Mobile control using gait cadence
View Patent ↗Methods for controlling an aspect of an application in a mobile or wearable device and a mobile or wearable device user's representation in real time are described, where the user is performing a gait activity with a gait cadence, and the gait cadence is used for control. Additional user's mobility characteristics leveraged for control may include velocity and stride length, and the sensors utilized to obtain any contextual information may be accelerometers.
1. A computer-based method comprising:
determining, by a mobile or wearable device carried by a user, a gait cadence of the user performing a gait motion, in real time; and
controlling, by the mobile or wearable device, an aspect of an application in the mobile or wearable device based on the determined gait cadence, in real time;
wherein said mobile or wearable device includes a motion sensor embedded therein; wherein the determining of the gait cadence comprises:
obtaining a prior estimation of the gait cadence;
obtaining an autocorrelation of time domain data along an axis of the motion sensor, wherein the autocorrelation presents a first maximum and other maxima;
determining that a first kinematic value representative of a time distance between one of the other maxima and the first maximum is within a range of numbers; wherein the range of numbers is determined based on the prior estimation of the gait cadence; wherein an inverse of said time distance represents an estimation of the cadence; wherein said numbers indicate time distances from said first maximum, and constrain a second kinematic value representative of an inverse of the prior estimation of the cadence; and
determining the gait cadence as the prior estimation of the gait cadence.
2. The method of claim 1 , further comprising:
determining a threshold using the first kinematic value representative of the time distance between the one of the other maxima and the first maximum;
determining that said threshold is larger than a spread of a plurality of determined kinematic values representative of time distances between some of the other maxima and the first maximum of said auto correlation;
wherein the some of the other maxima comprise the one of the other maxima.
3. The method of claim 2 , wherein the threshold is larger than 20% of the first kinematic value representative of the time distance between the one of the other maxima and the first maximum.
4. The method of claim 2 , wherein the threshold is proportional to the first kinematic value representative of the time distance between the one of the other maxima and the first maximum; wherein the plurality of determined kinematic values representative of time distances between the some of the other maxima and the first maximum comprise more than 2.
5. The method of claim 1 , further comprising:
determining a threshold using the first kinematic value representative of the time distance between the one of the other maxima and the first maximum;
wherein the threshold is proportional to the first kinematic value representative of the time distance between the one of the other maxima and the first maximum; determining that said threshold is larger than a difference between: the first kinematic value representative of the time distance between the one of the other maxima and the first maximum, and a smallest kinematic value representative of time distance of a plurality of determined kinematic values representative of time distances between some of the other maxima and the first maximum of said autocorrelation; wherein the some of the other maxima comprise the one of the other maxima.
6. The method of claim 1 , further comprising:
determining a threshold using the first kinematic value representative of the time distance between the one of the other maxima and the first maximum;
determining that said threshold is larger than a difference between: the first kinematic value representative of the time distance between the one of the other maxima and the first maximum, and a smallest kinematic value representative of time distance of a plurality of determined of kinematic values representative of time distances between some of the other maxima and the first maximum of said autocorrelation; wherein the some of the other maxima comprise the one of the other maxima.
7. The method of claim 1 , wherein said axis of the motion sensor has been identified leveraging an average of frequencies of a maximum amplitude computed using a Fourier transformation.
8. The method of claim 1 , wherein said axis of the motion sensor has been identified leveraging an average of frequencies of a maximum amplitude computed using a Fourier transformation; wherein said average has been computed over a time window.
9. The method of claim 8 , wherein said axis of the motion sensor has been identified leveraging also a comparison of absolute values of mean values of time domain data along all axes of the motion sensor.
10. The method of claim 9 , wherein said axis is different from an axis of the motion sensor with a highest value of said absolute values; wherein said axis of the motion sensor has been identified before the determining of the gait cadence.
11. The method of claim 9 , further comprising:
determining that, in the identified axis, a frequency corresponding to a peak with a largest amplitude in a Fourier transformation, matches the prior estimation of the gait cadence.
12. The method of claim 1 , wherein said axis is identified leveraging a comparison of absolute values of mean values of time domain data along all axes of the motion sensor; wherein said axis is different from an axis of the motion sensor with a highest value of said absolute values.
13. The method of claim 1 , wherein said range of numbers span a percentage of one of said numbers; wherein the one of said numbers corresponds to the second kinematic value representative of the inverse of the prior estimation of the cadence; where said percentage is lower than 30%.
14. The method of claim 1 , wherein the controlling the aspect of the application in the mobile or wearable device comprises:
controlling a cadence of a representation of the user based on the determined gait cadence, in real time.
15. The method of claim 2 , wherein the motion sensor is an accelerometer; wherein the axis is identified leveraging a comparison of absolute values of mean values of time domain data along all axes of the accelerometer.
16. The method of claim 15 , wherein said axis is different from an axis of the accelerometer with a highest value of said absolute values.
17. A system comprising:
a processor;
a processor-readable medium including instructions which, when executed by the processor, cause the processor to perform functions comprising:
determining a gait cadence of a user performing a gait motion and carrying a mobile or wearable device, in real time; and
controlling an aspect of an application in the mobile or wearable device based on the determined gait cadence, in real time; wherein said mobile or wearable device includes a motion sensor embedded therein; wherein the determining of the gait cadence comprises:
obtaining a prior estimation of the gait cadence;
obtaining an autocorrelation of time domain data along an axis of the motion sensor, wherein the autocorrelation presents a first maximum and other maxima;
determining that a first kinematic value representative of a time distance between one of the other maxima and the first maximum is within a range of numbers; wherein the range of numbers is determined based on the prior estimation of the gait cadence; wherein an inverse of said time distance represents an estimation of the cadence; wherein said numbers indicate time distances from said first maximum, and constrain a second kinematic value representative of an inverse of the prior estimation of the cadence; and
determining the gait cadence as the prior estimation of the gait cadence.
18. The system of claim 17 , wherein the controlling the aspect of the application in the mobile or wearable device comprises: controlling a cadence of a representation of the user based on the determined gait cadence, in real time.
19. A non-transitory processor-readable medium including instructions which, when executed by a processor, cause the processor to perform functions comprising:
determining a gait cadence of a user performing a gait motion and carrying a mobile or wearable device, in real time; and
controlling an aspect of an application in the mobile or wearable device based on the determined gait cadence, in real time; wherein said mobile or wearable device includes a motion sensor embedded therein; wherein the determining of the gait cadence comprises:
obtaining a prior estimation of the gait cadence;
obtaining an autocorrelation of time domain data along an axis of the motion sensor, wherein the autocorrelation presents a first maximum and other maxima;
determining that a first kinematic value representative of a time distance between one of the other maxima and the first maximum is within a range of numbers; wherein the range of numbers is determined based on the prior estimation of the gait cadence; wherein an inverse of said time distance represents an estimation of the cadence; wherein said numbers indicate time distances from said first maximum, and constrain a second kinematic value representative of an inverse of the prior estimation of the cadence; and
determining the gait cadence as the prior estimation of the gait cadence.
20. The non-transitory processor-readable medium of claim 19 , wherein the controlling the aspect of the application in the mobile or wearable device comprises: controlling a cadence of a representation of the user based on the determined gait cadence, in real time.