Patent Publication Number: US-8994826-B2

Title: Portable wireless mobile device motion capture and analysis system and method

Description:
BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     One or more embodiments setting forth the ideas described throughout this disclosure pertain to the field of portable wireless mobile device computer systems, motion capture elements such as visual markers and sensors utilized in the capture of motion data. More particularly, but not by way of limitation, one or more aspects of the disclosure enable a portable wireless mobile device motion capture and analysis system and method. 
     2. Description of the Related Art 
     One known technique to teach effective body mechanics utilizes video recording of an athlete and analysis of the recorded video of an athlete. This technique has various limitations including inaccurate and inconsistent subjective analysis based on video for example. Another technique includes motion analysis, for example using at least two cameras to capture three-dimensional points of movement associated with an athlete. Known implementations utilize a stationary multi-camera system that is not portable and thus cannot be utilized outside of the environment where the system is installed, for example during an athletic event such as a golf tournament. These fixed installations are extremely expensive as well. Such prior techniques are summarized in U.S. Pat. No. 7,264,554, filed 26 Jan. 2006, which claims the benefit of U.S. Provisional Patent Application Ser. No. 60/647,751 filed 26 Jan. 2005, the specifications of which are both hereby incorporated herein by reference. Both disclosures are to the same inventor of the subject matter of the instant application. 
     There are no known portable wireless mobile device motion capture and analysis systems. Known systems to date have required bulky sensors or sensors with wire interfaces and several fixed cameras to obtain motion capture data. Furthermore, known systems generally utilize several passive or active markers or several sensors. There are no known systems that utilize as little as one visual marker or sensor and a mobile device to analyze and display motion capture data associated with a user and/or piece of equipment. 
     There are no known systems that allow for a group of mobile devices to share data to form three-dimensional motion capture data by triangulation of visual markers. There are no known systems that allow for a mobile device without a camera to obtain images from cameras or other mobile devices with cameras to display motion capture data. 
     There are no known mobile motion captures systems that allow for a user to align a camera correctly along the horizontal before capture of motion data having horizontally aligned images. 
     There are no known systems that allow for motion capture elements such as wireless sensors to seamlessly integrate or otherwise couple with a golf club, for example in the weight port of a golf club so as to provide a wireless golf club, configured to capture motion data. In addition, there are no known systems that allow for motion capture elements such as wireless sensors to seamlessly integrate or couple with shoes, gloves, shirts, pants, belts, or other equipment, or a user, in such a small format that the user is not aware that the sensors are located in these items. 
     In addition, for sports that utilize a piece of equipment and a ball, there are no known portable wireless mobile device motion capture and analysis systems that allow the user to obtain immediate visual feedback regarding ball flight distance, swing speed, swing efficiency of the piece of equipment or how centered an impact of the ball is, i.e., where on piece of equipment the collision of the ball has taken place. 
     In addition, there are no known systems that provide portable wireless mobile device motion capture and analysis for equipment fitting and subsequent point-of-sale decision making for instantaneous purchasing of equipment that fits an athlete. Furthermore, no known systems allow for custom order fulfillment such as assemble-to-order (ATO) for custom order fulfillment of sporting equipment, for example equipment that is built to customer specifications based on portable wireless mobile device motion capture and analysis, and shipped to the customer to complete the point of sales process. 
     For at least the limitations described above there is a need for a portable wireless mobile device motion capture and analysis system and method. 
     BRIEF SUMMARY OF THE INVENTION 
     Embodiments of the invention enable a portable wireless mobile device motion capture and analysis system and method. Utilizing this system enables a user to perform motion capture and/or display with a mobile device having a visual display and an optional camera and capable of obtaining data from at least one motion capture element such as a visual marker and/or a wireless sensor. The system can also integrate with standalone cameras, or cameras on multiple mobile devices. The system also enables the user to analyze and display the motion capture data in a variety of ways that provide immediate easy to understand graphical information associated with the motion capture data. The system also allows the user to determine how “centered” an impact is with respect to a ball and a piece of equipment, such as a golf club for example. The system also allows for fitting of equipment including shoes, clubs, etc., and immediate purchasing of the equipment even if the equipment requires a custom assemble-to-order request from a vendor. 
     For example, analyzing the data enables the presentation of unique displays associated with the user, such as 3D overlays onto images of the body of the user to visually depict the captured motion data. For embodiments of the invention that utilize a mobile device (or more than one mobile device) without camera(s), sensor data may be utilized to generate displays of the captured motion data, while the mobile device may optionally obtain images from other cameras or other mobile devices with cameras. For example, display types that may or may not utilize images of the user may include ratings, calculated data and time line data. Ratings associated with the captured motion can also be displayed to the user in the form of numerical or graphical data with or without a user image, for example an “efficiency” rating. Calculated data, such as a predicted ball flight path data can be calculated and displayed on the mobile device with or without utilizing images of the user&#39;s body. Data depicted on a time line can also be displayed with or without images of the user to show the relative peaks of velocity for various parts of the equipment or user&#39;s body for example. Images from multiple cameras including multiple mobile devices, for example from a crowd of golf fans, may be combined into a BULLET TIME® visual effect characterized by slow motion of the golf swing shown from around the golfer at various angles at normal speed. 
     In one or more embodiments of the invention, fixed cameras such as at a golf tournament or other sporting event can be utilized with a wireless interface located near the player/equipment having motion capture elements so as to obtain, analyze and display motion capture data. In this embodiment, real-time or near real-time motion data can be displayed on the video for augmented video replays. An increase in the entertainment level is thus created by visually displaying how fast equipment is moving during a shot, for example with rings drawn around a players hips and shoulders. 
     Based on the display of data, the user can determine the equipment that fits the best and immediately purchase the equipment, via the mobile device. For example, when deciding between two golf clubs, a user can take swings with different clubs and based on the analysis of the captured motion data and quantitatively determine which club performs better. Custom equipment may be ordered through an interface on the mobile device from a vendor that can assemble-to-order customer built equipment and ship the equipment to the user for example. Shaft lengths for putters for example that are a standard length can be custom made for a particular user based on captured motion data as a user putts with an adjustable length shaft for example. 
     Embodiments of the system may utilize a variety of sensor types. In one or more embodiments of the invention, passive or active visual markers may be utilized to capture motion of particular points on a user&#39;s body or equipment. This may be performed in a simply two-dimensional manner or in a three-dimensional manner if the mobile device is configured with two or more cameras, or if multiple cameras or mobile devices are utilized to capture images such as video and share the images in order to create triangulated three-dimensional motion data from a set of two-dimensional images obtained from each camera. Another embodiment of the invention may utilize inertial measurement units (IMU) or any other sensors that can produce any combination of orientation, position, velocity and/or acceleration information to the mobile device. The sensors may thus obtain data that may include any combination of one or more values associated with orientation (vertical or North/South or both), position (either via through Global Positioning System, i.e., “GPS” or through triangulation), velocity (in all three axes), acceleration (in all three axes). 
