Patent Publication Number: US-2022237874-A1

Title: Method, system, and apparatus for full-body tracking with magnetic fields in virtual reality and augmented reality applications

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims benefit of priority application, U.S. Provisional Ser. No. 63/141,131 filed Jan. 25, 2021, entitled “Method and Apparatus for Full-body Tracking with Magnetic Fields in Virtual Reality and Augmented Reality Applications”, which is incorporated herein by reference in its entirety. 
    
    
     FIELD OF THE DISCLOSURE 
     The present disclosure is directed toward virtual reality (“VR”) and augmented reality (“AR”) applications. More specifically, the present disclosure is directed toward methods, systems, and apparatuses for full-body tracking with magnetic fields in virtual reality (“VR”) and augmented reality (“AR”) applications. 
     BACKGROUND 
     Generally speaking, virtual reality, also known as “VR”, is a simulated experience that can be similar to or completely different from the real world. Applications of virtual reality include entertainment (e.g. video games) and education (e.g. medical or military training). Other distinct types of VR-style technology include augmented reality, also known as “AR”, and mixed reality, sometimes referred to as extended reality or XR. Virtual reality may be defined as the computer-generated simulation of a three-dimensional image or environment that can be interacted with in a seemingly real or physical way by a person using special electronic equipment, such as a helmet with a screen inside or gloves fitted with sensors. Likewise, augmented reality is a technology that superimposes a computer-generated image on a user&#39;s view of the real world, thus providing a composite view. AR adds digital elements to a live view often by using the camera on a smartphone. Examples of augmented reality experiences include Snapchat lenses and the game Pokemon Go. VR, on the other hand, implies a complete immersion experience that shuts out the physical world. While VR is more immersive, AR provides more freedom for the user and more possibilities for marketers because it does not need to include a head-mounted display. 
     Currently, standard virtual reality systems use either virtual reality headsets or multi-projected environments to generate realistic images, sounds and other sensations that simulate a user&#39;s physical presence in a virtual environment. A person using virtual reality equipment is able to look around the artificial world, move around in it, and interact with virtual features or items. The effect is commonly created by VR headsets consisting of a head-mounted display with a small screen in front of the eyes. Virtual reality typically incorporates auditory and video feedback, but may also allow other types of sensory and force feedback through haptic technology. Virtual reality is most commonly used in entertainment applications such as video games and 3D cinema. In social sciences and psychology, virtual reality offers a cost-effective tool to study and replicate interactions in a controlled environment. VR can also be used as a form of therapeutic intervention. 
     Modern virtual reality headset displays are based on technology like gyroscopes and motion sensors for tracking head, body, and hand positions, small HD screens for stereoscopic displays, and small, lightweight and fast computer processors. These components led to relative affordability for independent VR developers. Independent production of VR images and video has increased alongside the development of affordable omnidirectional cameras, also known as 360-degree cameras or VR cameras, which have the ability to record 360 interactive photography, although at relatively low resolutions or in highly compressed formats for online streaming of 360 video. In contrast, photogrammetry is increasingly used to combine several high-resolution photographs for the creation of detailed 3D objects and environments in VR applications. 
     To create a feeling of immersion, special output devices are needed to display virtual worlds. Well-known formats include head-mounted displays or the CAVE. In order to convey a spatial impression, two images are generated and displayed from different perspectives (stereo projection). 
     Special input devices are required for interaction with the virtual world. Currently, these include the 3D mouse, the wired glove, motion controllers, and optical tracking sensors. Controllers typically use optical tracking systems (primarily infrared cameras) for location and navigation, so that the user can move freely without wiring. Some input devices provide the user with force feedback to the hands or other parts of the body, so that the human being can orientate himself in the three-dimensional world through haptics and sensor technology as a further sensory sensation and carry out realistic simulations. This allows for the viewer to have a sense of direction in the artificial landscape. Additional haptic feedback can be obtained from omnidirectional treadmills (with which walking in virtual space is controlled by real walking movements) and vibration gloves and suits. 
