U5008712723B1
`
`(12) United States Patent
`Kahn et a1.
`
`(10) Patent No.:
`(45) Date of Patent:
`
`US 8,712,723 B1
`*Apr. 29, 2014
`
`(54) HUMAN ACTIVITY MONITORING DEVICE
`
`(75)
`
`Inventors: Philippe Kahn. Aptos. CA (US):
`Arthur Klnsolving. Santa Cruz. CA
`(US); Mark Andrew Christensen. Santa
`C1112. CA (US): Brian Y. Lee. Aptos. CA
`(US): David Vogel. Santa Cruz. CA (US)
`
`377/24. 24.]. 24.2: 702/1. 85. 97. 104. 127.
`702/141.150.155.158.160.187.189:
`708/100. 101. 105. 131. 160. 200. 212
`IPC ..... GOlB 5/00.5/02: GOiC 22/00. 25/00: 001D
`7/00;G01P 13/00; GOGF 11/00. 11/30. 11/32.
`G06F 17/00. 17/40. 19/00
`See application file for complete search history.
`
`( * ) Notice:
`
`(73) Assignee: DP Technologies, Inc.. Scotts Valley. CA
`US
`(
`)
`Subject to any disclaimer. the term of this
`patent is extended or adjusted under 35
`U-S-C-154(b)by115da)'5-
`This patent is subject to a tenninal dis-
`claimcr.
`
`(56)
`
`References Cited
`U.S. PATENT DOCUMENTS
`.
`.
`Egg; giggrick
`811995 Ishiwatari
`84995 anhI et a1.
`(Continued)
`
`33322; :
`5.446.725 A
`5‘446'775 A
`
`(21) App]. No.: 13/018,321
`
`(22)
`
`Filed:
`
`Jan. 31, 2011
`
`FOREIGN PATENT DOCUMENTS
`
`JP
`
`1005309691 A * ”"3005
`OTHER PUBLICATIONS
`
`Related US. Application Data
`t.
`f
`l'
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`N 12/694 135 fi] (1
`(63) C t'
`on inua 1011 o app tea 1011
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`Jan. 26. 2010. 110w Pat. No. 7.881.902. which is a
`continuation of application No. 11/644.455. filed on
`Dec. 22. 2006. now Pat. No. 7.653.508.
`
`(51)
`
`(2006.01)
`(2006.01)
`(2006.01)
`(200601)
`
`Int. Cl.
`G01C 22/00
`(.‘01!’ 13/00
`G06F [9/00
`6061:1740
`(52) U-S- 0-
`USPC ------------ 702/160; 73/179; 377/242; 702/97:
`702/1871 702/1891 708/1053 708/200
`(58) Field Of Classification Search
`USPC
`33/700. 7011 73/].01. 137.- 138. L75.
`73/1.76. 1.77. 1.78. 1.79. 1.81. 432.1.
`73/8654. 865.8: 377/1. 13. 15. 17. 19. 20.
`
`Cheng. et a1. “Periodic Illunan Motion Description for Sports Video
`D.
`b.
`3.},
`. ed'
`f h P
`R .
`--
`‘2004' 5 J
`'
`"a “es
`""8 "1g“ ‘ e “"em “°8"“'°"
`”‘8'”
`(Continued)
`
`Primary Examiner 7 Edward Cosimano
`(74) Attorney. Agent. orFirm 7 Blakely. Sokoloff. Taylor&
`Zafman LLP: Judith A. Schesi
`
`(57)
`ABSTRACT
`A method for monitoring human activity using an inertial
`sensor includes continuously determining an orientation of
`the inertial sensor. assigning a dominant axis. updating the
`dominant axis as the orientation of the inertial sensor
`changes. and counting periodic human motions by monitor-
`ing accelerations relative to the dominant axis.
`
`19 Claims, 9 Drawing Shccts
`
`
`
`/-\ 500
`
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`mom in:
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`C00"! 51.90535
`
`LGE v. Uniloc USA
`
`Page 1 of 21
`
`LGE Exhibit 1001
`
`

`

`
`
`
`
`
`US 8,712,723 B1
`
`Page 2
`
`
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`(56)
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`
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`OTHER PUBLICATIONS
`
`
`
`
`.suunto.com/suunto/Worlds/main/WOIldiar-
`Heart Rate Monitors,
`
`
`
`ticleiproductinoiATLjsp?CONTENT%3C%3Ecnt,
`
`16:10134198676968765&FOLDER%3C%3Efolder,
`
`
`
`d:9852723697225397&ASSORTMENT%3C%3Easti
`
`id:1408474395903593&meID:1174532640618speed>, Apr. 4,
`
`
`
`2007, 1 page.
`
`
`
`
`
`
`LGE V. Unlloc USA
`
`Page 2 of 21
`
`LGE EXhlblt 1001
`
`LGE v. Uniloc USA
`
`Page 2 of 21
`
`LGE Exhibit 1001
`
`

`

`
`
`
`
`
`US 8,712,723 B1
`
`Page 3
`
`
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`(56)
`
`
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`* cited by examiner
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`LGE V. Uniloc USA
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`Page 3 of 21
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`LGE Exhibit 1001
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`LGE v. Uniloc USA
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`Page 3 of 21
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`LGE Exhibit 1001
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`