     In one or more embodiments of the invention, a sensor may be utilized that includes a passive marker or active marker on an outside surface of the sensor, so that the sensor may also be utilized for visual tracking (either two-dimensional or three-dimensional) and for orientation, position, velocity, acceleration or any other physical quantity produced by the sensor. Visual marker embodiments of the motion capture element(s) may be passive or active, meaning that they may either have a visual portion that is visually trackable or may include a light emitting element such as a light emitting diode (LED) that allows for image tracking in low light conditions. 
     The sensors utilized with embodiments of the invention may be mounted on, to and/or in equipment, such as shoes, pants, shirts, gloves, clubs, bats, racquets, balls, etc., and/or may be attached to a user in any possible manner. For example, one or more embodiments of the sensor can fit into a weight port of a golf club, and/or in the handle end of the golf club. Other embodiments may fit into the handle of, or end of, a tennis racquet or baseball bat for example. One or more embodiments of the invention may also operate with balls that have integrated sensors as well. Alternatively, the system may calculate the virtual flight path of a ball that has come in contact with equipment moved by a player. For example with a golf club having a sensor integrated into a weight port of other portion of the end of the club striking the golf ball and having a second sensor located in the tip of the handle of the golf club, or in one or more gloves worn by the player, an angle of impact can be calculated for the club. By knowing the loft of the face of the club, an angle of flight may be calculated for the golf ball. In addition, by sampling the sensor at the end of the club at a high enough speed to determine oscillations indicative of where on the face of the club the golf ball was struck, a quality of impact may be determined. These types of measurements and the analysis thereof help an athlete improve, and for fitting purposes, allow an athlete to immediately purchase equipment that fits correctly. 
     One or more embodiments of the sensor may contain charging features such as mechanical eccentric weight, as utilized in some watches known as “automatic” or “self-winding” watches, optionally including a small generator, or inductive charging coils for indirect electromechanical charging of the sensor power supply. Other embodiments may utilize plugs for direct charging of the sensor power supply or electromechanical or microelectromechanical (MEMS) based charging elements. One or more embodiments of the sensor may utilize power saving features including gestures that power the sensor on or off Such gestures may include physical switches, contact with the sensor, wireless commands to the sensor, for example from a mobile device that is associated with the particular sensors. 
     A user may also view the captured motion data in a graphical form on the display of the mobile device or for example on a set of glasses that contains a video display. The captured motion data may also be utilized to augment a virtual reality display of user in a virtual environment. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The above and other aspects, features and advantages of the ideas conveyed through this disclosure will be more apparent from the following more particular description thereof, presented in conjunction with the following drawings wherein: 
         FIG. 1  illustrates an embodiment of the system that enables a portable wireless mobile device motion capture and analysis system. 
         FIG. 1A  shows a logical hardware block diagram of an embodiment of the computer. 
         FIG. 2  illustrates an embodiment of the overall modes of the software programmed to execute on the computer of the mobile device, wherein the computer is configured to recognize the motion capture elements, obtain data, analyze the data and display motion analysis data. 
         FIG. 3  illustrates displays associated with  FIG. 2  in greater detail. 
         FIG. 4  illustrates and embodiment of the recognition module that is configured to assign particular sensors to particular locations on an athlete and/or on a piece of equipment. 
         FIG. 5  illustrates an embodiment of the obtain data module that is configure to obtain data from a camera (optionally on the mobile device or obtain through another camera or camera on another mobile device), data from motion capture elements, i.e., any combination of visual markers or sensors as assigned to particular portions of the user&#39;s body or piece of equipment. In addition, the figure shows displays data analyzed by the analysis module and generated by the display module to show either the user along with motion analysis data, or with motion analysis data alone. 
         FIG. 6  illustrates a detailed drill down into the motion analysis data to display including overall efficiency, head, torso, hip, hand, club, left and right foot segment efficiencies. Embodiments of the invention thus enable physical training specific to the area that a user needs as determined by the analysis module. 
         FIG. 7  illustrates a close up display of motion analysis data associated with a user, without use of an image associated with a user. 
         FIG. 8  illustrates an embodiment of the motion capture element that optionally includes a visual marker and/or sensor. 
         FIG. 9  illustrates a front view of  FIG. 8 . 
         FIG. 10  illustrates an embodiment of the motion capture element implemented with a passive marker and gray scale images thereof to show how the marker can be tracked by obtaining an image and searching for a luminance change from black to white. 
         FIG. 11  illustrates a hardware implementation of the sensor portion of a motion capture element implemented as a wireless inertial measurement unit, and an embodiment as configured to couple with a weight port of a golf club for example. 
         FIG. 12  illustrates an embodiment of the motion capture element as configured to couple with different golf club types and a shoe. 
         FIG. 13  illustrates a close-up of the shoe of  FIG. 12  along with a pressure map of a shoe configured with a pressure matt inside the shoe configured to output pressure per particular areas of the shoe. 
         FIG. 14  illustrates an embodiment of sunglasses configured with a motion capture element. 
         FIG. 15  illustrates an embodiment of a display that depicts the location of a golf ball strike as determined by the oscillations in the golf club face during and/or after the golf club impacts a golf ball. 
         FIG. 16  illustrates a camera alignment tool as utilized with embodiments of the invention to create normalized images for capture and analysis. 
         FIG. 17  illustrates a balance box and center alignment line to aid in centering a user to obtain image data. 
         FIG. 18  illustrates a balance box and center alignment line, along with primary and secondary shaft lines to aid in centering and analyzing images of the user. 
         FIG. 19  illustrates an embodiment of the display configured to aid in club fitting for a user, wherein a user may test multiple clubs and wherein the display shows motion analysis data. For embodiments of the invention include purchase and order fulfillment options, buttons such as “purchase” and “customer order” may be utilized. 
         FIG. 20  illustrates an embodiment of the display configured to display motion analysis data along with the user, some of which is overlaid onto the user to aid in understanding the motion analysis data in a more human understandable format. In addition, motion analysis data associated with the user can be shown numerically as shown for example as “efficiency” of the swing, and the velocity of the swing. 
         FIG. 21  illustrates an embodiment of the invention configured to display a user from multiple angles when multiple cameras are available. One or more embodiments of the invention may show one image of the user at a time in slow motion as the user moves, while changing the angle of the view of the user in normal time, which is known as BULLET TIME®. 
         FIG. 22  illustrates another embodiment of the multi-angle display as is also shown in  FIG. 21  wherein this figure also includes three-dimensional overlay graphics to aid in understanding the motion analysis data in a more human understandable manner. 
