US5554033A
Expired / Lapsed
US
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System for human trajectory learning in virtual environments
Assignee: Massachusetts Institute of Technology
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Filing: 1994-07-01
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Granted: 1996-09-10
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Expires: 2014-07-01
Abstract
Abstract In an apparatus and method for teaching motor skills to a human subject, learning by a student is based upon imitation of a teacher's motion. The teacher's motion is sensed by a motion sensing device, is digitized by a computer, and is then recorded in non-volatile computer memory. The computer generates an image sequence of the teacher on the computer display for the student to view and imitate. The same motion sensing device used to record the teacher's movement records the student's movement and the computer creates an image sequence on the display corresponding to the student's movement, simultaneously providing an image sequence of the teacher's movement. The training of the student is based upon displaying the pre-stored teacher's motion on the screen. The student's task is to imitate the teacher's movement. This process is repeated until the teacher's and student's trajectories match well in space and time.
Inventors
- 👤 Emilio Bizzi
- 👤 Ferinando A. Mussa-Ivaldi
- 👤 Reza Shadmehr
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 04:30
CPC Classifications
A; A63; A63B; A63B24/00; A63B24/0003; A63B24/0006; A63B69/00; A63B69/0024; A63B69/0026; A63B69/36; A63B69/3623; A63B71/00; A63B71/06; A63B71/0619; A63B71/0622; G; G09; G09B; G09B19/00; G09B19/003; G09B19/0038; A63B2024/0012; A63B2024/0015; A63B2071/0647; A63B2102/00; A63B2102/16; A63B2208/00; A63B2208/12; A63B2220/00; A63B2220/80; A63B2220/89; A63B2243/00; A63B2243/0033; A63B69/0002; A63B69/0015; A63B69/002; Y; Y10; Y10S; Y10S482/00; Y10S482/901; Y10S482/902
Claims Analysis
Total Claims: 40
Claim 1
Independent Claim
147 words
A teaching system for human trajectory learning comprising: a motion sensing device for sensing a student's movement; a display; memory; and electronic means responsive to the motion sensing device to generate, during the student's movement, a student's implement virtual image sequence on the display corresponding to the student's movement of an implement set in motion by the student and to simultaneously generate a teacher's implement virtual image sequence on the display of a corresponding teacher's movement of a corresponding implement set in motion by the teacher from said memory, and to generate a virtual object image on the display to be struck by the teacher's implement virtual image sequences, such that the student may cause the student's implement virtual image sequence to imitate the teacher's implement virtual image sequence for attempting to strike the virtual object image, thereby providing an efficient motion learning sequence for the student.
Claim 2
Dependent Claim
147 words
A teaching system for human trajectory learning comprising: a motion sensing device for sensing a student's movement; a display; memory; and electronic means responsive to the motion sensing device to generate, during the student's movement, a student's implement virtual image sequence on the display corresponding to the student's movement of an implement set in motion by the student and to simultaneously generate a teacher's implement virtual image sequence on the display of a corresponding teacher's movement of a corresponding implement set in motion by the teacher from said memory, and to generate a virtual object image on the display to be struck by the teacher's implement virtual image sequences, such that the student may cause the student's implement virtual image sequence to imitate the teacher's implement virtual image sequence for attempting to strike the virtual object image, thereby providing an efficient motion learning sequence for the student.
Claim 3
Dependent Claim
27 words
A teaching system as claimed in claim 1, wherein the motion sensing device senses the position and orientation of an implement set in motion by the student.
Claim 4
Dependent Claim
14 words
A teaching system as claimed in claim 2, wherein the implement is a racquet.
Claim 5
Dependent Claim
22 words
A teaching system as claimed in claim 2, wherein the said virtual object image is a moving projectile struck by the implement.
Claim 6
Dependent Claim
21 words
A teaching system as claimed in claim 4, wherein the projectile of the virtual object image has spin, and translational motion.
Claim 7
Dependent Claim
22 words
A teaching system as claimed in claim 2, wherein the virtual object image is an object to be impacted by the implement.
Claim 8
Dependent Claim
34 words
A teaching system as claimed in claim 2, wherein the student's and teacher's implement virtual image sequences are three-dimensional endpoint trajectory of the implement set in motion without images of the student and teacher.
Claim 9
Dependent Claim
20 words
A teaching system as claimed in claim 1, wherein the teacher's movement is a prestored acceptable movement of the student.
Claim 10
Dependent Claim
30 words
A teaching system as claimed in claim 1, wherein the electronic means generates the teacher's implement virtual image sequence of the teacher's movement to be displayed at a reduced speed.