`

`US. Patent
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`Apr. 29, 2014
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`Sheet 1 019
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`US 8,712,723 B1
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`LGE v. Uniloc USA
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`Page 4 of 21
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`LGE Exhibit 1001
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`

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`U.S. Patent
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`Apr. 29, 2014
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`Page 5 of 21
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`LGE EXhi it 1001
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`LGE v. Uniloc USA
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`Page 5 of 21
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`LGE Exhibit 1001
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`

`

`US. Patent
`
`Apr. 29, 2014
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`Sheet 3 «9
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`US 8,712,723 B1
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`LGE v. Uniloc USA
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`Page 6 of 21
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`LGE Exhibit 1001
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`

`

`US. Patent
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`Apr. 29, 2014
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`Sheet 4 «9
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`US 8,712,723 B1
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`LGE v. Uniloc USA
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`Page 7 of 21
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`LGE Exhibit 1001
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`

`

`US. Patent
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`Apr. 29, 2014
`
`Sheet 5 of9
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`LGE v. Uniloc USA
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`Page 8 of 21
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`US. Patent
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`Apr. 29, 2014
`
`Sheet 6 «9
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`US 8,712,723 B1
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`LGE v. Uniloc USA
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`Page 9 of 21
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`US. Patent
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`Apr. 29, 2014
`
`Sheet 7 «9
`
`US 8,712,723 B1
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`LGE v. Uniloc USA
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`US. Patent
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`Apr. 29, 2014
`
`Sheet 8 of9
`
`US 8,712,723 B1
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`8
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`LGE v. Uniloc USA
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`US. Patent
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`Apr. 29, 2014
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`Sheet 9 «9
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`US 8,712,723 B1
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`US 8,712,723 B1
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`
`
`1
`HUMAN ACTIVITY MONITORING DEVICE
`
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`
`
`The present patent application is a continuation of US.
`
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`
`
`application Ser. No. 12/694,135, filed on Jan. 26, 2010, now
`
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`US. Pat. No. 7,881,902, issued on Feb. 1, 2011; which is a
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`continuation ofUS. application Ser. No. 11/644,455, filed on
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`Dec. 22, 2006, now US. Pat. No. 7,653,508, issued on Jan.
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`26, 2010.
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`FIELD OF THE INVENTION
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`This invention relates to a method of monitoring human
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`activity, and more particularly to counting periodic human
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`motions such as steps.
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`BACKGROUND
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`The development of Micro-Electro-Mechanical Systems
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`(MEMS) technology has enabled manufacturers to produce
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`inertial sensors (e.g., accelerometers) of sufficient size, cost,
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`and power consumption to fit into portable electronic devices.
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`Such inertial sensors can be found in a limited number of
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`commercial electronic devices such as cellular phones, por-
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`table music players, pedometers, game controllers, and por-
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`table computers.
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`Step counting devices are used to monitor an individual’s
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`daily activity by keeping track of the number of steps that he
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`or she takes. Generally, step counting devices that utilize an
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`inertial sensor to measure motion to detect steps require the
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`user to first position the device in a limited set of orientations.
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`In some devices, the required orientations are dictated to the
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`user by the device. In other devices, the beginning orientation
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`is not critical, so long as this orientation can be maintained.
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`Step counting devices are often confused by motion noise
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`experienced by the device throughout a user’s daily routine.
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`This noise causes false steps to be measured and actual steps
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`to be missed in conventional step counting devices. Conven-
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`tional step counting devices also fail to accurately measure
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`steps for individuals who walk at a slow pace. Such step
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`counting devices can fail to operate for seniors and others
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`walking at a slow pace.
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`BRIEF DESCRIPTION OF THE DRAWINGS
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`The present invention is illustrated by way of example, and
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`not by way of limitation, and can be more fully understood
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`with reference to the following detailed description when
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`considered in connection with the following figures:
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`FIG. 1 is a block diagram illustrating one embodiment of
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`an electronic device;
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`FIG. 2 illustrates an exemplary cadence of motion graph
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`that measures time versus acceleration, in accordance with
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`one embodiment of the present invention;
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`FIG. 3 shows a state diagram for the behavior of a system
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`of monitoring human activity using an inertial sensor, in
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`accordance with one embodiment of the present invention;
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`FIG. 4 illustrates a flow diagram for a method of operating
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`an electronic device in sleep mode, in accordance with one
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`embodiment of the present invention;
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`FIG. 5 illustrates a flow diagram for a method of operating
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`an electronic device in entry mode, in accordance with one
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`embodiment of the present invention;
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`FIG. 6 illustrates a flow diagram for a method of operating
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`an electronic device in stepping mode, in accordance with one
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`embodiment of the present invention;
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`2
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`FIG. 7 illustrates a flow diagram for a method of operating
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`an electronic device in exit mode, in accordance with one
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`embodiment of the present invention;
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`FIG. 8 illustrates a flow diagram for a method of recogniz-
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`ing a step in accordance with one embodiment of the present
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`invention, in accordance with one embodiment of the present
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`invention; and
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`FIG. 9 illustrates a flow diagram for a method of orienting
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`an inertial sensor, in accordance with one embodiment of the
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`present invention.
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`DETAILED DESCRIPTION
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`Embodiments of the present invention are designed to
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`monitor human activity using an inertial sensor. In one
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`embodiment, a dominant axis is as signed after determining an
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`orientation of an inertial sensor. The orientation ofthe inertial
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`sensor is continuously determined, and the dominant axis is
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`updated as the orientation of the inertial sensor changes. In
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`one embodiment, periodic human motions are counted by
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`monitoring accelerations relative to the dominant axis.
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`FIG. 1 is a block diagram illustrating an electronic device
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`in accordance with one embodiment of the present
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`invention. The electronic device 100 in one embodiment
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`comprises an acceleration measuring logic 105, a filter 120, a
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`dominant axis logic 127, a step counting logic 130, a timer
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`170, and a final step count 175. In one embodiment, the
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`electronic device 100 is a portable electronic device that
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`includes one or more inertial sensors. The inertial sensors
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`may measure accelerations along a single axis or multiple
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`axes. The inertial sensors may measure linear as well as
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`rotational (angular) accelerations. The electronic device 100
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`may be used to count steps or other periodic human motions.
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`Steps may be accurately counted regardless of the placement
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`and/or orientation of the device on a user. Steps may be
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`accurately counted whether the electronic device 100 main-
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`tains a fixed orientation or changes orientation during opera-
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`tion. The electronic device 100 may be carried in a backpack,
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`pocket, purse, hand, or elsewhere, and accurate steps may still
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`be counted.
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`The acceleration measuring logic 105 measures accelera-
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`tion data at a sampling rate. The sampling rate may be fixed or
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`variable. In one embodiment, the acceleration measuring
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`logic 105 receives a timing signal from the timer 170 in order
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`to take measurements at the sampling rate. The acceleration
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`measuring logic 105 may be an inertial sensor.
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`In one embodiment, measurement data is processed by the
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`filter 120 to remove noise. The filter 120 may be implemented
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`in hardware, software, or both hardware and software. The
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`filter 120 may include a high pass filter, a low pass filter, a
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`bandpass filter, a bandstop filter and/or additional filters. The
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`filter 120 may include a digital filter and/or an analog filter. In
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`one embodiment, a hardware digital filter includes at least one
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`ofa finite impulse response (FIR) filter and an infinite impulse
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`response (IIR) filter. In one embodiment, an N-tap hardware
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`digital FIR filter is used. The use of a hardware FIR filter may
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`reduce power consumption by reducing and/or eliminating
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`software digital filtering.
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`In one embodiment, the filter 120 includes multiple filters,
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`and a determination of which filters to apply to the measure-
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`ment data is made based upon an operating mode of the
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`electronic device 100. In one embodiment, the selection of
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`which filters to use is determined by the type of user activity
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`detected. For example, a low pass filter may be used to remove
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`high frequency noise that would interfere with step counting
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`when a user is walking. In contrast, a high pass filter may be
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`used when quick motions are to be monitored.
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`LGE V. Uniloc USA
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`Page 13 of 21
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`LGE Exhibit 1001
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`LGE v. Uniloc USA
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`Page 13 of 21
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`LGE Exhibit 1001
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`

