Biomechanical activity monitoring

1. A wearable sensor apparatus comprising:

a motion sensor configured to sense two or three dimensional movement and orientation of the motion sensor;

a vibration sensor configured to sense acoustic vibrations, wherein the vibration sensor comprises an acoustic pressure sensor;

means for attaching the motion sensor and the vibration sensor to a body; and

a classification processor configured to receive motion signals from the motion sensor and to receive muscle vibration signals from the vibration sensor, and to classify a pattern of movement, or a posture of, at least one part of a body on which the wearable sensor apparatus is attached, based on said motion signals, and to identify muscular activity used during said pattern of movement or posture based on the sensed acoustic vibrations.

2. The apparatus of claim 1 in which the motion sensor comprises an inertial measurement unit.

3. The apparatus of claim 1 in which the vibration sensor is configured to sense skeletal muscle vibrations.

4. The apparatus of claim 2 in which the inertial measurement unit comprises one or more of an accelerometer, a gyroscope, and a magnetometer.

5. The apparatus of claim 2 in which the inertial measurement unit is configured to sense rotation of the motion sensor body around at least one axis in space.

6. The apparatus of claim 1 in which the vibration sensor comprises a volumetric chamber closed at one end by a flexible membrane, and a pressure transducer coupled to the chamber distal from the flexible membrane.

7. The apparatus of claim 1 comprising a barometer configured to sense an ambient pressure.

8. The apparatus of claim 1 further comprising a data logging device coupled to receive motion signals from the motion sensor and muscle vibration signals from the vibration sensor, and to store said signals as a function of time.

9. The apparatus of claim 1 wherein the signals from the vibration sensor are mechanomyographic muscle signals and the classification processor is configured to classify a pattern of movement, or a posture of, at least one part of a body on which the wearable sensor apparatus is attached based on the mechanomyographic muscle signals.

10. The apparatus of claim 1 in which the classification processor is configured to use both the motion signals and the muscle vibration signals to determine simultaneous patterns of movement, or postures of, multiple articulating parts of the body on which the wearable sensor apparatus is attached.

11. The apparatus of claim 1 wherein the classification processor is configured to:

separate the signals from the vibration sensor into windowed data;

perform cluster analysis on the windowed data to determine a correlation between the signals from the vibration sensor and a type of activity.

12. The apparatus of claim 11 wherein the cluster analysis comprises determining clusters of the windowed data and comparing one or more properties of the clusters with a corresponding threshold value.

13. The apparatus of claim 12 wherein the one or more properties comprise one or more of: gyroscopic magnitude, peak gyroscopic magnitude, ambient pressure, a cadence of a user and orientation of the motion sensor.

14. The apparatus of claim 7 , wherein the classification processor configured to receive motion signals from the motion sensor, to receive an ambient pressure signal from the barometer and to receive signals from the vibration sensor, and to classify a pattern of movement, or a posture of, at least one part of a body on which the wearable sensor apparatus is attached based on the received signals.

15. The apparatus of claim 8 wherein the signals from the muscle vibration signals are mechanomyographic muscle signals.

16. The apparatus of claim 1 in which the classification processor is further configured to determine whether or not the identified muscular activity conforms to a predetermined pattern consistent with the classified pattern of movement.

17. The apparatus of claim 1 further comprising:

a classification processor configured to receive motion signals from the motion sensor and to receive acoustic signals from the vibration sensor, and to determine when the signals correspond to foetal movement.

18. The apparatus of claim 1 further including an interface module configured to provide output control signals for a computer processor based on the output of the classification processor.

19. The apparatus of claim 1 further including an interface module configured to provide output control signals for a motive apparatus based on the output of the classification processor.

20. The apparatus of claim 19 further including a said motive apparatus.

21. The apparatus of claim 20 in which the motive apparatus comprises a prosthesis or a robotic device.

22. The apparatus of claim 10 wherein the signals from the muscle vibration signals are mechanomyographic muscle signals.

23. The apparatus of claim 1 wherein the signals from the muscle vibration signals are mechanomyographic muscle signals.

24. The apparatus of claim 10 further including an interface module configured to provide output control signals for a computer processor based on the output of the classification processor.

25. The apparatus of claim 10 further including an interface module configured to provide output control signals for a motive apparatus based on the output of the classification processor.

26. The apparatus of claim 25 further including said motive apparatus.

27. The apparatus of claim 26 in which the motive apparatus comprises a prosthesis or a robotic device.