         FIG. 23  shows an embodiment of the invention configured to display motion analysis data on a mobile computer, personal computer, IPAD® or any other computer with a display device large enough to display the desired data. 
         FIG. 24  illustrates a timeline display of motion analysis data that shows multiple sensor angular velocities in reference to the world or for example to a portion of the piece of equipment or object to hit or a virtual spine or a boney landmark, as obtained from sensors on a user and/or on a piece of equipment. 
         FIG. 25  illustrates a timeline display of motion analysis data that shows multiple sensor angular speeds obtained from multiple sensors on a second user and on a piece of equipment. Efficient movement pattern of body segments know as a kinetic chain and of kinematic segmental sequencing. 
         FIG. 26  illustrates a timeline display of a user along with peak and minimum angular speeds along the timeline shown as events along the time line instead of as Y-axis data as shown in  FIGS. 24 and 25 . In addition, a graph showing the lead and lag of the golf club along with the droop and drift of the golf club is shown in the bottom display wherein these values determine how much the golf club shaft is bending in two axes as plotted against time. 
         FIG. 27  illustrates a display of the calculated flight path of a ball based on the motion analysis data wherein the display is associated with any type of computer, personal computer, IPAD® or any other type of display capable of displaying images. 
         FIG. 28  illustrates a display of the calculated flight path of a ball based on motion analysis data wherein the display is coupled with a mobile device. 
         FIG. 29  illustrates a display of a broadcast television event wherein at least one motion capture element in the form of a motion sensor is coupled with the golf club and optionally the user. The display can be shown in normal time after the athlete strikes the ball, or in slow motion with motion analysis data including the three-dimensional overlay of the position of the sensor on the end of the club shown as a trace line and including the angle of the plane in which the swing takes place versus the horizontal plane. In addition, other motion analysis data may be shown such as the swing speed, distance (calculated or actual) and efficiency. 
         FIG. 30  illustrates a display of the swing path with a strobe effect wherein the golf club in this example includes sensors on the club head and hear the handle, or optionally near the hands or in the gloves of the user. Optionally, imaged based processing from a high speed camera may be utilized to produce the display. The swing path for good shots can be compared to swing paths for inaccurate shots to display the differences in a human understandable manner. 
         FIG. 31  illustrates a display of shaft efficiency as measured through the golf swing. For example, by obtaining motion capture data near the club head and club handle, graphical strobe effects and motion analysis data can show the club head speed, club handle speed and club shaft efficiency in normal time or slow motion. 
         FIG. 32  illustrates a display of putter head acceleration based on at least one sensor near the putter head, for example as coupled into the weight port of a putter. The various quantities from the motion analysis data can be displayed to aid in understanding acceleration patterns for good putts and bad putts to help viewers understand acceleration in a more human understandable manner. 
         FIG. 33  illustrates a display of dynamic lie angle, wherein the lie angle of the player at address before swinging at the ball can be compared to the lie angle at impact to help the viewer understand how lie angle effects loft and ball flight. 
         FIG. 34  illustrates a display of shaft release, wherein the angular release velocity of the golf shaft is a large component of the efficiency of a swing. As shown, a display of a golfer that has sensors near his waist and hips and sensors on the golf club head and handle, or as determined through image processing with or without visual markers, is shown along with the motion analysis data. 
         FIG. 35  illustrates a display of rotational velocity wherein the face angle, club face closure in degrees per second, the loft angle and lie angle are shown as obtained from a motion capture element on the club head for example. 
         FIG. 36  illustrates a display of historical players with motion analysis data computed through image processing to show the performance of great players. 
         FIG. 37  illustrates one embodiment of the equations used for predicting a golf ball flight path as used to produce displays as shown in  FIGS. 27 and 28 . 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     A portable wireless mobile device motion capture and analysis system and method will now be described. In the following exemplary description numerous specific details are set forth in order to provide a more thorough understanding of the ideas described throughout this specification. It will be apparent, however, to an artisan of ordinary skill that embodiments of ideas described herein may be practiced without incorporating all aspects of the specific details described herein. In other instances, specific aspects well known to those of ordinary skill in the art have not been described in detail so as not to obscure the disclosure. Readers should note that although examples of the innovative concepts are set forth throughout this disclosure, the claims, and the full scope of any equivalents, are what define the invention. 
       FIG. 1  illustrates an embodiment of the system that enables a portable wireless mobile device motion capture and analysis system  100 . As shown, embodiments of the system generally include a mobile device  101  that includes computer  160 , shown as located internally in mobile device  101  as a dotted outline, (i.e., also see functional view of computer  160  in  FIG. 1A ), display  120  coupled to computer  160  and a wireless communications interface (generally internal to the mobile device, see element  164  in  FIG. 1A ) coupled with the computer. The system generally includes at least one motion capture element  111  that couples with user  150  or with piece of equipment  110 , for example a golf club, or baseball bat, tennis racquet, hockey stick, or any other piece of equipment for any sport, or other sporting equipment such as a shoe, belt, gloves, glasses, hat, etc. The motion capture element may optionally include a visual marker, either passive or active, and/or may include a wireless sensor, for example any sensor capable of providing any combination of one or more values associated with an orientation (North/South and/or up/down), position, velocity and/or acceleration of the motion capture element. The computer is configured to obtain data associated with the at least one motion capture element, either visually or wirelessly, analyze the data to form motion analysis data and display the motion analysis data on display  120  of mobile device  101 . 
     One or more embodiments of the system may utilize a mobile device that includes at least one camera  130 , for example coupled to the computer within the mobile device. This allows for the computer within mobile device  101  to command the camera  130  to obtain an image or images, for example of the user during an athletic movement. The image(s) of the user may be overlaid with displays and ratings to make the motion analysis data more understandable to a human for example. Alternatively, detailed data displays without images of the user may also be displayed on display  120  or for example on the display of computer  105 . In this manner two-dimensional images and subsequent display thereof is enabled. If mobile device  101  contains two cameras, as shown in mobile device  102 , i.e., cameras  130   a  and  130   b , then the cameras may be utilized to create a three-dimensional data set through image analysis of the visual markers for example. This allows for distances and positions of visual markers to be ascertained and analyzed. 
     Alternatively, for embodiments of mobile devices that have only one camera, multiple mobile devices may be utilized to obtain two-dimensional data in the form of images that is triangulated to determine the positions of visual markers. In one or more embodiments of the invention, mobile device  101  and mobile device  102   a  share image data of user  150  to create three-dimensional motion analysis data. By determining the positions of mobile devices  101  and  102  (via GPS chips in the devices as is common, or via cell tower triangulation), and by obtaining data from motion capture element  111  for example locations of pixels in the images where the visual markers are in each image, distances and hence speeds are readily obtained as one skilled in the art will recognize. 
