Device and method for measuring the dynamic interaction between bodies
The invention relates to a device for measuring the dynamic interaction, in particular power transfer and work performed, between a first and a second body, in particular during relatively random movements. The device comprises a housing in which at least one kinematic sensor and at least one kinetic sensor is arranged, in addition to processing means for processing the signals from the sensors, and communication means for data exchange with the outside world. The invention also relates to a method for measuring the dynamic interaction between a first and a second body, and a carrier provided with a number of devices according to the invention.
1. A device for measuring a dynamic interaction between a first and a second body by measuring power transfer from the first body to the second body, the device comprising a housing in which at least one kinematic sensor and at least one kinetic sensor are arranged, in addition to a processing means for processing signals which transmit data from the sensors, and a communication means for data exchange with a receiver which is not part of the device and is remotely located from the device.
2. The device of claim 1 , wherein the at least one kinematic sensor and the at least one kinetic sensor are situated at mutually predetermined fixed positions and relative orientations in the housing.
3. The device of claim 2 , wherein the at least one kinematic sensor and the at least one kinetic sensor are situated at relatively small distance from each other in the housing.
4. The device of claim 1 , wherein the at least one kinematic sensor and the at least one kinetic sensor are triaxial sensors.
5. The device of claim 1 , wherein the device is a miniature device.
6. The device of claim 1 , wherein the housing comprises a first and a second side which are mutually connected by means of a substantially rigid but deformable connection, wherein the at least one kinetic sensor is arranged in the connection and the at least one kinematic sensor is attached to one of the first and second side.
7. The device of claim 1 further comprising at least one triaxial acceleration sensor, one or more of at least one triaxial force sensor and at least one triaxial angular velocity sensor, and at least one triaxial moment sensor.
8. The device of claim 1 further comprising a carrier.
9. The device of claim 8 , wherein the carrier is a glove.
10. A method for measuring a power transfer from a first body to a second body, wherein at least one device is arranged on at least one of the first and second bodies, and the power is obtained by calculating, using processor of the at least one device or of an external machine with which the device may communicate, an internal vector product of force signals generated by at least one kinetic sensor and velocity signals generated by at least one kinematic sensor; and
obtaining work performed by the first body for a determined time by integrating over this time the internal vector product of the force signals generated by the at least one kinetic sensor and velocity signals generated by the at least one kinematic sensor, the at least one device comprising a housing in which the at least one kinematic sensor and the at least one kinetic sensor are arranged and a communication means for data exchange with a receiver which is not part of the device and is remotely located from the device.
11. The method of claim 10 , wherein at least two devices are arranged on at least one of the first and second body, and overall power is obtained by adding together transferred powers for all devices.
12. The method of claim 10 further comprising measuring the power transfer from the first body to the second body during relatively random movements.
13. The method of claim 10 , wherein the at least one device is arranged at substantially every contact position between the first and second body.
14. The method of claim 10 , wherein knowledge about starting and end conditions and other preconditions, and duration of an interaction between the two bodies is used in order to minimize integration errors.
15. The method of claim 10 , wherein the relative orientations of forces and velocities of a plurality of devices with kinematic and kinetic sensors placed at the interface of at least one of the first and second body are estimated by assuming that the measured kinematic quantities are equal at all times for all devices, but are only represented in another coordinate system.
16. The method of claim 10 , wherein dynamic properties of at least one of the first and second body are at least partially determined from the force signals generated by the at least one kinetic sensor and the velocity signals generated by the at least one kinematic sensor via recursive identification.