Rotational motion evaluation method, system, and program

Abstract

To provide a rotating action motion assessment method, system, and program, that enables visualizing and assessing bodily loads placed on joints and so forth of the body, performance, and so forth, in motion involving rotating actions with an acceleration of 9.8 m / sec2 or higher, by relative comparison between rotational coordinate system coordinate data of own rotating actions and world coordinate system data of the own rotating actions.　A rotating action motion assessment method according to the present invention includes a rotation center defining step for defining a center of rotation from an actual rotation center and / or an ideal rotation center, a step for obtaining world coordinate system coordinate data, a step for converting into rotation coordinate system local coordinate data that is local coordinate data in a rotation coordinate system of which the center of rotation within a human body in the rotating action is the origin, and an assessing step for assessing by performing relative comparison between values of two sets of data, which are the world coordinate system coordinate data of a predetermined position within the human body that is obtained from the same action in the rotating action, and the rotation coordinate system local coordinate data.

Description

[Technical field]

[0001] The present invention relates to a method for evaluating motion involving rotational motion, and in particular to a method for evaluating a rotational motion of 9.8 m / sec 2 The present invention relates to a method, system, and program for evaluating rotational movement involving rotational movement of the above-mentioned acceleration. [Background technology]

[0002] Technologies and methods for analyzing and evaluating movement, such as motion capture and skeletal estimation, are widely used.

[0003] In particular, in the field of sports, it has become an extremely useful tool for performance evaluation.

[0004] However, although it is useful for performance evaluation, it does not provide a clear indicator of the physical burden on the subject. For example, in baseball, the number of pitches thrown is limited from an early age, but the incidence of shoulder and elbow injuries has not decreased.

[0005] For example, Patent Document 1 discloses a body motion analysis and visualization device. As stated in paragraph

[0010] of Patent Document 1, "The three-dimensional motion measurement means generates time-series data of three-dimensional coordinate values ​​of feature points of the body, etc. in three-dimensional space, i.e., motion data," the three-dimensional coordinate values ​​of multiple predefined feature points in the human body, i.e., multiple individual independent and fixed local coordinates, are used (see Figure 7 of Patent Document 1). Then, optimization processing of each part is performed by human body simulation.

[0006] However, as in Patent Document 1, when multiple independent fixed local coordinates within the human body are used to optimize each part in a human body simulation, this is excellent for evaluating the performance of the human body's movements as viewed from these multiple fixed local coordinates (for example, whether the pitching motion results in the highest ball exit speed), but it is not possible to evaluate it from the perspective of the load on the body.

[0007] Conventional body motion analysis considers body motion as a rigid model, so it is not possible to evaluate body motion from the perspective of the load on the body. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Patent Publication No. 10-149445 [Patent Document 2] Patent Publication No. 2022-155115 [Patent Document 3] Patent Publication 2010-14712 Summary of the Invention [Problem to be solved by the invention]

[0009] As a result of the inventor's intensive research, it was found that the maximum speed was 9.8m / sec 2 We discovered that physical load increases in movements involving rotational movements with the above acceleration, and that the degree of physical load can be evaluated by treating such rotational movements as movements based on the origin of a rotational coordinate system (the unique local coordinate for each time, called the center coordinate of rotation) and evaluating the movements of all joints in this unique system in relative comparison with data in the world coordinate system of one's own movement, thereby arriving at the present invention.

[0010] That is, the present invention is 9.8 m / sec 2 The object of the present invention is to provide a rotational movement exercise evaluation method, system, and program that enables visualization and evaluation of the physical load on the joints of the body, performance, etc., by relatively comparing the rotational coordinate system coordinate data of one's own rotational movement with the world coordinate system data of one's own rotational movement in exercise involving rotational movements with the above-mentioned acceleration. [Means for solving the problem]