     As may always be the case with technology, the need and desire to make virtual reality and augmented reality better and more immersive is always present. The present disclosure thus recognizes the need to create better input devices that allow for improvements in VR and AR for better and/or more immersive experiences. More specifically, the present disclosure recognizes the problem that current input devices require external observers, lighthouses, or base stations to track movement. In addition, with current input devices errors may occur when limbs overlap or cross due to requirement for line of sight tracking. Accordingly, the present disclosure recognizes the need to provide full-body tracking via input devices that is faster and provides more accurate VR and AR experiences without the need for line of sight tracking from external observers, lighthouses or base stations to track movement. 
     The instant disclosure may be designed to address at least certain aspects of the problems or needs discussed above by providing methods, systems, and apparatuses for full-body tracking with magnetic fields in VR and AR applications. 
     SUMMARY 
     The present disclosure may solve the aforementioned limitations of the currently available devices, systems, trackers and methods for VR and/or AR systems and applications, by providing a system configured for full-body tracking. The system for full-body tracking may generally include at least one tracker, at least one wearable article, and a computational device. Each of the at least one trackers may host a joint sensor suite. The joint sensor suite may be configured to track positions, orientations, and joint angles of a joint along a body. Each of the at least one trackers may be configured to be attached to the body. Each of the at least one wearable articles may be configured to enable one of the at least one trackers to be fastened to the joint along the body. The computational device may be configured to capture real-time user generated movements via each of the at least one trackers and digitize user poses and body positions. 
     One feature of the disclosed system for full-body tracking may be that the computational device can be configured to capture the real-time user generated movements via each of the at least one trackers and digitize the user poses and body positions without the need for external observers, lighthouses, or base stations. 
     Another feature of the disclosed system for full-body tracking may be that the system can be configured for full-body applications in virtual reality or augmented reality applications as well as recording pose data for motion capture, animation, and health and fitness applications. 
     In select embodiments of the disclosed system for full-body tracking, the computational device may be a computer, a smartphone, a game system, a VR headset, an AR headset, the like, or combinations thereof. 
     Another feature of the disclosed system for full-body tracking may be that the system can be designed and configured to fulfill standard tracking requirements without requiring an existence of external observers, light houses, or base stations. 
     Another feature of the disclosed system for full-body tracking may be that the system can be designed and configured to track a position of the body without errors from the placement and location of feet, legs, and arms when limbs overlap or cross. 
     Another feature of the disclosed system for full-body tracking may be that the system can be designed and configured to track an actual position and angle of a joint instead of calculating possible locations given the position of trackers which simply know their own location. 
     Another feature of the disclosed system for full-body tracking may be that the system can be designed and configured to capture pose data both in real-time and in recorded form. 
     Another feature of the disclosed system for full-body tracking may be that the system can be designed and configured to not require a line of sight in order to operate. 
     Another feature of the disclosed system for full-body tracking may be that the system can be designed and configured to not have location loss drifting that causes virtual body parts to fly away from virtual avatars when tracking is lost. 
     Another feature of the disclosed system for full-body tracking may be that the system can be designed and configured to work with all existing virtual reality and augmented reality devices without any modification to headsets or environments. 
     Another feature of the disclosed system for full-body tracking may be that the system can be designed and configured to track a position and orientation of a tracker which needs calibration to be linked to the skeleton, wherein the system is configured to allow for actual joint angles and orientations to be identified in real-time. 
     In select embodiments of the disclosed system for full-body tracking, the joint sensor suite for each of the at least one trackers may include a magnetic field sensor and at least one magnet. The magnetic field sensor may be on a first limb of the joint. The at least one magnet may be on at least one second limb of the joint. In select embodiments, the magnetic field sensor may be a small-scale microelectromechanical system (MEMS) magnetic field sensor. In select embodiments of the disclosed system for full-body tracking, the joint sensor suite for each of the at least one trackers may further include an accelerometer, and a gyroscope. Wherein, the joint sensor suite for each of the at least one trackers may be configured to track acceleration, orientation, magnetic field strength, and magnetic field polarity. 
     Another feature of the disclosed system for full-body tracking may be that the computational device can be configured to calculate observed values for each joint of the body. The observed values may include, but are clearly not limited to, a polarity of earth, a gravity vector, and skeletal bone lengths. Each of the observed values may all be assumed to be constant once they have been generated. Whereby the observed values may be configured to be leveraged to orient, calculate joint angles, error correct, and calibrate the system without any application driven requirements. 
