Measuring device / sensor system for measuring, transferring and processing of relevant performance data from training and competition in contact sports, in particular the physical contact and its force effect

In practice and as far as possible, performance data in contact sports, in particular those of factual contact and force effect of relevant objects and persons to each other, are not surveyed separately but evaluated subjectively. In contact sports like martial arts this is especially critical, because an occurred contact and its force effect are the significant success data in these sports. In other types of contact sports, e.g. ball sports one is concentrated on the performance data, that lead to goal achievement (e.g. goal scoring) and is not looking objectively into the performance of participants for, for example, draw conclusions about the correct technique execution at any time in a game or competition. Though there are already measuring devices for some contact sports for detecting force effect and contact, these are limited to several defined single sensors and applications. Therefore it may be possible to make objective measurement but in case of doubt, a subjective evaluation of technique and point assignment is still necessary. This invention contains a system of measuring devices, that can, especially in martial arts sports, improve the point assignment and in other contact sports the evaluation of techniques. These special measuring devices for contact measuring and its movement and acceleration sensors, display systems and hardware interfaces can be combined with software interfaces and be tailored to fit different applications. In case of martial arts sports, the configuration of protective equipment with these measuring devices is one use case, in which the measuring devices detect all relevant data like contact, force effect and movement direction, that can be used for competition decisions.

A force sensor module includes multiple force sensors disposed in series. The force sensors each include multiple sensor sections, a support substrate, and an organic member. The multiple sensor sections have respective force detection directions different from each other. The support substrate is separately provided for each of the force sensors and supports the multiple sensor sections. The organic member is provided in common to the force sensors. The organic member fixes the multiple force sensors in series and has a groove at a location corresponding to a gap between two support substrates adjacent to each other. The organic member is flexible.

The present disclosure provides a zero moment point jitter processing method as well as an apparatus and a robot using the same. The method includes: obtaining left foot force information and right foot force information collected by sensors; calculating a first zero moment point and a second zero moment point of soles of two feet of a robot based on the left foot force information and the right foot force information; calculating a third zero moment point of the robot according to the first zero moment point and the second zero moment point; calculating a jitter amplitude of the third zero moment point within a preset period; and adjusting a position of the third zero moment point in response to the jitter amplitude being not larger than a predetermined jitter amplitude threshold. In this manner, the robot can eliminate zero moment point jitters within a certain amplitude.

The present disclosure provides a zero moment point jitter processing method as well as an apparatus and a robot using the same. The method includes: obtaining left foot force information and right foot force information collected by sensors; calculating a first zero moment point and a second zero moment point of soles of two feet of a robot based on the left foot force information and the right foot force information; calculating a third zero moment point of the robot according to the first zero moment point and the second zero moment point; calculating a jitter amplitude of the third zero moment point within a preset period; and adjusting a position of the third zero moment point in response to the jitter amplitude being not larger than a predetermined jitter amplitude threshold. In this manner, the robot can eliminate zero moment point jitters within a certain amplitude.

There is provided a detection apparatus including a housing that includes a working surface, and a sensor configured to detect the force or the moment exerted on the working surface, on at least a first detection axis and a second detection axis. The working surface coincides with a surface that includes the first detection axis and the second detection axis, the working surface being at least partially symmetrical around the first detection axis passing through the center of the sensor.

There is provided a detection apparatus including a housing that includes a working surface, and a sensor configured to detect the force or the moment exerted on the working surface, on at least a first detection axis and a second detection axis. The working surface coincides with a surface that includes the first detection axis and the second detection axis, the working surface being at least partially symmetrical around the first detection axis passing through the center of the sensor.

A device for measuring a change in length has a first fastening element, a second fastening element and at least one length element which is arranged between the two fastening elements. The one length element has a first end a second end and a length along a longitudinal direction. A force acting parallel to the longitudinal direction leads to a change in length of the length element. A lever element has a first end, a second end, and a fulcrum and is arranged transversely to the longitudinal direction. The lever element includes a first lever arm with a first length between the fulcrum and a first lever arm end and a second lever arm with a second length between the fulcrum and a second lever arm end, with the second length being greater than the first length

A device for measuring a change in length has a first fastening element, a second fastening element and at least one length element which is arranged between the two fastening elements. The one length element has a first end a second end and a length along a longitudinal direction. A force acting parallel to the longitudinal direction leads to a change in length of the length element. A lever element has a first end, a second end, and a fulcrum and is arranged transversely to the longitudinal direction. The lever element includes a first lever arm with a first length between the fulcrum and a first lever arm end and a second lever arm with a second length between the fulcrum and a second lever arm end, with the second length being greater than the first length

A load sensor having a centrally disposed aperture element through which a fastening element of a vehicle air suspension assembly passes to affix the load sensor between the vehicle air suspension assembly and the vehicle suspension, wherein the load sensor has a force measurement sensor disposed proximate an elongate slot to generate a load signal which varies based on an amount of strain in the load sensor, wherein the load signal received by a load calculator allows calculation of the load exerted from the vehicle frame to the vehicle suspension.

A cable with sensor, including a cable, and a sensor section provided at an end of the cable. The sensor section includes a plurality of magnetic sensors each including a detection section that includes a magnetism detection element and a cover covering the magnetism detection element, and a housing portion coating the plurality of magnetic sensors and the cable. The cable is extending out of the housing portion. The respective detection sections are arranged to be aligned with each other in a direction intersecting with an extending direction of the cable from the housing portion of the cable.