[0011] The rotational motion evaluation method of the present invention has a rotational motion speed of 9.8 m / sec 2a rotational movement evaluation method for estimating and evaluating performance and / or physical load in exercise involving rotational movements with acceleration exceeding 100%, the method including: a rotational center definition step of defining a rotational center from at least one real rotation center and / or ideal rotation center obtained from a group of actual movements, rotational movements by skeletal estimation and motion capture; a step of obtaining world coordinate system coordinate data that is coordinate data of the world coordinate system in the rotational movement from the defined rotation center; a step of converting the world coordinate system coordinate data into rotating coordinate system local coordinate data that is local coordinate data of a rotational coordinate system with the rotational center within the human body as its origin in the rotational movement; and an evaluation step of relatively comparing and evaluating the values ​​of two pieces of data, the world coordinate system coordinate data and the rotating coordinate system local coordinate data, of a predetermined position within the human body obtained from the same movement in the rotational movement.

[0012] It is preferable that the world coordinate system coordinate data is world coordinate data indicating the world coordinates of a predetermined position within the human body for each time, and the rotating coordinate system local coordinate data is local coordinate data indicating the local coordinates of a predetermined position within the human body for each time, with the center of rotation within the human body as the origin during the rotational motion.

[0013] The evaluation step is preferably a step of evaluating by relative comparison of the velocity or acceleration shown for each time at a predetermined position in the human body.

[0014] It is preferable that the evaluation is an evaluation of physical load, the two pieces of data being the world coordinate system coordinate data and the rotating coordinate system local coordinate data, are data relating to the speed or acceleration shown for each time at a specific position in the human body, and the physical load is determined to be high when the maximum speed or maximum acceleration of the rotating coordinate system local coordinate data is close to or greater than the maximum speed or maximum acceleration of the world coordinate system coordinate data.

[0015] It is preferable that the evaluation is an evaluation of physical load, the two pieces of data being the world coordinate system coordinate data and the rotating coordinate system local coordinate data, are data relating to an area of ​​a graph of velocity shown per time at a specific position within the human body or a displacement of a specific position within the human body, and the physical load is determined to be high when the area of ​​the graph of velocity shown per time at a specific position within the human body in the rotating coordinate system local coordinate data or the displacement of a specific position within the human body in the world coordinate system coordinate data is close to or greater than the area of ​​the graph of velocity shown per time at a specific position within the human body or the displacement of a specific position within the human body in the world coordinate system coordinate data.

[0016] It is preferable that the rotation center definition step includes a step of evaluating a rotation center coincidence rate between the actual rotation center and the ideal rotation center.

[0017] The method for converting coordinate data in a rotational motion of the present invention is used in the method for evaluating a rotational motion, and has a rotational motion speed of 9.8 m / sec 2 a step of obtaining world coordinate system coordinate data, which is coordinate data of a world coordinate system indicating, for each time, the world coordinate of a predetermined position in the human body during the rotational movement from the defined rotation center; a step of defining a center of rotation of the human body for each time; a step of matching one axis of a Cartesian coordinate system with a line segment connecting the center of rotation and a predetermined joint position to obtain Cartesian coordinate system data; and a step of converting the Cartesian coordinate system data into local coordinate data indicating, for each time, the local coordinate of a predetermined position in the human body with the center of rotation of the human body as the origin during the rotational movement.

[0018] The rotational motion evaluation system of the present invention has a speed of 9.8 m / sec 2The rotational movement evaluation system estimates and evaluates performance and / or physical load in exercise involving rotational movements with acceleration exceeding 100%, and includes a rotational center definition device that defines a rotational center from at least one real rotational center and / or ideal rotational center obtained from a group of actual movements, rotational movements by skeletal estimation and motion capture, a world coordinate system coordinate data acquisition device that obtains world coordinate system coordinate data, which is coordinate data in the world coordinate system for the rotational movement from the defined rotational center, a conversion device that converts the world coordinate system coordinate data into rotating coordinate system local coordinate data, which is local coordinate data in a rotating coordinate system whose origin is the rotational center within the human body for the rotational movement, and a relative comparison device that relatively compares the values ​​of two data, the world coordinate system coordinate data and the rotating coordinate system local coordinate data, of a predetermined position within the human body obtained from the same movement in the rotational movement.