     Another feature of the disclosed system for full-body tracking may be that the computational device can be configured to calculate the joint angle, the joint orientation, the joint position, a parent joint position, and a child joint position in real-time. Where the parent joint position may be a proximal body joint that is closer on the limbs of a spine of the body, and the child joint position may be a distal body joint that is further away from the spine. 
     In select embodiments of the disclosed system for full-body tracking the at least one trackers may include a head tracker, a left upper arm tracker, a left elbow tracker, a left wrist tracker, a right upper arm tracker, a right elbow tracker, a right wrist tracker, a hips tracker, a left upper leg tracker, a left knee tracker, a left ankle tracker, a right upper leg tracker, a right knee tracker, a right ankle tracker, the like, and any various combinations thereof. The head tracker may have a head joint sensor suite configured to track the position, orientation, and joint angle of the head. The left upper arm tracker may have a left upper arm sensor suite configured to track the position, orientation, and joint angle of the left upper arm. The left elbow tracker may have a left elbow sensor suite configured to track the position, orientation, and joint angle of the left elbow. The left wrist tracker may have a left wrist sensor suite configured to track the position, orientation, and joint angle of the left wrist. The right upper arm tracker may have a right upper arm sensor suite configured to track the position, orientation, and joint angle of the right upper arm. The right elbow tracker may have a right elbow sensor suite configured to track the position, orientation, and joint angle of the right elbow. The right wrist tracker may have a right wrist sensor suite configured to track the position, orientation, and joint angle of the right wrist. The hips tracker may have a hips joint sensor suite configured to track the position, orientation, and joint angle of the hips. The left upper leg tracker may have a left upper leg sensor suite configured to track the position, orientation, and joint angle of the left upper leg. The left knee tracker may have a left knee sensor suite configured to track the position, orientation, and joint angle of the left knee. The left ankle tracker may have a left ankle sensor suite configured to track the position, orientation, and joint angle of the left ankle. The right upper leg tracker may have a right upper leg sensor suite configured to track the position, orientation, and joint angle of the right upper leg. The right knee tracker may have a right knee sensor suite configured to track the position, orientation, and joint angle of the right knee. The right ankle tracker may have a right ankle sensor suite configured to track the position, orientation, and joint angle of the right ankle. 
     In select embodiments of the disclosed system for full-body tracking, the computational device may be wired to each sensor suite of each of the at least one trackers. 
     In other select embodiments of the disclosed system for full-body tracking, the computational device may be a separate device. 
     In select embodiments of the disclosed system for full-body tracking, the computational device may be configured to communication with a headset and/or a controller. This communication with the headset and/or the controller may be configured for collecting position/orientation data, a headset location, and/or a controller location from the headset, the controller, or a combination thereof. Wherein, the headset and/or the controller may be a VR/AR headset and/or a VR/AR controller, respectively. 
     In select embodiments of the disclosed system for full-body tracking, the computational device can be configured to send the digitize poses and body positions to a virtual reality or augmented reality application. 
     In other select embodiments of the disclosed system for full-body tracking, the computational device can be configured to send the digitize poses and body positions to a motion recording device configured for animation keyframes. 
     In another aspect, the instant disclosure embraces a system configured for full-body tracking in any of the various embodiments and/or combination of embodiments shown and/or described herein. 
     In another aspect, the instant disclosure embraces a tracker device for full-body tracking in virtual reality and augmented reality applications. The tracker device may be any of the embodiments and/or combination of embodiments of the at least one tracker devices for the disclosed system for full-body tracking shown and/or described herein. Accordingly, in select embodiments, the tracker device may generally include a joint sensor suite. The joint sensor suite may be configured to track positions, orientations, and joint angles of a joint along a body. The joint sensor suite for the tracker device may include a magnetic field sensor on a first limb of the joint and at least one magnet on at least one second limb of the joint. Wherein, the joint sensor suite for the tracker device is configured to track acceleration, orientation, magnetic field strength, and magnetic field polarity. 
     In select embodiments of the disclosed tracker device, the magnetic field sensor may be a small-scale microelectromechanical system (MEMS) magnetic field sensor. 
     In select embodiments of the disclosed tracker device, the joint sensor suite may further include an accelerometer, and a gyroscope. 
     In select embodiments, the disclosed tracker device may further include a wearable article. The wearable articles may be configured to enable the tracker device to be fastened to the joint along the body. 