     Camera  103  may also be utilized either for still images or as is now common, for video. In embodiments of the invention that utilize external cameras, any method of obtaining data from the external camera is in keeping with the spirit of the invention including wireless communication of the data, or via wired communication as when camera  103  is docked with computer  105  for example, which then may transfer the data to mobile device  101 . 
     In one or more embodiments of the invention, the mobile device on which the motion analysis data is displayed is not required to have a camera, i.e., mobile device  102   b  may display data even though it is not configured with a camera. As such, mobile device  102   b  may obtain images from any combination of cameras on mobile device  101 ,  102 ,  102   a , camera  103  and/or television camera  104  so long as any external camera may communicate images to mobile device  102   b.    
     For television broadcasts, motion capture element  111  wirelessly transmits data that is received by antenna  106 . The wireless sensor data thus obtained from motion capture element  111  is combined with the images obtained from television camera  104  to produce displays with augmented motion analysis data that can be broadcast to televisions, computers such as computer  105 , mobile devices  101 ,  102 ,  102   a ,  102   b  or any other device configured to display images. The motion analysis data can be positioned on display  120  for example by knowing the location of a camera (for example via GPS information), and by knowing the direction and/or orientation that the camera is pointing so long as the sensor data includes location data (for example GPS information). In other embodiments, visual markers or image processing may be utilized to lock the motion analysis data to the image, e.g., the golf club head can be tracked in the images and the corresponding high, middle and low position of the club can be utilized to determine the orientation of user  150  to camera  130  or  104  or  103  for example to correctly plot the augmented data onto the image of user  150 . Any other algorithm for properly positioning the motion analysis data on display  120  with respect to a user (or any other display such as on computer  105 ) may be utilized in keeping with the spirit of the invention. 
     One such display that may be generated and displayed on mobile device  101  include a BULLET TIME® view using two or more cameras selected from mobile devices  101 ,  102 ,  102   a , camera  103 , and/or television camera  104  or any other external camera. In this embodiment of the system, the computer is configured to obtain two or more images of user  150  and data associated with the at least one motion capture element (whether a visual marker or wireless sensor), wherein the two or more images are obtained from two or more cameras and wherein the computer is configured to generate a display that shows slow motion of user  150  shown from around the user at various angles at normal speed. Such an embodiment for example allows a group of fans to create their own BULLET TIME® shot of a golf pro at a tournament for example. The shots may be sent to computer  105  and any image processing required may be performed on computer  105  and broadcast to a television audience for example. In other embodiments of the invention, the users of the various mobile devices share their own set of images, and or upload their shots to a website for later viewing for example. 
       FIG. 1A  shows an embodiment of computer  160 . In computer  160  includes processor  161  that executes software modules, generally stored as computer program instructions within main memory  162 . Display interface  163  drives display  120  of mobile device  101  as shown in  FIG. 1 . Optional orientation/position module  167  may include a North/South or up/down orientation chip or both. Communication interface  164  may include wireless or wired communications hardware protocol chips. In one or more embodiments of the invention communication interface may include telephonic and/or data communications hardware. In one or more embodiments communication interface  164  may include a Wi-Fi™ and/or BLUETOOTH™ wireless communications interface. Bluetooth class 1 devices have a range of approximately 100 meters, class 2 devices have a range of approximately 10 meters. Any wireless network protocol or type may be utilized in embodiments of the invention so long as mobile device  101  and motion capture element  111  can communicate with one another. Processor  161 , main memory  162 , display interface  163 , communication interface  164  and orientation/position module  167  may communicate with one another over communication infrastructure  165 , which is commonly known as a “bus”. Communications path  166  may include wired or wireless medium that allows for communication with other wired or wireless devices over network  170 . Network  170  may communicate with Internet  171  and/or database  172 . Database  172  may be utilized to save or retrieve images or videos of users, or motion analysis data, or users displayed with motion analysis data in one form or another. 
     To ensure that analysis of user  150  during a motion capture includes images that are relatively associated with the horizon, i.e., not tilted, the system may include an orientation module that executes on computer  160  within mobile device  101  for example. The computer is configured to prompt a user to align the camera along a horizontal plane based on orientation data obtained from orientation hardware within mobile device  101 . Orientation hardware is common on mobile devices as one skilled in the art will appreciate. This allows the image so captured to remain relatively level with respect to the horizontal plane. The orientation module may also prompt the user to move the camera toward or away from the user, or zoom in or out to the user to place the user within a graphical “fit box”, to somewhat normalize the size of the user to be captured. 
     Embodiments of the system are further configured to recognize the at least one motion capture element associated with user  150  or piece of equipment  110  and associate at least one motion capture element  111  with assigned locations on user  150  or piece of equipment  110 . For example, the user can shake a particular motion capture element when prompted by the computer within mobile device  101  to acknowledge which motion capture element the computer is requesting an identity for. 
     One or more embodiments of the computer in mobile device  101  is configured to obtain at least one image of user  150  and display a three-dimensional overlay onto the at least one image of user  150  wherein the three-dimensional overlay is associated with the motion analysis data. Various displays may be displayed on display  120 . The display of motion analysis data may include a rating associated with the motion analysis data, and/or a display of a calculated ball flight path associated with the motion analysis data and/or a display of a time line showing points in time along a time axis where peak values associated with the motion analysis data occur and/or a suggest training regimen to aid the user in improving mechanics of the user. 
     Embodiments of the system may also present an interface to enable user  150  to purchase piece of equipment  110  over the wireless interface of mobile device  101 , for example via the Internet, or via computer  105  which may be implemented as a server of a vendor. In addition, for custom fitting equipment, such as putter shaft lengths, or any other custom sizing of any type of equipment, embodiments of the system may present an interface to enable user  150  to order a customer fitted piece of equipment over the wireless interface of mobile device  101 . 
     Embodiments of the system are configured to analyze the data obtained from at least one motion capture element and determine how centered a collision between a ball and the piece of equipment is based on oscillations of the at least one motion capture element coupled with the piece of equipment and display an impact location based on the motion analysis data. 
     While  FIG. 1A  depicts a physical device, the scope of the systems and methods set forth herein may also encompass a virtual device, virtual machine or simulator embodied in one or more computer programs executing on a computer or computer system and acting or providing a computer system environment compatible with the methods and processes implementing the disclosed ideas. Where a virtual machine, process, device or otherwise performs substantially similarly to that of a physical computer system of the invention, such a virtual platform will also fall within the scope of a system of the disclosure, notwithstanding the description herein of a physical system such as that in  FIG. 1A . 