[0019] It is preferable that the world coordinate system coordinate data is world coordinate data indicating the world coordinates of a predetermined position within the human body for each time, and the rotating coordinate system local coordinate data is local coordinate data indicating the local coordinates of a predetermined position within the human body for each time, with the center of rotation within the human body as the origin during the rotational motion.

[0020] It is preferable that the evaluation is an evaluation of physical load, the two pieces of data being the world coordinate system coordinate data and the rotating coordinate system local coordinate data, are data relating to the velocity shown at each time at a specific position in the human body, and the physical load is determined to be high when the velocity of the rotating coordinate system local coordinate data is close to or greater than the velocity of the world coordinate system coordinate data.

[0021] The coordinate data conversion system in rotational motion of the present invention is used in the rotational motion evaluation system, and has a coordinate data conversion system in rotational motion of 9.8 m / sec 2a world coordinate system coordinate data acquisition device that acquires world coordinate system coordinate data, which is coordinate data of a world coordinate system that indicates, for each time period, the world coordinates of a predetermined position within the human body during the rotational movement from the defined rotational center; a device that defines a center coordinate of the world coordinate system coordinate data for each time period; a device that obtains orthogonal coordinate system data by matching one axis of an orthogonal coordinate system with a line segment connecting the center coordinate and a predetermined joint position; and a conversion device that converts the orthogonal coordinate system data into local coordinate data that indicates, for each time period, the local coordinates of a predetermined position within the human body with the center of rotation within the human body during the rotational movement as the origin.

[0022] A first aspect of the program of the present invention is a program for causing a computer to function as each device in the rotational motion evaluation system.

[0023] A second aspect of the program of the present invention is a program for causing a computer to function as each device in a conversion system for coordinate data in the rotational motion. Effect of the Invention

[0024] According to the present invention, 9.8 m / sec 2 In the above-described exercise involving rotational movements with acceleration, a significant effect can be achieved in that it is possible to provide a rotational movement exercise evaluation method, system, and program that can visualize and evaluate the physical load on the joints of the body, performance, etc. by relatively comparing the rotational coordinate system coordinate data of one's own rotational movement with the world coordinate system data of one's own rotational movement. [Brief description of the drawings]

[0025] [Figure 1]These are schematic diagrams of human joints. (a) shows the joint in its normal state, (b) shows the joint being compressed, and (c) shows the joint being pulled. [Diagram 2] The coordinate system symbols for the world coordinate system and the rotating coordinate system are shown below. [Diagram 3] This shows a model that does not deviate from a circular orbit in the world coordinate system. [Figure 4] This shows a model that deviates from a circular orbit in the world coordinate system. [Diagram 5] A model that does not deviate from a circular orbit in a rotating coordinate system is shown. [Figure 6] A model that deviates from a circular orbit in a rotating coordinate system is shown. [Figure 7] 13 is a diagram showing a schematic diagram of calculation of a rotation center for a person performing a pitching motion of a baseball toward the player with his / her left arm as a rotational motion. FIG. [Figure 8] 8 is an explanatory diagram of conversion of the movement in FIG. 7 from a world coordinate system to a rotation axis coordinate system. [Figure 9] 8 is an explanatory diagram of conversion of the movement in FIG. 7 from a world coordinate system to a rotation axis coordinate system. [Figure 10] 8 is an explanatory diagram of conversion of the movement in FIG. 7 from a world coordinate system to a rotation axis coordinate system. [Figure 11] 8 is an explanatory diagram of conversion of the movement in FIG. 7 from a world coordinate system to a rotation axis coordinate system. [Figure 12] 8 is an explanatory diagram of conversion of the movement in FIG. 7 from a world coordinate system to a rotation axis coordinate system. [Figure 13] 8 is an explanatory diagram of conversion of the movement in FIG. 7 from a world coordinate system to a rotation axis coordinate system. [Figure 14] FIG. 4 is an explanatory diagram of an ideal center of rotation. [Figure 15] FIG. 1 is a block diagram of a rotational motion evaluation system of the present invention. [Figure 16] 1 is a flowchart of a rotational motion evaluation system of the present invention. [Figure 17]This is a graph showing an example of an analysis of the load on the elbow during the pitching motion of a left-handed pitcher in a world coordinate system, in the case of low stress. [Figure 18] This is a graph showing an example of an analysis of the load on the elbow during the pitching motion of a left-handed pitcher in a rotating coordinate system, in the case of low stress. [Figure 19] 19 is a graph showing a relative comparison of acceleration from the data in FIG. 17 and FIG. 18. [Figure 20] 19 is a graph showing a relative comparison of displacement from the data in FIG. 17 and FIG. 18. [Figure 21] This is a graph showing an example of analysis in a world coordinate system of the load on the elbow during the pitching motion of a right-handed pitcher, in the case of huge stress. [Figure 22] This is a graph showing an example of analysis in a rotating coordinate system of the load on the elbow during the pitching motion of a right-handed pitcher, in the case of huge stress. [Diagram 23] 23 is a graph showing a relative comparison of acceleration from the data in FIG. 21 and FIG. 22. [Figure 24] 23 is a graph showing a relative comparison of displacement from the data in FIG. 21 and FIG. 22. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] The following describes the embodiments of the present invention, but these embodiments are shown by way of example only, and it goes without saying that various modifications are possible without departing from the technical spirit of the present invention. In the drawings, the same members are represented by the same reference numerals.