     In select embodiments, the disclosed tracking device may be a head tracker, a left upper arm tracker, a left elbow tracker, a left wrist tracker, a right upper arm tracker, a right elbow tracker, a right wrist tracker, a hips tracker, a left upper leg tracker, a left knee tracker, a left ankle tracker, a right upper leg tracker, a right knee tracker, a right ankle tracker, and/or the like. The head tracker may have a head joint sensor suite configured to track the position, orientation, and joint angle of the head. The left upper arm tracker may have a left upper arm sensor suite configured to track the position, orientation, and joint angle of the left upper arm. The left elbow tracker may have a left elbow sensor suite configured to track the position, orientation, and joint angle of the left elbow. The left wrist tracker may have a left wrist sensor suite configured to track the position, orientation, and joint angle of the left wrist. The right upper arm tracker may have a right upper arm sensor suite configured to track the position, orientation, and joint angle of the right upper arm. The right elbow tracker may have a right elbow sensor suite configured to track the position, orientation, and joint angle of the right elbow. The right wrist tracker may have a right wrist sensor suite configured to track the position, orientation, and joint angle of the right wrist. The hips tracker may have a hips joint sensor suite configured to track the position, orientation, and joint angle of the hips. The left upper leg tracker may have a left upper leg sensor suite configured to track the position, orientation, and joint angle of the left upper leg. The left knee tracker may have a left knee sensor suite configured to track the position, orientation, and joint angle of the left knee. The left ankle tracker may have a left ankle sensor suite configured to track the position, orientation, and joint angle of the left ankle. The right upper leg tracker may have a right upper leg sensor suite configured to track the position, orientation, and joint angle of the right upper leg. The right knee tracker may have a right knee sensor suite configured to track the position, orientation, and joint angle of the right knee. The right ankle tracker may have a right ankle sensor suite configured to track the position, orientation, and joint angle of the right ankle. 
     In another aspect, the instant disclosure embraces a method of full-body tracking for VR and/or AR related applications. The disclosed method may generally include utilizing the disclosed system for full-body tracking in any of the embodiments and/or combination of embodiments shown and/or described herein. 
     The foregoing illustrative summary, as well as other exemplary objectives and/or advantages of the disclosure, and the manner in which the same are accomplished, are further explained within the following detailed description and its accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The present disclosure will be better understood by reading the Detailed Description with reference to the accompanying drawings, which are not necessarily drawn to scale, and in which like reference numerals denote similar structure and refer to like elements throughout, and in which: 
         FIG. 1  is a block diagram of the disclosed methods, systems, and apparatuses for full-body tracking with magnetic fields in virtual reality (“VR”) and augmented reality (“AR”) applications according to select embodiments of the instant disclosure showing a description of the function of each device in the system; 
         FIG. 2  is a block diagram of the disclosed methods, systems, and apparatuses for full-body tracking with magnetic fields in VR and AR applications according to select embodiments of the instant disclosure showing the data pipeline of how the disclosure converts raw data into application actionable tracking data; and 
         FIG. 3  is a schematic drawing of one individual joint sensor for the disclosed methods, systems, and apparatuses for full-body tracking with magnetic fields in VR and augmented AR applications according to select embodiments of the instant disclosure. 
     
    
    
     It is to be noted that the drawings presented are intended solely for the purpose of illustration and that they are, therefore, neither desired nor intended to limit the disclosure to any or all of the exact details of construction shown, except insofar as they may be deemed essential to the claimed disclosure. 
     DETAILED DESCRIPTION 
     Referring now to  FIGS. 1-3 , in describing the exemplary embodiments of the present disclosure, specific terminology is employed for the sake of clarity. The present disclosure, however, is not intended to be limited to the specific terminology so selected, and it is to be understood that each specific element includes all technical equivalents that operate in a similar manner to accomplish similar functions. Embodiments of the claims may, however, be embodied in many different forms and should not be construed to be limited to the embodiments set forth herein. The examples set forth herein are non-limiting examples and are merely examples among other possible examples. 