Claim 11
Dependent Claim
36 words
A teaching system as claimed in claim 9, wherein the electronic means increases the speed of the teacher's implement virtual image sequence of the teacher's movement as the student becomes proficient in following the teacher's movement.
Claim 12
Dependent Claim
29 words
A teaching system as claimed in claim 1, wherein the teacher's movement is selected from a library of stored teacher's movement in the memory according to the student's need.
Claim 13
Dependent Claim
37 words
A teaching system as claimed in claim 1, wherein the motion sensing device comprises fixed and moving units so as to establish an oriented electromagnetic field between said fixed and moving units of the motion sensing device.
Claim 14
Dependent Claim
46 words
A teaching system as claimed in claim 1, wherein the motion sensing device senses the position and orientation of the implement set in motion by the student and wherein the student's implement virtual image sequence is derived from the sensed position and orientation of the implement.
Claim 15
Dependent Claim
28 words
A teaching system as claimed in claim 1, wherein the student's and teacher's implement virtual image sequences are displayed in three-dimensional form to provide a perception of depth.
Claim 16
Independent Claim
155 words
A method for teaching human trajectory learning motion, comprising: sensing a student's movement with a motion sensing device; generating by the electronic means, during the student's movement of an implement set in motion by the student, a student's implement virtual image sequence in response to the student's movement and a teacher's implement virtual image sequence of a teacher's movement of a corresponding implement set in motion by the teacher from a memory; and displaying said teacher's implement virtual image sequence of a teacher's movement simultaneously with the student's implement virtual image sequence on a display, and virtual object image, generated by the electronic means, on said display to be struck by the teacher's implement virtual image sequences, such that the student may cause the student's implement virtual image sequence to imitate the teacher's implement virtual image sequence for attempting to strike said virtual object image, thereby providing an efficient motion learning sequence for the student.
Claim 17
Independent Claim
155 words
A method for teaching human trajectory learning motion, comprising: sensing a student's movement with a motion sensing device; generating by the electronic means, during the student's movement of an implement set in motion by the student, a student's implement virtual image sequence in response to the student's movement and a teacher's implement virtual image sequence of a teacher's movement of a corresponding implement set in motion by the teacher from a memory; and displaying said teacher's implement virtual image sequence of a teacher's movement simultaneously with the student's implement virtual image sequence on a display, and virtual object image, generated by the electronic means, on said display to be struck by the teacher's implement virtual image sequences, such that the student may cause the student's implement virtual image sequence to imitate the teacher's implement virtual image sequence for attempting to strike said virtual object image, thereby providing an efficient motion learning sequence for the student.
Claim 18
Dependent Claim
29 words
The method of claim 15, wherein the step of sensing a student's movement comprises sensing the position and orientation of the implement set in motion by the student's movement.
Claim 19
Dependent Claim
11 words
The method of claim 16, wherein the implement is a racquet.
Claim 20
Dependent Claim
42 words
The method of claim 16, wherein said virtual object image is a moving projectile, and said method further comprises the steps of striking said projectile with the implement set in motion by the student and displaying the resulting trajectory of the projectile.
Claim 21
Dependent Claim
21 words
The method of claim 18, wherein the step of displaying the trajectory of the projectile takes into account the projectile's spin.
Claim 22
Dependent Claim
19 words
The method of claim 16, wherein the virtual object image is an object to be impacted by the implement.
Claim 23
Dependent Claim
35 words
The method of claim 16, wherein the step of displaying the student's and teacher's implement virtual image sequences displays three-dimensional endpoint trajectory of the implement set in motion without images of the student and teacher.
Claim 24
Dependent Claim
35 words
The method of claim 15, wherein the step of generating a teacher's implement virtual image sequence of the teacher's movement includes prestoring an acceptable movement of the student as the teacher's movement in the memory.
Claim 25
Dependent Claim
29 words
The method of claim 15, wherein the step of displaying said teacher's implement virtual image sequence of the teacher's movement includes displaying the teacher's movement at a reduced speed.
Claim 26
Dependent Claim
34 words
The method of claim 23, further comprises the steps of increasing the speed of the teacher's implement virtual image sequence of the teacher's movement as the student becomes proficient at following the teacher's movement.
Claim 27
Dependent Claim
43 words
The method of claim 15, wherein the step of generating a teacher's implement virtual image sequence of a teacher's movement includes the step of selecting a teacher's movement from a library of stored teacher's movement in the memory according to the student's need.