     Although system  100  is shown with an exemplary user  150  playing golf, one skilled in the art will appreciate that any user in moving in any way and/or playing any sport using any piece of equipment may utilize embodiments of the invention. 
       FIG. 2  illustrates an embodiment of the overall modes of the software programmed to execute on the computer of the mobile device, wherein the computer is configured to optionally recognize the motion capture elements, obtain data, analyze the data and display motion analysis data. Mode  201  shows mobile device  101  having display  120  that displays a user with highlighted points on the user and/or piece of equipment. In this mode, each sensor is identified and assigned one by one to a particular area of the user or piece of equipment so as to recognize which sensors correspond to which movements of the user and/or piece of equipment. Mode  202  is the mode where the computer in mobile device obtains data associated with at least one motion capture element as recognized in mode  201 . Mode  203  is the mode where the data is analyzed to form motion analysis data and display the motion analysis data optionally in conjunction with at least one image of the user. Mode  204  is the mode where the motion analysis data and optional at least one image of the user is saved, or retrieved to display at a later time. 
       FIG. 3  illustrates displays associated with  FIG. 2  in greater detail. Mode  201  includes sub-modes  201   a  where each motion capture element is asserted, moved, switched on or other wise identified. Sub-mode  201   b  allows for assignment of the motion capture element so asserted to a particular body part of the user, or a location on the piece of equipment. Mode  202  includes sub-modes  202   a  where the computer obtains data associated with at least one motion capture element, either via image capture of one or more motion capture elements implemented as visual markers, or via wireless sensors, or both visual markers and wireless sensors. Mode  203  includes sub-mode  203   a  where main motion analysis data items may be displayed, and sub-mode  203   b  where detailed motion analysis data items may be displayed. Mode  204  shows selection of an archive name to store archive motion capture data, i.e., the motion analysis data and any images of the user. Mode  204  also allows for retrieval of an archived motion capture data by selected a list item on the display of the mobile device. In one or more embodiments, the motion capture archived data may be stored on the mobile device or remotely on computer  105 , or in database  172  accessed via network  170  and/or via Internet  171 . 
       FIG. 4  illustrates and embodiment of the recognition module that is configured to assign particular sensors to particular locations on an athlete and/or on a piece of equipment. In this simplified interface for mode  201 , a mobile application is selected from the interface in the far left screen shot that then displays a number of activities or sports that can be motion captured by embodiments of the invention. Selecting the desired sport via a finger gesture or any other manner in this display shows sub-mode screen  201   c  that allows for the assignment of sensors to areas of the user&#39;s body, and/or sub-mode screen  201   d  that allows for the assignment of sensors to areas on the equipment for the particular sport selected in the second screen from the left in the figure. 
       FIG. 5  illustrates an embodiment of the obtain data module that is configure to obtain data from a camera (optionally on the mobile device or obtain through another camera or camera on another mobile device) through asserting the “start” button on the display. Any other method of initiating the computer within the mobile device to obtain data is in keeping with the spirit of the invention including user gestures such as moving the piece of equipment in a particular manner or in any other way. This is shown as sub-mode  202   a . When motion data capture is to be terminated, any user gesture may be performed via the display of the mobile device, via the piece of equipment or via audio input to the mobile device for example. Any other method of informing the computer to no longer obtain data is in keeping with the spirit of the invention. Sub-mode  203   a  where main motion analysis data items may be displayed, and sub-mode  203   b  where detailed motion analysis data items may be displayed are shown with “close” buttons, so that the data can be ignored for example. In addition, a slider in sub-mode  203   a  allows for precise control of the speed and/or location of the playback so that slow motion analysis may be utilized to better understand the analysis and display of motion analysis data. In addition, the figure shows displays data analyzed by the analysis module and generated by the display module to show either the user along with motion analysis data, or with motion analysis data alone. Double clicking or tapping on a detailed item may optionally display a list of exercises that a user may perform to increase the user&#39;s performance. 
       FIG. 6  illustrates a detailed drill down into the motion analysis data to display including overall efficiency, head, torso, hip, hand, club, left and right foot segment efficiencies. Embodiments of the invention thus enable physical training specific to the area that a user needs as determined by the analysis module. For example, asserting, double clicking or tapping, or clicking on the “training” button on the bottom of each efficiency screen as shown may display video, audio, or a list of exercises that a user may perform to increase the user&#39;s performance specific to that segment. In addition, by asserting the “fitting” button on each segment display, a detailed list of pieces of equipment that may perform better for the user based on the motion analysis data may be viewed. For example, if the user is swing too stiff of a golf club, then the golf club may be taking power out of the swing by slowing down before impacting a golf ball, while a more flexible shaft would speed up before impacting a golf ball. By asserting the “fitting” button, and based on the motion analysis data, for example club head speed or if multiple sensors are fitted on the shaft, then by the flexing of the shaft, then alternate golf clubs may be displayed to the user. The user may then press the purchase button, as will be detailed later, to purchase or custom order equipment that is better suited to the user. 
       FIG. 7  illustrates a close up display of motion analysis data associated with a user, without use of an image associated with a user. In this close-up of sub-mode  203   b , the efficiency, swing speed, release speed, face alignment angle and other quantities associated with the motion analysis data are displayed. Any data that is obtained or that can be analyzed and derived may be displayed. 
       FIG. 8  illustrates an embodiment of the motion capture element that optionally includes a visual marker and/or sensor. One or more embodiments of the sensors are small, for example 12 mm or less in diameter and 4 mm or less thick in one embodiment. In addition, the sensors are inexpensive, lightweight, for example less than 5 grams in one or more embodiments. The sensors may utilize known wireless communications protocols such as BLUETOOTH™ with a range of approximately 10 meters for Bluetooth class 2, or 100 meters for Bluetooth class 1. Embodiments of the sensor may sample at 1200 times per second or higher or lower depending on the desired performance requirements. The sensors may be sealed for water resistance or proofing and while some embodiments may be opened, for example to replace a battery held inside the sensor housing. Any other sensor having dimensions or capabilities that allow for measurement of any combination of one or more of orientation, position, velocity and/or acceleration that may couple to a piece of equipment or user may be utilized in one or more embodiments as a motion capture element. 
       FIG. 9  illustrates a front view of  FIG. 8 . In this figure, the visual marker is shown from above and signifies an instrumented user. The contrast between black and white allows for ease of capture. 
       FIG. 10  illustrates an embodiment of motion capture element  111  implemented with a single white circle on a black passive marker and gray scale images thereof to show how the marker can be tracked by obtaining an image and searching for a luminance change from black to white as shown at point  1001 . Any other image processing algorithm may be utilized to find an embodiment of the motion capture element within an image as one skilled in the art will recognize, for example based on a color difference or gradient detected in an image in the area of an embodiment of motion capture element  111 . 