     The present disclosure solves the aforementioned limitations of the currently available devices and methods of the currently available devices, systems, trackers and methods for VR and/or AR systems and applications, by providing system  10  configured for full-body tracking. System  10  may be utilized for providing full-body tracking for VR/AR applications  12  or the like. System  10  may be directed to enabling a standalone system which captures real-time user generated movements and digitizes user pose and body position without the need for external observers or lighthouses. Movements may be captured by a tracker  14  or multiple trackers  14  configured to track position, orientation, and joint angle of objects, arms, legs, torso, etc. The data captured by tracker  14  or multiple trackers  14  may then be transformed into digital pose information to drive applications. The result can be used for full-body applications in virtual reality and augmented reality applications  12  as well as recording pose data for motion capture, animation, and health and fitness applications. 
     System  10  for full-body tracking may generally include at least one tracker  14 , at least one wearable article  28 , and computational device  30 . Each of the at least one trackers  14  may host joint sensor suite  16 . Joint sensor suite  16  may be configured to track positions  18 , orientations  20 , joint angles  22 , or the like, of joint  24  along a body (see  FIG. 3 ). Each of the at least one trackers  14  may be configured to be attached to the body, like via each of the wearable articles  28 . Each of the at least one wearable articles  28  may be configured to enable one of the at least one trackers  14  to be fastened to joint  24  along the body. Computational device  30  may be configured to capture real-time user generated movements via each of the at least one trackers  14  and digitize user poses  34  and body positions. 
     One feature of system  10  for full-body tracking may be that computational device  30  can be configured to capture the real-time user generated movements via each of the at least one trackers  14  and digitize user poses  34  and body positions without the need for external observers, lighthouses, or base stations. 
     Another feature of system  10  for full-body tracking may be that system  10  can be configured for full-body applications in virtual reality or augmented reality application  12  as well as recording pose data for motion capture, animation, and health and fitness applications, or the like. 
     Computational device  30  may be any desired computational device, computer, software, program, the like etc. In select embodiments of system  10  for full-body tracking, computational device  30  may be, but is not limited to, a computer, a smartphone, a game system, a VR and/or AR headset, the like, etc. As other examples, and clearly not limited thereto, computation device  30  may include an open-source electronic prototyping platform (like Arduino), a series of small single-board computers (like Pi like devices), the like, etc. 
     Another feature of system  10  for full-body tracking may be that system  10  can be designed and configured to fulfill standard tracking requirements without requiring an existence of external observers, light houses, or base stations. 
     Another feature of system  10  for full-body tracking may be that system  10  can be designed and configured to track a position of the body without errors from the placement and location of feet, legs, and arms when limbs overlap or cross. 
     Another feature of system  10  for full-body tracking may be that system  10  can be designed and configured to track an actual position and angle of joint  24  instead of calculating possible locations given the position of trackers  14  which simply know their own location. 
     Another feature of system  10  for full-body tracking may be that system  10  can be designed and configured to capture pose data both in real-time and in recorded form. 
     Another feature of system  10  for full-body tracking may be that system  10  can be designed and configured to not require a line of sight in order to operate. 
     Another feature of system  10  for full-body tracking may be that system  10  can be designed and configured to not have location loss drifting that causes virtual body parts to fly away from virtual avatars when tracking is lost. 
     Another feature of system  10  for full-body tracking may be that system  10  can be designed and configured to work with all existing virtual reality and augmented reality devices without any modification to headsets or environments. 
     Another feature of system  10  for full-body tracking may be that system  10  can be designed and configured to track a position and orientation of trackers  14  which needs calibration to be linked to the skeleton, wherein system  10  may be configured to allow for actual joint angles and orientations to be identified in real-time. 
     In select embodiments of system  10  for full-body tracking, system  10  may be designed and configured to: fulfill standard tracking requirements without requiring an existence of external observers, light houses, or base stations; track a position of the body without errors from the placement and location of feet, legs, and arms when limbs overlap or cross; track an actual position and angle of joint  24  instead of calculating possible locations given the position of trackers  14  which simply know their own location; capture pose data both in real-time and in recorded form; not require a line of sight in order to operate; not have location loss drifting that causes virtual body parts to fly away from virtual avatars when tracking is lost; work with all existing virtual reality and augmented reality devices without any modification to headsets or environments; and track a position and orientation of trackers  14  which needs calibration to be linked to the skeleton, wherein system  10  may be configured to allow for actual joint angles and orientations to be identified in real-time. 