Claim 28
Dependent Claim
49 words
The method of claim 15, wherein the motion sensing device comprises fixed and moving units, and wherein the step of sensing a student's movement with a motion sensing device comprises the step of establishing an oriented electromagnetic field between the fixed and moving units of the motion sensing device.
Claim 29
Dependent Claim
50 words
The method of claim 15, wherein the step of sensing comprises sensing the position and orientation of the implement set in motion by the student, and said generating step further comprises the step of deriving the student's implement virtual image sequence from the sensed position and orientation of the implement.
Claim 30
Dependent Claim
34 words
The method of in claim 15, wherein the step of displaying the student's and teacher's implement virtual image sequences displays the implement virtual image sequences in three-dimensional form to provide a perception of depth.
Claim 31
Dependent Claim
146 words
A teaching system for human trajectory learning comprising: a motion sensing device for sensing movement of the position and orientation of an implement set in motion by a student; a display; and electronic means responsive to the motion sensing device to generate, during the student's movement, a student's implement virtual image sequence on the display corresponding to the student's movement and to simultaneously generate a teacher's implement virtual image sequence on the display corresponding to a teacher's movement of a corresponding implement set in motion by the teacher, and to generate a virtual object image on the display to be struck by the teacher's implement virtual image sequences, such that the student may cause the student's implement virtual image sequence to imitate the teacher's implement virtual image sequence for attempting to strike the virtual object image, thereby providing an efficient motion learning sequence for the student.
Claim 32
Dependent Claim
146 words
A teaching system for human trajectory learning comprising: a motion sensing device for sensing movement of the position and orientation of an implement set in motion by a student; a display; and electronic means responsive to the motion sensing device to generate, during the student's movement, a student's implement virtual image sequence on the display corresponding to the student's movement and to simultaneously generate a teacher's implement virtual image sequence on the display corresponding to a teacher's movement of a corresponding implement set in motion by the teacher, and to generate a virtual object image on the display to be struck by the teacher's implement virtual image sequences, such that the student may cause the student's implement virtual image sequence to imitate the teacher's implement virtual image sequence for attempting to strike the virtual object image, thereby providing an efficient motion learning sequence for the student.
Claim 33
Dependent Claim
152 words
A teaching system for acquiring motion skill comprising: a motion sensing device for sensing the position and orientation of a means set in motion by a student; a display; memory; and electronic means responsive to the motion sensing device to generate, during the student's movement, a student's movement graphical image sequence on the display derived from the sensed position and orientation of the means set in motion by the student, and to simultaneously generate a teacher's movement graphical image sequence data on the display of a corresponding means set in motion by a teacher from the memory, and to generate an object image on the display to be struck by the teacher's virtual image sequences, such that the student may cause the student's movement graphical image sequence to imitate the teacher's movement graphical image sequence for attempting to strike the object image, thereby providing an efficient motion learning sequence for the student.
Claim 34
Dependent Claim
152 words
A teaching system for acquiring motion skill comprising: a motion sensing device for sensing the position and orientation of a means set in motion by a student; a display; memory; and electronic means responsive to the motion sensing device to generate, during the student's movement, a student's movement graphical image sequence on the display derived from the sensed position and orientation of the means set in motion by the student, and to simultaneously generate a teacher's movement graphical image sequence data on the display of a corresponding means set in motion by a teacher from the memory, and to generate an object image on the display to be struck by the teacher's virtual image sequences, such that the student may cause the student's movement graphical image sequence to imitate the teacher's movement graphical image sequence for attempting to strike the object image, thereby providing an efficient motion learning sequence for the student.
Claim 35
Independent Claim
176 words
A method for teaching motion skill, comprising: sensing, with a motion sensing device, the position and orientation of a means set in motion by a student; generating by the electronic means, during the student's movement, a student's movement graphical image sequence of the means set in motion by the student, the student's movement graphical image sequences being derived from the sensed position and orientation of the means set in motion by the student and a teacher's movement graphical image sequence data of a corresponding means set in motion by a teacher from a memory; and displaying said teacher's movement graphical image sequence simultaneously with the student's movement graphical image sequence on a display means, and an object image, generated by the electronic means, on said display means to be struck by the teacher's movement graphical image sequences, such that the student may cause the student's movement graphical image sequence to imitate the teacher's movement graphical image sequence for attempting to strike the object image, thereby developing the coordinates of the temporal and spatial aspects of motion.