       FIG. 11  illustrates a hardware implementation of the sensor portion of a motion capture element implemented as a wireless inertial measurement unit, and an embodiment as configured to couple with a weight port of a golf club for example. Printed circuit board (PCB) may be utilized to hold the various components of the sensor including any orientation, position, velocity and/or accelerometers. Hole  1101  may be utilized as a screw hole or other coupling point for coupling motion capture element  111  to a piece of equipment, such as into a weight port of a golf club. Alternatively, threads at location  1102  or at location  1103  may be utilized to screw motion capture element  111  onto the piece of equipment. Any other method of coupling motion capture element to a piece of equipment or user is in keeping with the spirit of the invention. Embodiments of the invention may also be placed in the handle of a golf club, or in any other piece of equipment. 
       FIG. 12  illustrates an embodiment of the motion capture element as configured to couple with different golf club types and a shoe. As shown in the leftmost figure, motion capture element  111  can couple directly to a piece of equipment such as a golf club in the rear portion of the club head. As the second from left figure illustrates, motion capture element  111  may couple onto the bottom of a piece of equipment, such as a golf putter. In addition, as the third figure from the left illustrates, motion capture element  111  may couple into the weight port of a piece of equipment, such as a driver. Furthermore, motion capture element may couple with a piece of equipment that is worn by the user, effectively coupling with the user as shown in the rightmost figure. 
       FIG. 13  illustrates a close-up of the shoe of  FIG. 12  along with a pressure map of a shoe configured with a pressure matt inside the shoe configured to output pressure per particular areas of the shoe. In this embodiment, motion capture element may also interface to a pressure sensing mat capable of producing pressure map  1301  from inside of the shoe and relay the pressure information to the mobile device for analysis. Alternatively, pressure sensors may be placed through the shoe, for example in a grid, to provide weight bearing information to the mobile device, for example wirelessly via the motion capture element. Each pressure sensor may couple to a transceiver or contain its own transceiver, or couple via wires or wirelessly to the motion capture element in order to transmit pressure data, for example to display on display  120 . By color coding the map and displaying the map on display  120 , a color graphic rating is thus obtained, which may include numerical ratings of the pressure signature when compared to saved pressure maps which resulted in good swings for example. 
       FIG. 14  illustrates an embodiment of sunglasses configured with a motion capture element. In addition, the sunglasses may also include a video viewing device that may be utilized for display  120  so that the user may watch images of the user with motion analysis data via the sunglasses. In this manner, any computer  160 ,  105 , or any other computer coupled to network  170  or Internet  171  may be utilized to obtain data and analyze data so that the resulting motion analysis data may be displayed on the sunglasses. 
       FIG. 15  illustrates an embodiment of a display that depicts the location of a golf ball strike as determined by the oscillations in the golf club face during and/or after the golf club impacts a golf ball. In one or more embodiments of the invention, if the golf ball impacts the club at location  1501 , then a particular frequency response is obtained via orientation or velocity sensors in motion capture element  111  that is coupled with the club shown. If the golf ball impacts the club at location  1502 , then a distinct frequency response is obtained via the motion capture element  111  coupled to the club. One embodiment for determining where a ball impacts a club involves recording impacts from a variety of locations at a range of speeds and using the resulting frequency responses to determine which one is the closest to the impact detected Impacts that occur high or low on the club face tend to produce a vertical axis oscillation of greater amplitude than impacts that occur at location  1501 . Impacts that occur closer to the shaft tend to produce lower amplitude oscillations in the horizontal axis than impacts that occur further from the shaft. Hence, another method for determining impact is to form a ratio of the amplitude of horizontal to vertical axis frequency amplitude and then search for the closest match from a saved set of impact frequency responses and retrieve the x and y locations on the club face where the closest match has occurred. In another embodiment of the invention, a series of impacts is recording at the center of the club and at 4 points away from the center along the positive x axis, (away from the shaft), positive z axis (above the center point of the face), negative x axis (near the shaft) and negative z axis (below the center point of the face) wherein the motion capture element transmits x, y and z velocities associated with the impact. The velocities are converted into the frequency domain and saved. Then, when determining an impact location for a test swing, an interpolation between the impact in question and the center point and 4 other points is performed to determine the location of the impact. Any other method of determining the impact location that does not require other sensors besides the motion capture element coupled to the club is in keeping with the spirit of the invention. 
       FIG. 16  illustrates a camera alignment tool as utilized with embodiments of the invention to create normalized images for capture and analysis. In this figure, level lines  1601  are shown that for example become brighter when the mobile device is level. Any other manner of displaying that the mobile device is level may also be utilized.  FIG. 17  illustrates a balance box and center alignment line to aid in centering a user to obtain image data.  FIG. 18  illustrates a balance box and center alignment line, along with primary and secondary shaft lines to aid in centering and analyzing images of the user for use in capturing data from the side of the user. Once the user is centered, the computer may obtain data and images that are normalized to the horizontal plane. 
       FIG. 19  illustrates an embodiment of the display configured to aid in club fitting for a user, wherein a user may test multiple clubs and wherein the display shows motion analysis data. For embodiments of the invention that include purchase and order fulfillment options, buttons such as “purchase” and “customer order” may be utilized. Alternatively, a “buy” button  1902  may be shown in “club fitting” mode  1901  that enables a user to buy or custom order a custom club that the user is working with. 
       FIG. 20  illustrates an embodiment of the display configured to display motion analysis data along with the user, some of which is overlaid onto the user to aid in understanding the motion analysis data in a more human understandable format. For example, rotation rings  2003  may be shown overlaid on one or more images of the user to shown the angle of the axis of rotation of portions of the user&#39;s body, such as shoulders and hips. In addition, motion analysis data associated with the user can be shown numerically as shown for example as “efficiency” of the swing  2002 , and velocity of the swing  2001 . 
       FIG. 21  illustrates an embodiment of the invention configured to display a user from multiple angles  2101  when multiple cameras are available. Any algorithm that may process images to eliminate backgrounds for example may be utilized to show multiple instances of the user on one background. Alternatively, one or more embodiments of the invention may show one image of the user at a time in slow motion as the user moves, while changing the angle of the view of the user in normal time, which is known as BULLET TIME®. 
       FIG. 22  illustrates another embodiment of the multi-angle display as is also shown in  FIG. 21 . This figure also includes three-dimensional overlay graphics  2201  to aid in understanding the motion analysis data in a more human understandable manner. Second instance of the user  2202  may or may not be shown with the same overlay from a different angle. 
       FIG. 23  shows an embodiment of the invention configured to display motion analysis data on a mobile computer, personal computer, IPAD® or any other computer with a display device large enough to display the desired data. 
     In any embodiments detailed herein, efficiency may be calculated in a variety of ways and displayed. For embodiments of the invention that utilize one motion capture element, then the motion capture element associated with the club head may be utilized to calculate the efficiency. In one or more embodiments of the invention, efficiency may be calculated as:
 
