a comparison with radar measurements or optical devices (here a ViconTM device).
  • the scatter of points obtained, by tests of different players, is represented in FIG. 16 .
  • a linear relationship is identified between the velocity estimated by the algorithm or a quantity representing the velocity estimated by the algorithm, and the velocity measured by radar, which makes it possible to adapt and correct the computed velocity.
  • This method can be easily generalized to other relationships, using polynomials of order 2, 3 or another parameterized function, etc., in order to reproduce more complex functions than a linear relationship.
  • Correspondence tables can also be used, or any other method of function approximation (for example neural networks.)
  • the location of the player in the game space can be added from data provided by a location system receiver, for example a satellite location system, linked in displacement to the player or to the racket, or a system comprising a video camera.
  • a location system receiver for example a satellite location system, linked in displacement to the player or to the racket, or a system comprising a video camera.
  • an extrapolation can be carried out, or a hypothetical extension of a law, of a function or of a quantity beyond the time limits wherein they are objectively observed, of signals provided by the gyrometer over this saturation period.
  • a saturated sensor is less accurate, so using an extrapolation, or a hypothetical extension of a law, of a function or of a quantity beyond the time limits wherein they are objectively observed makes it possible to improve accuracy.
  • Embodiments of the present method makes it possible to provide, in real or delayed time, qualitative and/or quantitative statistics relating to the player's way of playing, by way of a terminal screen, for example a touch-sensitive tablet.
  • the core data are computed in a computer embedded in the racket, so that in the event of a problem of transmission of the data from the racket to the mobile terminal equipped with display means, the data are not corrupted.

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FR1254257A FR2990356A1 (fr) 2012-05-10 2012-05-10 Procede d'analyse du jeu d'un utilisateur d'une raquette
FR1254257 2012-05-10
FR1259662A FR2990357B1 (fr) 2012-05-10 2012-10-10 Procede d'analyse du jeu d'un utilisateur d'une raquette
FR1259662 2012-10-10
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WO2020033741A1 (fr) * 2018-08-08 2020-02-13 Hoeffner Catherine Angela Système de rétroaction d'équipement
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