[0027] 9.8m / sec 2 As an example of a movement involving the above rotational movement of acceleration, let us consider the pitching motion of a baseball pitcher. Since the factors that lead to injuries to the shoulders and elbows of baseball pitchers include not only the number of pitches but also the load placed on the pitcher, it is necessary to take into account the load placed on the pitcher. In other words, it is necessary to consider not only the number of pitches but also the load placed on the pitcher during exercise (the load placed on the pitching motion).

[0028] Even if a pitcher throws with a form that is generally considered to be correct and unlikely to cause injury, it is impossible to determine whether the pitcher's arm or shoulder is under excessive strain during exercise, even if a rigid model is assumed and the model is analyzed to see if it is throwing according to a model. In this invention, the human body is considered as a semi-rigid model, and we have succeeded in elucidating the load on the joints during exercise involving rotational motion.

[0029] <About joints> FIG. 1 shows a schematic diagram of a human joint. The joint 14 connecting the bones 10 and 12 shown in FIG. 1(a) is formed of ligaments, cartilage, muscles, etc., and can be understood as an elastic body mechanically, and is a semi-rigid part. It is believed that the cause of joint failure (injury) is the application of excessive stress (mainly tension) to this elastic body. If the joint connecting the bones is considered to be an elastic body, when the joint 14 is compressed as shown in FIG. 1(b) in the direction of compression, the bones interfere with each other, so it is thought that compression is not a problem as long as it is not compressed beyond the limit of the Poisson's ratio. On the other hand, when the joint 14 is pulled as shown in FIG. 1(c), it is a problem, and in particular, the cause of damage to the ligaments surrounding the joint and connecting it is thought to be the application of excessive tensile load to the joint.

[0030] 1.<About impulse> The force F is integrated over time t to obtain the impulse. In the equation below, m is mass, a is acceleration, v is velocity, and n is the number of loads (in the case of a pitcher, the number of pitches).

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[0031] 2.<About velocity components> From the above, if we assume that there is no change in mass m during exercise, or that the amount of change can be ignored, then the load on the body can be evaluated using the time component of velocity (vt).

[0032] 3-1.<Relationship between velocity components and impulse> [World coordinate system model] If we consider the velocity components as parameters of impulse, then the velocity components of the world coordinate system can be considered as parameters of impulse with respect to the world coordinate system (Earth). In other words, the movement with respect to the Earth as seen in the world coordinate system can be considered as the performance of the movement action. Figure 2 shows the coordinate system symbols of the world coordinate system and the local rotating coordinate system described later.