Efficiency=(90−angle of club face with respect to direction of travel)* Vc/V max
 
     As more sensors are added further from the piece of equipment, such as in this case a club, the more refined the efficiency calculation may be.  FIG. 24  illustrates a timeline display of motion analysis data that shows multiple sensor angular speeds obtained from multiple sensors on a user and on a piece of equipment.  FIG. 25  illustrates a timeline display of angular speed of a second user. One or more embodiments of the invention may calculate an efficiency based on relative times of the peaks of the hips, shoulders, arms and club for example. In one or more embodiments of the invention utilizing more than one motion capture element, for example on the arms and club, the angular velocity Wa of the arms is divided by the angular velocity Wc of the club calculate efficiency with more information. By obtaining a large number of timelines from various professional athletes and determining average amplitudes of angular velocities of various body parts and/or timings, then more refined versions of the efficiency equation may be created and utilized.
 
Efficiency=(90−angle of club face with respect to direction of travel)* Vc/V max* Wa/Wc* 1.2
 
       FIG. 26  illustrates a timeline display of a user along with peak and minimum angular speeds along the timeline shown as events along the time line instead of as Y-axis data as shown in  FIGS. 24 and 25 . In this unique view, the points in time where the peaks of the graphs of  FIGS. 24 and 25  are shown as colored boxes that correspond to the colors of the graphs in  FIGS. 24 and 25 , yet in a more human understandable format that shows the relative timing of the peaks. In addition, at the bottom of  FIG. 26  a graph showing the lead and lag of the golf club along with the droop and drift of the golf club is shown wherein these values determine how much the golf club shaft is bending in two axes as plotted against time. 
     One or more embodiments of the invention may analyze the peaks and/or timing of the peaks in order to determine a list of exercises to provide to a user to improve the mechanics of the user. For example, if the arms are rotating too late or with not enough speed, a list can be provided to the user such as: 
     
       
         
           
               
               
               
             
               
                   
                 TABLE 1 
               
               
                   
                   
               
               
                   
                 Arm Speed 
                 Exercise 
               
               
                   
                   
               
             
            
               
                   
                 1000-1500 degrees/sec 
                 Impact Bag Drawbacks 
               
               
                   
                 1501-1750 degrees/sec 
                 Drawbacks 
               
               
                   
                 1751-2000 degrees/sec 
                 No drills 
               
               
                   
                   
               
            
           
         
       