     Referring to  FIGS. 1 and 3 , in select embodiments of system  10  for full-body tracking, joint sensor suite  16  for each of the at least one trackers  14  may include magnetic field sensor  44  and at least one magnet  48 . As best shown in  FIG. 3 , magnetic field sensor  44  may be on first limb  46  of the joint. The at least one magnet  48  may be on at least one second limb  50  of joint  24 . While most joints  24  will only require one second limb  50 , some joints, like the hips, may require 2 joints with  2  magnets  48 . Magnetic field sensor  44  may be any desired magnetic field sensor for sensing magnetic field strength  62 , magnetic field polarity  64  (see  FIG. 2 ), the like, and/or combinations thereof. In select possibly preferred embodiments, magnetic field sensor  44  may be small-scale microelectromechanical system (MEMS) magnetic field sensor  52 . In select embodiments of system  10  for full-body tracking, joint sensor suite  16  for each of the at least one trackers  14  may further include accelerometer  54 , gyroscope  56 , the like, and/or combinations thereof. Accelerometer  54  may be any device configured for sensing and tracking acceleration  58 . Gyroscope  56  may be any device configured for sensing and tracking orientation  60 . Wherein, joint sensor suite  16  for each of the at least one trackers  14  may be configured to track acceleration  58 , orientation  60 , magnetic field strength  62 , and magnetic field polarity  64 . 
     Another feature of system  10  for full-body tracking may be that computational device  30  can be configured to calculate observed values  66  for each joint  24  of the body. The observed values  66  may be constant values observed or measure by system  10 . Observed values  66  may include, but are clearly not limited to, polarity of earth  68 , gravity vector  70 , skeletal bone lengths  72  (of each joint  24 ), the like, and/or combinations thereof. Each of observed values  66  may all be assumed to be constant once they have been generated within system  10 . Whereby, observed values  66  may be configured to be leveraged to orient, calculate joint angles, error correct, and calibrate system  10  without any application driven requirements. 
     Another feature of system  10  for full-body tracking may be that computational device  30  can be configured to calculate joint angle  74 , joint orientation  76 , joint position  78 , parent joint position  80  (if applicable), and child joint position  82  (if applicable) in real-time. Where parent joint position  80  may be a proximal body joint that is closer on the limbs of a spine of the body, and the child joint position may be a distal body joint that is further away from the spine. 
     In select embodiments of system  10  for full-body tracking, the at least one trackers  14  may include head tracker  84 , left upper arm tracker  86 , left elbow tracker  88 , left wrist tracker  90 , right upper arm tracker  92 , right elbow tracker  94 , right wrist tracker  96 , hips tracker  98 , left upper leg tracker  100 , left knee tracker  102 , left ankle tracker  104 , right upper leg tracker  106 , right knee tracker  108 , right ankle tracker  110 , the like, and any various combinations thereof. Head tracker  84  may have a head joint sensor suite  16  configured to track the position, orientation, and joint angle of the head. Left upper arm tracker  86  may have a left upper arm sensor suite  16  configured to track the position, orientation, and joint angle of the left upper arm. Left elbow tracker  88  may have a left elbow sensor suite  16  configured to track the position, orientation, and joint angle of the left elbow. Left wrist tracker  90  may have a left wrist sensor suite  16  configured to track the position, orientation, and joint angle of the left wrist. Right upper arm tracker  92  may have a right upper arm sensor suite  16  configured to track the position, orientation, and joint angle of the right upper arm. Right elbow tracker  94  may have a right elbow sensor suite  16  configured to track the position, orientation, and joint angle of the right elbow. Right wrist tracker  96  may have a right wrist sensor suite  16  configured to track the position, orientation, and joint angle of the right wrist. Hips tracker  98  may have a hips joint sensor suite  16  configured to track the position, orientation, and joint angle of the hips. Left upper leg tracker  100  may have a left upper leg sensor suite  16  configured to track the position, orientation, and joint angle of the left upper leg. Left knee tracker  102  may have a left knee sensor suite  16  configured to track the position, orientation, and joint angle of the left knee. Left ankle tracker  104  may have a left ankle sensor suite  16  configured to track the position, orientation, and joint angle of the left ankle. Right upper leg tracker  106  may have a right upper leg sensor suite  16  configured to track the position, orientation, and joint angle of the right upper leg. Right knee tracker  108  may have a right knee sensor suite  16  configured to track the position, orientation, and joint angle of the right knee. Right ankle tracker  110  may have a right ankle sensor suite  16  configured to track the position, orientation, and joint angle of the right ankle. 