Claim 36
Independent Claim
176 words
A method for teaching motion skill, comprising: sensing, with a motion sensing device, the position and orientation of a means set in motion by a student; generating by the electronic means, during the student's movement, a student's movement graphical image sequence of the means set in motion by the student, the student's movement graphical image sequences being derived from the sensed position and orientation of the means set in motion by the student and a teacher's movement graphical image sequence data of a corresponding means set in motion by a teacher from a memory; and displaying said teacher's movement graphical image sequence simultaneously with the student's movement graphical image sequence on a display means, and an object image, generated by the electronic means, on said display means to be struck by the teacher's movement graphical image sequences, such that the student may cause the student's movement graphical image sequence to imitate the teacher's movement graphical image sequence for attempting to strike the object image, thereby developing the coordinates of the temporal and spatial aspects of motion.
Claim 37
Dependent Claim
199 words
A teaching system for human trajectory learning comprising: a motion sensing device for sensing the position and orientation of an implement set in motion by a student; a display; memory; and electronic means responsive to the motion sensing device to generate, during the student's movement, a student's virtual image sequence on the display derived from the sensed position and orientation of the implement set in motion by the student, and to simultaneously generate a teacher's virtual image sequence data on the display of a corresponding implement set in motion by a teacher from the memory, and to generate a virtual object image on the display to be struck by the teacher's virtual image sequences, such that the student may cause the student's virtual image sequence to imitate the teacher's virtual image sequence for attempting to strike the virtual object image; the student's and teacher's virtual image sequences being three-dimensional endpoint trajectory of the implement in motion without images of the student and teacher, the student's and teacher's virtual image sequences being prompted by said virtual object image so that the student attempting to strike the virtual object, thereby developing the coordinates of the temporal and spatial aspects of motion.
Claim 38
Dependent Claim
199 words
A teaching system for human trajectory learning comprising: a motion sensing device for sensing the position and orientation of an implement set in motion by a student; a display; memory; and electronic means responsive to the motion sensing device to generate, during the student's movement, a student's virtual image sequence on the display derived from the sensed position and orientation of the implement set in motion by the student, and to simultaneously generate a teacher's virtual image sequence data on the display of a corresponding implement set in motion by a teacher from the memory, and to generate a virtual object image on the display to be struck by the teacher's virtual image sequences, such that the student may cause the student's virtual image sequence to imitate the teacher's virtual image sequence for attempting to strike the virtual object image; the student's and teacher's virtual image sequences being three-dimensional endpoint trajectory of the implement in motion without images of the student and teacher, the student's and teacher's virtual image sequences being prompted by said virtual object image so that the student attempting to strike the virtual object, thereby developing the coordinates of the temporal and spatial aspects of motion.
Claim 39
Independent Claim
195 words
A method for teaching motion human trajectory learning, comprising: sensing, with a motion sensing device, the position and orientation of an implement set in motion by a student; generating by the electronic means, during the student's movement, a student's virtual image sequence of a three-dimensional endpoint trajectory of the implement set in motion by the student, the student's virtual image sequences being derived from the sensed position and orientation of the implement, and a teacher's virtual image sequence data of a three-dimensional endpoint trajectory of a corresponding implement set in motion by a teacher from a memory; and displaying on a display, the teacher's virtual image sequence without images of the student and teacher simultaneously with the student's virtual image sequence and a virtual object image, generated by the electronic means, to be struck by the teacher's virtual image sequences, such that the student may cause the student's virtual image sequence to imitate the teacher's virtual image sequence, and the student and teacher's virtual image sequences being prompted by said virtual object image so that the student attempting to strike the virtual object, thereby developing the coordinates of the temporal and spatial aspects of motion.
Claim 40
Independent Claim
195 words
A method for teaching motion human trajectory learning, comprising: sensing, with a motion sensing device, the position and orientation of an implement set in motion by a student; generating by the electronic means, during the student's movement, a student's virtual image sequence of a three-dimensional endpoint trajectory of the implement set in motion by the student, the student's virtual image sequences being derived from the sensed position and orientation of the implement, and a teacher's virtual image sequence data of a three-dimensional endpoint trajectory of a corresponding implement set in motion by a teacher from a memory; and displaying on a display, the teacher's virtual image sequence without images of the student and teacher simultaneously with the student's virtual image sequence and a virtual object image, generated by the electronic means, to be struck by the teacher's virtual image sequences, such that the student may cause the student's virtual image sequence to imitate the teacher's virtual image sequence, and the student and teacher's virtual image sequences being prompted by said virtual object image so that the student attempting to strike the virtual object, thereby developing the coordinates of the temporal and spatial aspects of motion.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1999-09-10 | 2000-03-11 | 2000-09-10 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2003-09-10 | 2004-03-11 | 2004-09-10 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2007-09-10 | 2008-03-11 | 2008-09-10 | $7700.00 | Window Closed / Lapsed |