     
     The list of exercises may include any exercises for any body part and may displayed on display  120 . For example, by asserting the “Training” button on the displays shown in  FIG. 6 , a corresponding body part list of exercises may be displayed on display  120 . 
       FIG. 27  illustrates a display of the calculated flight path  2701  of a ball based on the motion analysis data wherein the display is associated with any type of computer, personal computer, IPAD® or any other type of display capable of displaying images.  FIG. 28  illustrates a display of the calculated flight path  2801  of a ball based on motion analysis data wherein the display is coupled with a mobile device. After a swing of a golf club, and based on the club head speed as determined by motion capture element  111 , the loft of the club and the angle at which the club strikes the ball (meaning that there is another motion capture element in the handle or near the hands of the user), a flight path may be calculated and displayed. Any model may be utilized as is known in the art to calculate the trajectory based on the club velocity as measure via motion capture element  111 , one such model is described in a paper by MacDonald and Hanzely, “The physics of the drive in golf”, Am. J. Phys 59 (3) 213-218 (1991). See  FIG. 37  for one embodiment of the equation used to calculate the accelerations in the x, y and z axes wherein: 
     x=laterally sideways (right is positive, left is negative) 
     y=down the fairway (always positive) 
     z=vertically upwards (up is positive, down is negative) 
     B=a constant dependent on the conditions of the air, an appropriate value=0.00512 
     u=vector of relative velocity between the ball and the air (i.e. wind), u=v−v w    
     Cd=coefficient of drag which depends on the speed and spin of the ball 
     Cl=coefficient of drag which depends on the speed and spin of the ball 
     a=the angle between the vertical and the axis of rotation of the spinning ball 
     g=the acceleration due to gravity=32.16 ft/s2 
     A numerical form of the equations may be utilized to calculate the flight path for small increments of time assuming no wind and a spin axis of 0.1 radians or 5.72 degrees is as follows:
 
 x  acceleration=−0.00512*( vx^ 2+ vy^ 2+ vz^ 2)^(1/2)*((46.0/( vx^ 2+ vy^ 2+ vz^ 2)^(1/2))*( vx )+(33.4/( vx^ 2 +vy ^2 +vz^ 2)^(1/2))*( vy )*sin(0.1))
 
 y  acceleration=−0.00512*( vx^ 2+ vy^ 2+ vz^ 2)^(1/2)*((46.0/( vx^ 2+ vy^ 2+ vz^ 2)^(1/2))*( vy )−(33.4/( vx^ 2+ vy^ 2+ vz^ 2)^(1/2))*(( vx )*sin(0.1)−( vz )*cos(0.1)))
 
 z  acceleration=−32.16−0.00512*( vx^ 2+ vy^ 2+ vz^ 2)^(1/2)*((46.0/( vx^ 2+ vy^ 2+ vz^ 2)^(1/2))*( vz )−(33.4/( vx^ 2+ vy^ 2+ vz^ 2)^(1/2))*( vy )*cos(0.1))
 
       FIG. 29  illustrates a display of a broadcast television event wherein at least one motion capture element in the form of a motion sensor is coupled with the golf club and optionally the user. The display can be shown in normal time after the athlete strikes the ball, or in slow motion with motion analysis data including the three-dimensional overlay of the position of the sensor on the end of the club shown as a trace line and including the angle of the plane  2901  in which the swing takes place versus the horizontal plane. In addition, other motion analysis data may be shown such as the swing speed  2902 , distance (calculated or actual) and efficiency  2903 . 
       FIG. 30  illustrates a display of the swing path with a strobe effect wherein the golf club in this example includes sensors on the club head and near the handle, or optionally near the hands or in the gloves of the user. Optionally, imaged based processing from a high speed camera may be utilized to produce the display. A line or captured portion of the actual shaft from images may be displayed at angle  3001 ,  3002  and  3003  for example. The swing path for good shots can be compared to swing paths for inaccurate shots to display the differences in a human understandable manner. 
       FIG. 31  illustrates a display of shaft efficiency  3105  as measured through the golf swing. For example, by obtaining motion capture data near the club head and club handle, graphical strobe effects and motion analysis data can show the club head through time at  3101 ,  3102 ,  3103  and  3104  and also display speed, club handle speed and club shaft efficiency at  3106  in normal time or slow motion. 
       FIG. 32  illustrates a display of putter head speed and/or acceleration based on at least one sensor near the putter head, for example as coupled into the weight port of a putter. The various quantities from the motion analysis data can be displayed at  3201  to aid in understanding speed and/or acceleration patterns for good putts and bad putts to help viewers understand speed and/or acceleration in a more human understandable manner. 
       FIG. 33  illustrates a display of dynamic lie angle, wherein the lie angle of the player at address  3302  before swinging at the ball can be compared to the lie angle at impact  3301  to help the viewer understand how lie angle effects loft and ball flight, while quantitatively showing the values at  3303 . 
       FIG. 34  illustrates a display of shaft release, wherein the angular release velocity of the golf shaft is a large component of the efficiency of a swing. As shown, a display of a golfer that has sensors near his waist and hips (to produce spine angle  3402 ) and sensors on the golf club head and handle (to produce shaft angle  3401 ), or as determined through image processing with or without visual markers, is shown along with the motion analysis data including club shaft release in degrees per second at  3403 . 
       FIG. 35  illustrates a display of rotational velocity wherein the face angle, club face closure in degrees per second, the loft angle and lie angle are determined from a motion capture sensor coupled with the club head for example and numerically shown at  3501 . 
       FIG. 36  illustrates a display of historical players with motion analysis data computed through image processing to show the performance of great players. By tracing and determining the locations of two points  3601  and  3602  on each player&#39;s golf club as shown and knowing the height of the players and/or lengths of their clubs and angle at which the images where taken, distances and thus velocities of the golf clubs may be determined to calculate numerical values as shown at  3603 . 
       FIG. 37  illustrates one embodiment of the equations used for predicting a golf ball flight path as used to produce displays as shown in  FIGS. 27 and 28 . 
     While the ideas herein disclosed has been described by means of specific embodiments and applications thereof, numerous modifications and variations could be made thereto by those skilled in the art without departing from the scope of the invention set forth in the claims.