[0033] [World coordinate system: model that does not deviate from a circular orbit] As shown in FIG. 3, when an arbitrary object 16 accelerates on a circular orbit from position Pos.1 (coordinates: x1, y1, z1) to position Pos.2 (coordinates: x2, y2, z2) between time t1 and time t2, the accelerations a1 and a2 are expressed as the difference between velocities v2 and v1. The average velocity v at that time is expressed as follows:

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[0034] [World coordinate system: Model deviating from a circular orbit] On the other hand, as shown in FIG. 4, if another arbitrary object 16 deviates from the circular orbit and accelerates, the acceleration is expressed as the difference in velocity vectors, just like the model that does not deviate from the circular orbit. Also, the average velocity v' at that time is

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[0035] In this way, even if we consider the world coordinate system, it is not possible to determine whether the average speed obtained from the world coordinate system has deviated from the circular orbit. Note that there are cases where a model that does not deviate from the circular orbit and a model that deviates from the circular orbit show the same value (average speed).

[0036] 3-2.<Relationship between velocity components and impulse> [Rotating coordinate system model] Since the axis of rotation in rotational movements differs from person to person, even if we consider it in the world coordinate system, we can only tell whether the form is as shown in the example. However, if we consider the velocity components as impulse parameters, the velocity components of the rotational coordinate system when the rotation center coordinates within the body of the person performing the rotational movement are defined can be considered as impulse parameters for the rotational coordinate system (body; torso). And the movement of the body can be considered as the physical load.

[0037] [Rotating coordinate system: model that does not deviate from a circular orbit] As shown in FIG. 5, when an object associated with an arbitrary object (e.g., an object connected to an elbow like a shoulder) exists and moves in conjunction with the object, the coordinates are converted into those of the local rotating coordinate system by matching a line segment connecting the associated object with the center coordinates with one axis. The local rotating coordinate system may be simply called a "rotating coordinate system" in this specification. That is, for example, the rotating coordinate system local coordinate data may be simply called "rotating coordinate system coordinate data."

[0038] By converting the data in the world coordinate system into data in the rotating coordinate system, it is possible to calculate the average velocity in the rotating coordinate system. The average velocity in the rotating coordinate system of an object moving on a circular orbit, v R teeth,

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[0039] [Rotating coordinate system: model deviating from circular orbit] Figure 6 shows a model that deviates from the circular orbit of the rotating coordinate system. As in Figure 5, when an object associated with an arbitrary object (e.g. an object connected to an elbow like a shoulder) exists and moves in conjunction with the object, the coordinates are converted to those of the rotating coordinate system by matching the line segment connecting the associated object and the center coordinate with one axis. The average velocity of the model deviating from a circular orbit in the rotating coordinate system is

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[0040] 4. In this way, the two (impulse) data generated from the same movement, in the world coordinate system and the local rotating coordinate system of the mover, have the same dimensions (unit system), making relative comparison possible.

[0041] 5. And if the speed of the local rotating coordinate system of the moving person generated from the same movement is equal to or closer to the speed of the world coordinate system, it can be judged that the movement deviates from the circular orbit. In addition, various evaluations are possible by comparing the two (impulse) data of the world coordinate system and the moving person's local rotating coordinate system.

[0042] [Calculate rotation center] The method for calculating the center of rotation in the rotating coordinate system model is explained below. Figure 7 shows a diagram in which the spine of a person using their left arm to pitch a baseball towards us as a rotational motion is represented as a straight line NW, and the lines connecting the left shoulder LS and right shoulder RS ​​of the person making the rotational motion, that is, the lines R1 and L1 connecting the left shoulder and right shoulder, respectively, are represented as a straight line LS·RS. The rotation center coordinate point C(x ) is located on the line NW shown in Fig. 7 and is the shortest distance from the line LS·RS. c ,y c ,z c ) is required.