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`US 8,712,723 B1
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`Filtered measurement data may be passed on to the domi-
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`nant axis logic 127 and the step counting logic 130. In one
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`embodiment, the dominant axis logic 127 includes a cadence
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`logic 132, a rolling average logic 135, and a dominant axis
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`setting logic 140. In an alternative embodiment, more or
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`fewer logics may be used to determine a dominant axis. One
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`embodiment of implementing dominant axis assignment may
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`be found in US. Ser. No. 11/603,472, now issued as US. Pat.
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`No. 7,457,719 which is incorporated herein by reference.
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`Alternative means ofidentifying a dominant axis may be used 10
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`in other embodiments.
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`In one embodiment, the dominant axis logic 127 is used to
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`determine an orientation of the electronic device 100 and/or
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`an inertial sensor within the electronic device 100. In alter-
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`native embodiments, other logics may be used to determine
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`an orientation of the electronic device 100.
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`Referring to FIG. 1, the cadence logic 132 may determine
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`one or more sample periods to be used by the rolling average
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`logic 135, and may determine a cadence window 150 to be 20
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`used by the step counting logic 130. In one embodiment, the
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`cadence logic 132 detects a period and/or cadence of a motion
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`cycle. The period and/or cadence of the motion cycle may be
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`based upon user activity (e.g. rollerblading, biking, running,
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`walking, etc.).
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`Many types ofmotions that are useful to keep track ofhave
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`a periodic set of movements. Specific periodic human
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`motions may be characteristic of different types of user activ-
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`ity. For example, to walk, an individual must lift a first leg,
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`move it forward, plant it, then repeat the same series of 30
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`motions with a second leg. In contrast, a person rollerblading
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`performs a repeated sequence