     In select embodiments of system  10  for full-body tracking, computational device  30  may be wired to each sensor suite  16  of each of the at least one trackers  14 . However, the disclosure is not so limited, and in other select embodiments of system for full-body tracking, computational device  30  may be a separate device from sensor suite  16  of trackers  14 . 
     In select embodiments of system  10  for full-body tracking, computational device  30  may be configured to communication with headset  112  and/or controller  114 . This communication with headset  112  and/or controller  114  may be configured for collecting position/orientation data  116 , headset location  118 , and/or controller location  120  from headset  112 , controller  114 , the like, and/or a combination thereof. Wherein, headset  112  and/or controller  114  may be VR/AR headset  113  and/or a VR/AR controller, respectively. 
     In select embodiments of system  10  for full-body tracking, computational device  30  can be configured to send the digitize poses  34  and body positions to a virtual reality or augmented reality application  12 . However, the disclosure is not so limited, and in other select embodiments of system  10  for full-body tracking, computational device  30  can be configured to send the digitize poses  34  and body positions to motion recording device  122  configured for animation keyframes  124 . 
     In another aspect, the instant disclosure embraces system  10  configured for full-body tracking in any of the various embodiments and/or combination of embodiments shown and/or described herein. 
     Referring now specifically to  FIG. 3 , in another aspect, the instant disclosure embraces tracker device  14  for full-body tracking in virtual reality and augmented reality applications. Tracker device  14  may be any of the embodiments and/or combination of embodiments of the at least one tracker  14  for system  1 —for full-body tracking as shown and/or described herein. Accordingly, in select embodiments, tracker device  14  may generally include joint sensor suite  16 . Joint sensor suite  16  of tracker device  14  may be configured to track positions  18 , orientations  20 , and joint angles  22  of joint  24  along a body. Joint sensor suite  16  for tracker device  14  may include magnetic field sensor  44  on first limb  46  of joint  24  and at least one magnet  48  on at least one second limb  50  of joint  24 . Wherein, joint sensor suite  16  for tracker device  14  may be configured to track acceleration  58 , orientation  60 , magnetic field strength  62 , magnetic field polarity  64 , the like, and/or combinations thereof through joint  24 . 
     Magnetic field sensor  44  of tracker device  14  may be any desired magnetic field sensor for sensing magnetic field strength  62 , magnetic field polarity  64  (see  FIG. 2 ), the like, and/or combinations thereof. In select embodiments of tracker device  14 , magnetic field sensor  52  may be small-scale microelectromechanical system (MEMS) magnetic field sensor  52 . 
     In select embodiments of tracker device  14 , joint sensor suite  16  may further include accelerometer  54 , gyroscope  56 , the like, and/or combinations thereof. 
     In select embodiments, tracker device  14  may further include wearable article  28 . Wearable article  28  may be configured to enable tracker device  14  to be fastened to joint  24  along the body of the user. Wearable articles  28  may include any device, or devices, like articles of clothing, straps, bands, clips, adhesives, fasteners, the like, etc., configured for attaching tracker device  14  around joint  24  along the body of the user. 