[0043] Unit vector of the line LS RS

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[0044] In this way, the coordinates of the rotation center point C are obtained when the spine of the person performing the rotational motion is the straight line NW, and the left and right shoulders of the person performing the rotational motion are the straight lines LS·RS. When positioning each part of the spine, left and right shoulders (that is, in the above example, positioning the straight lines NW and LS·RS), positioning may be performed from a photograph of the actual rotational motion, or the rotational motion may be replaced with a rotational motion by skeletal estimation or motion capture. An example of skeletal estimation is shown in Patent Document 2, and an example of motion capture is shown in Patent Document 3. Using these technologies, each part related to the rotation axis of the rotational motion, such as the spine, left arm and right arm, can be positioned.

[0045] [Transformation from world coordinate system to rotation axis coordinate system] Next, a method of conversion from the world coordinate system to the rotation axis coordinate system will be explained. Figure 8 shows a figure of a person who is pitching a baseball towards us with his left arm, with the spine of the person making the rotation motion as a straight line NW, the left arm of the person making the rotation motion as a straight line LA, and the right shoulder as RS. In Figure 8, the shoulder of the left arm is LS (coordinate x L ,y L ,z L ), and the elbow of the left arm is LE (coordinate x E ,y E ,z E ) is the coordinate of point C on the spine that is the shortest distance from the line connecting the left shoulder LS and the right shoulder RS ​​obtained as described above. C ,y C ,z C ) is the center of rotation. At this stage, the coordinates are in the world coordinate system.

[0046] Next, as shown in FIG. 9, the coordinate origin of the rotation axis coordinate system is moved to the rotation center coordinate point C, and the coordinates of each part of the left arm shoulder LS and the left arm elbow LE are transformed.

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[0047] Next, a unit vector for Y-axis rotation from the rotation center coordinate point C toward the left shoulder LS is obtained (see FIG. 10). Then, the trigonometric function of the transformation determinant is obtained from the Euler angles of the unit vector.

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[0048] Next, the coordinates of each part of the left arm's shoulder LS and left arm's elbow LE are transformed by rotating around the Y axis using the transformation matrix thus obtained (see FIG. 11).

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[0049] Next, a unit vector for Z-axis rotation from the rotation center coordinate point C toward the left shoulder LS is obtained (see FIG. 12). Then, the trigonometric function of the transformation determinant is obtained from the Euler angles of the unit vector.

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[0050] The coordinates of each part of the left arm, shoulder LS and elbow LE, are transformed by rotating around the Z axis using the transformation matrix obtained. The line connecting the center coordinate of the rotational movement and point LS coincides with the X axis (see Figure 13). The above transformation is performed for each part and each time, and the measurement data is transformed into a group of coordinates in the rotating coordinate system.

[0051] In the example of a pitching motion, the above conversion is performed for each part of the body, namely the neck, waist, right shoulder, left shoulder, right elbow, and left elbow, at each time, and the measurement data is converted into a group of coordinates in a rotating coordinate system.

[0052] Then, the velocity v for each time in the coordinate group of the rotating coordinate system is calculated based on the following formula.

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[0053] The above describes conversion from the definition of the rotation center in the case of rotational motion such as video data capturing actual motion, skeletal estimation based on actual motion, or motion capture based on actual motion. The definition of the rotation center in the above description is a so-called real rotation center that exists in actual rotational motion.

[0054] Although the above describes an actual rotation center based on an actual rotation motion, for example, even in the case of motion capture based on an actual motion, depending on the type of motion capture, there are cases where information on the spine of the person performing the rotation motion is not obtained. Without information on the spine, it is not possible to position each part of the spine, left arm, and right arm described above.

[0055] [Ideal rotation center] Even if such information about the spine is not available, it is possible to define the center of rotation by considering an ideal center of rotation.

[0056] The ideal rotation center coordinate point Ci shown in FIG.

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[0057] When calculating the center of rotation in the rotating coordinate system model, the above-mentioned ideal center of rotation can also be used.

[0058] It is also possible to evaluate performance at this point by evaluating the rate of agreement between the ideal center of rotation and the actual center of rotation near the maximum speed.

