Proprioception

Tracking

Proprioception and Tracking systems

BYRON ALFONSO PÉREZ-GUTIÉRREZ

Virtual Reality Center

Universidad Militar Nueva Granada
byron.perez@unimilitar.edu.co

February 2017

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

 Proprioception
Tracking

Outline I

1 Proprioception

2 Tracking

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

 Proprioception
Tracking

What is Proprioception?
Sherrington called proprioception to the ability to perceive the
position of limbs in space, and to detect the force of movements
and resistance that opposes them.

Sherrington CS. The integrative action of the nervous system,

1906. New Haven, CTYale University Press.

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Postures

The sense of posture is that allows us, with eyes closed, to know
with great precision the position in which the fingers are in relation
to the palm of the hand, this relative to the arms or arms in
relation to the body.
Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems
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Kinesthesia

The sense of movement or

kinesthetic enables the individual
to evaluate, without visual
control, the direction and speed
of the limb or trunk displacement.

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Sense of Force

The sense of force allows us to estimate the resistance that opposes

the movement of a part of the body.
Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems
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Nervous system

The joints are innervated by different types of mechanoreceptor

fibers, which provide information to the CNS about the
displacements that occur in the various structures of the joint
during its movements.
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Tracking systems

Tracking system
It allows to know the position and / or orientation of one or more
points in space related with a user in a virtual reality system.

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Degrees of Freedom - DOF

Translations and rotations

Tx , Ty , Tz , Rx , Ry , Rz

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Tracker characteristics

Measurement rate – Readings/sec

Sensing latency
Sensor noise and drift
Measurement accuracy (errors)
Measurement repeatability
Tethered or wireless
Work envelope
Sensing degradation
Price

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Accuracy

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Noise

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Drift

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Latency

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Update rate

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Tracking

Classification

Contact
Mechanical
No contact
Magnetic
Ultrasonic
Optical
Inertial
Hybrid

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Mechanical tracking

Characteristics
Serial or parallel kinematic structure with encoders.
Pros:
Low latency
Use sensors imbedded in exoskeletons to measure position
Have extremely low latencies
Are immune to interference from magnetic fields and large
metal objects
Cons:
But limit the user’s freedom of motion;
Can be heavy is worn on the body

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HMD with mechanical tracking

Ivan Sutherland, Damocles sword - 1966.

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems
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HMD with mechanical tracking

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Digitizer with mechanical tracking

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Haptic arm with mechanical tracking

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Exoskeleton with mechanical tracking

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Magnetic tracking

Characteristics
A magnetic tracker is a non-contact position measurement device
that uses a low-frequency magnetic field produced by a stationary
TRANSMITTER to determine the real-time position of a moving
RECEIVER element.
Fields are produced by a fixed source
Size of source grows with the tracker work envelope
The receiver is attached to the tracked object
Has three perpendicular antennas
Distance is inferred from the voltages induced in the antennas

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Magnetic tracking

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Magnetic tracking sensing degradation

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Flock of Birds used in medical simulation

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Razer hydra

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Polhemus Magnetic tracking

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Ultrasound tracking

Characteristics
A non-contact position measurement device that uses an ultrasonic
low-frequency signal produced by a stationary transmitter to
determine the real-time position/orientation of a moving receiver.
Sound produced by a fixed triangular source (speakers)
Number of sources grows with the tracker work envelope
The receiver is triangular and attached to the tracked object
and has three microphones
Distance is inferred from the sound time of flight
Sensitive to air temperature and other noise sources
Requires “direct line of sight"
Slower than magnetic trackers (max 50 updates/sec).

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Ultrasound tracking

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Ultrasound tracking

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Optical tracking

Characteristics
A non-contact position measurement device that uses optical
sensing to determine the real-time position/orientation of an object.
Can use several cameras in order to increase coverage
Infrared and solar light affect it measures
Requires “direct line of sight"

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Optical tracking

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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AR Tracking System

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AR Tracking System

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Microsoft Kinect

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Microsoft Kinect

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Webcam and OpenCV

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Mocap - Motion capture

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TrackIR 5

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Inertial tracking

Characteristics
They use Newton’s laws of motion to determine the position and
orientation of an object. Consists of accelerometers to measure the
linear acceleration vectors with respect to the inertial reference
system and and gyroscopes to measure the rate of rotation
concerning changes of orientation.
No interference from metallic objects
No interference from magnetic fields
Large-volume tracking;
“Source-less” orientation tracking;

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Inertial tracking

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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MPU 9150

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Inertial tracking

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

 Proprioception
Tracking

Inertial tracking

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

 Proprioception
Tracking

Hybrid tracking

Characteristics
Combination of two or more tracking systems technologies.
Inertial - optical
Inertial - ultrasound

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Tracking

Nintendo Wii remote control

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Tracking

Wii remote control

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Inertial - ultrasound tracking

Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems

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Tracking

Questions?

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Byron Alfonso Pérez-Gutiérrez Proprioception and Tracking systems