     In select embodiments, tracking device  14  may be head tracker  84 , left upper arm tracker  86 , left elbow tracker  88 , left wrist tracker  90 , right upper arm tracker  92 , right elbow tracker  94 , right wrist tracker  96 , hips tracker  98 , left upper leg tracker  100 , left knee tracker  102 , left ankle tracker  104 , right upper leg tracker  106 , right knee tracker  108 , right ankle tracker  110 , the like, and any various combinations thereof. Head tracker  84  may have a head joint sensor suite  16  configured to track the position, orientation, and joint angle of the head. Left upper arm tracker  86  may have a left upper arm sensor suite  16  configured to track the position, orientation, and joint angle of the left upper arm. Left elbow tracker  88  may have a left elbow sensor suite  16  configured to track the position, orientation, and joint angle of the left elbow. Left wrist tracker  90  may have a left wrist sensor suite  16  configured to track the position, orientation, and joint angle of the left wrist. Right upper arm tracker  92  may have a right upper arm sensor suite  16  configured to track the position, orientation, and joint angle of the right upper arm. Right elbow tracker  94  may have a right elbow sensor suite  16  configured to track the position, orientation, and joint angle of the right elbow. Right wrist tracker  96  may have a right wrist sensor suite  16  configured to track the position, orientation, and joint angle of the right wrist. Hips tracker  98  may have a hips joint sensor suite  16  configured to track the position, orientation, and joint angle of the hips. Left upper leg tracker  100  may have a left upper leg sensor suite  16  configured to track the position, orientation, and joint angle of the left upper leg. Left knee tracker  102  may have a left knee sensor suite  16  configured to track the position, orientation, and joint angle of the left knee. Left ankle tracker  104  may have a left ankle sensor suite  16  configured to track the position, orientation, and joint angle of the left ankle. Right upper leg tracker  106  may have a right upper leg sensor suite  16  configured to track the position, orientation, and joint angle of the right upper leg. Right knee tracker  108  may have a right knee sensor suite  16  configured to track the position, orientation, and joint angle of the right knee. Right ankle tracker  110  may have a right ankle sensor suite  16  configured to track the position, orientation, and joint angle of the right ankle. 
     In another aspect, the instant disclosure embraces a method of full-body tracking for VR and/or AR related applications. The disclosed method may generally include utilizing the disclosed system for full-body tracking in any of the embodiments and/or combination of embodiments shown in  FIGS. 1-3 , and/or described herein. 
     Referring now specifically to  FIG. 1 , a description of the function of each device in system  10  is provided. The box for trackers  14  shows the potential joints  24  that can be tracked with system  10 . Each joint  24  may be monitored with certain sensors as depicted by joint sensor suite  16 . The resulting sensor outputs are all transmitted to computational device  30  which may be wired to the sensors or be a separate device. Depending on the application and availability and need of headset/controller data, like position/orientation data  116  of such a headset  112  or controller  114 , computational device  30  may include data from VR/AR headset  113  and/or controller. The resulting tracking data is pushed to Application  12  (like a VR and/or AR application  12 ) and leveraged and/or recorded by motion recording device  122 ; 
     Referring now specifically to  FIG. 2 , the data pipeline of how system  10  converts raw data into application actionable tracking data is shown. The joint sensor suite  116  details the data tracked by each individual device and its host of sensors. Observed values  66  are shown that can be calculated from the output of sensors located at different joints. These values are assumed to be constant once they have been generated and can be leveraged to orient, calculate joint angles, error correct, and calibrate the device without any application driven requirements. Computational device  30  can then provide real-time calculations required by the use case which are ongoing as the trackers are used. Parent joint refers to the body joint that is closer on the limbs to the spine where child refers to the body joint that is further away from the spine. Additional information may be available from a VR or AR headset  113  and controllers. All the data may be compiled and sent to application  12  and or motion recording repository  122 . 
     Referring specifically to  FIG. 3 , a detailed description of a single tracker  14  with a joint sensor suite  16  about one individual joint  24  is shown. The worn sensors of joint sensor suite  16  collect and pass information about joint  24 . Magnet  48  represents a source of a magnetic field which is measured by MEMS magnetic field sensor  52 . 
     In the specification and/or figures, typical embodiments of the disclosure have been disclosed. The present disclosure is not limited to such exemplary embodiments. The use of the term “and/or” includes any and all combinations of one or more of the associated listed items. The figures are schematic representations and so are not necessarily drawn to scale. Unless otherwise noted, specific terms have been used in a generic and descriptive sense and not for purposes of limitation. 
     The foregoing description and drawings comprise illustrative embodiments. Having thus described exemplary embodiments, it should be noted by those skilled in the art that the within disclosures are exemplary only, and that various other alternatives, adaptations, and modifications may be made within the scope of the present disclosure. Merely listing or numbering the steps of a method in a certain order does not constitute any limitation on the order of the steps of that method. Many modifications and other embodiments will come to mind to one skilled in the art to which this disclosure pertains having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. Although specific terms may be employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation. Accordingly, the present disclosure is not limited to the specific embodiments illustrated herein but is limited only by the following claims.