[0059] [Rotation center coincidence rate] The distance from the origin O of the world coordinate system to the rotation center coordinate point C shown in FIG. 14 is

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[0060] Rotation center coincidence rate (1) [Rate of coincidence between the center of rotation at maximum speed and the center of rotation at each time of rotational movement] The rotation center coincidence rate, as seen from the center of rotation at the time of maximum velocity and the center of rotation at each time of rotational motion, can be used to evaluate the performance of rotational motion (for example, pitching motion in baseball). By looking at this rotation center coincidence rate, it can be used to judge whether the body is shaking at the final acceleration of the rotational motion (for example, when the ball is released). If the center of rotation is shaking, energy is also used in the translational motion, and it is thought that the efficiency will decrease. In this case, for example, in the case of pitching motion in baseball, the evaluation is based on the center of rotation at the time of maximum velocity of the elbow or wrist (when the ball is released). If there is no data on the spine of the actual rotation center, it is possible to see the rotation center coincidence rate, as seen from the center of rotation at the time of maximum velocity and the center of rotation at each time of rotational motion, by substituting the ideal center of rotation for the central coordinates at each time. In other words, the efficiency of the actual motion can be evaluated by looking at the rotation center coincidence rate, as seen from the center of rotation at the time of maximum velocity and the center of rotation at each time of rotational motion.

[0061] Rotation center coincidence rate (2) [Rate of agreement between ideal and actual rotation centers] Also, when considering the rotation of the torso in a rotational motion such as pitching, it is considered ideal that the center of rotation is located at the midpoint of the line connecting the right shoulder and the left shoulder. If the agreement rate between the ideal center of rotation near the maximum speed and the real center of rotation, which is the actual center of rotation, is not 100%, the athlete (for example, a pitcher) still has room to improve the efficiency of the rotational motion. In other words, the efficiency of the rotational motion mechanics can be evaluated by looking at the agreement rate between the ideal center of rotation and the real center of rotation. In summary, if the center of rotation near the maximum speed is the ideal center of rotation, the motion mechanics of the pitcher's torso can be evaluated as being in the best state for rotational motion. Note that, if it is necessary to analyze a motion without information data on the spine, it is not possible to evaluate the efficiency of the mechanics by looking at the agreement rate between the ideal center of rotation and the real center of rotation. This is because the ideal rotation coordinates are substituted for the central coordinates of each data.

[0062] Next, an embodiment of the rotational motion evaluation system of the present invention will be described below. A block diagram of an embodiment of the rotational motion evaluation system of the present invention is shown in FIG.

[0063] 15, the rotational motion evaluation system 20 according to one embodiment includes a server 30, a terminal device 32, and a communication network 34. The memory unit 22 and the control unit 26 are stored in the server 30, and are connected to the terminal device 32 via the communication network 34, such as the Internet or an in-house LAN (Local Area Network).

[0064] The terminal device 32 is equipped with an information input operation unit 24 and a display unit 28. Furthermore, the terminal device 32 is equipped with an input unit 36, a communication interface 38, a RAM / ROM 40, a CPU (control device / arithmetic unit) 42, a memory (main storage device) 44, and a display interface 46. A keyboard or a touch panel can be applied as the information input operation unit 24, and a liquid crystal display, for example, can be applied as the display unit 28. Various computers can be used as the terminal device 32, and mobile terminal type computers such as smartphones and tablets can also be used.

[0065] As the information input, at least one real rotation center obtained from a group of actual motion, skeletal estimation, and rotation motion by motion capture is input, or an ideal rotation center is input. Alternatively, at least one real rotation center obtained from a group of actual motion, skeletal estimation, and rotation motion by motion capture and an ideal rotation center may be input to define the rotation center. The actual motion includes various actual motions such as a video of the actual motion, a video of the actual motion recorded on a recording medium, and a live view video. Here, the input of the actual motion is, for example, an input of a captured image of the actual motion. The captured image of the actual motion includes both still images and videos. As the input of the rotation motion by skeletal estimation, for example, information on the skeleton estimation during the rotation motion can be input using an application that performs skeleton estimation from a captured image of the actual motion. Also, as the rotation motion by motion capture, for example, information on the motion capture during the rotation motion can be input using an application that performs motion capture from a captured image of the actual motion. The real rotation center can be obtained from a group of actual movements, skeletal estimation, and rotational movements obtained by motion capture, and the real rotation center can be calculated from at least one of these groups, or can be automatically detected from at least one of these groups. Note that the real rotation center can be obtained by combining any of these groups, for example, an actual photographed image and skeletal estimation. Such information is input from the information input operation unit 24.

[0066] Based on the input information, the display unit 28 outputs the rotational movement exercise evaluation. All of this input to output can be done by a program. When using a program to do everything on the system, the only user information to be input is the ID (name, height, registration number, etc.), Shooting the rotational motion → Outputting the world coordinate system data → Detecting the center of rotation → Transforming the rotational coordinate system → Verification All of the above can be done automatically. Also, if the rotational motion is the motion of throwing a baseball, it is possible to automatically define left-handed or right-handed throwing by detecting the direction in which the ball is thrown. For example, if a camera is set in the information input operation unit 24, user information can be input from the information input operation unit 24, and an image can be input from the information input operation unit 24, so that everything from input to evaluation output can be done automatically on the system. Furthermore, in the illustrated example, an example of a rotational movement evaluation system 20 is shown, but with a similar configuration, by simply changing the program, it can also be made into a coordinate data conversion system for rotational movement that performs conversion of coordinate data in rotational movement.

[0067] A first aspect of the program of the present invention is a program for making a computer function as each device in a rotational motion evaluation system 20. That is, the first aspect of the program of the present invention makes a computer function as each device in a rotational motion evaluation system including a rotational center definition device for defining a rotational center from at least one real rotational center and / or ideal rotational center obtained from a group of actual motion, skeletal estimation, and rotational motion by motion capture, a world coordinate system coordinate data acquisition device for obtaining world coordinate system coordinate data that is coordinate data of the world coordinate system in the rotational motion from the defined rotation center, a conversion device for converting the world coordinate system coordinate data into rotational coordinate system local coordinate data that is local coordinate data of a rotational coordinate system with the rotational center in the human body as the origin in the rotational motion, and a relative comparison device for relatively comparing the values ​​of two data, the world coordinate system coordinate data and the rotational coordinate system local coordinate data, obtained from the same motion in the rotational motion.

[0068] A second aspect of the program of the present invention is a program for making a computer function as each device in a coordinate data conversion system. That is, the second aspect of the program of the present invention makes a computer function as each device in a coordinate data conversion system in a rotational motion, including a rotational center definition device for defining a rotational center from at least one real rotational center and / or ideal rotational center obtained from a group of an actual motion, a skeletal estimation, and a rotational motion by motion capture, a world coordinate system coordinate data acquisition device for obtaining world coordinate system coordinate data, which is coordinate data of a world coordinate system showing the world coordinate of a predetermined position in the human body in the rotational motion for each time from the defined rotational center, a device for defining a center coordinate of the world coordinate system coordinate data for each time, a device for matching one axis of a Cartesian coordinate system with a line segment connecting the center coordinate and a predetermined joint position to obtain Cartesian coordinate system data, and a conversion device for converting the Cartesian coordinate system data into local coordinate data showing the local coordinate of a predetermined position in the human body for each time, the local coordinate of which originates from the rotational center in the human body in the rotational motion.

[0069] In the illustrated example, the terminal device 32 and the server 30 are connected via a communication network 34, but it is also possible to input all programs into the terminal device 32 without using the communication network 34 and have the terminal device 32 function offline as a rotational motion evaluation system, or as a coordinate data conversion system.

[0070] Fig. 16 is a flowchart showing one embodiment of a rotational movement motion evaluation method in the rotational movement motion evaluation system 20 of the present invention. Fig. 16 shows a pattern for defining a rotation center from an actual rotation center using skeleton estimation. In the example shown in Fig. 16, the computer processing is roughly divided into three parts: a part for performing skeleton estimation in the rotational movement motion evaluation system 20, an analysis part for performing analysis in the rotational movement motion evaluation system 20, and a display part for showing an evaluation of the rotational movement in the rotational movement motion evaluation system 20.

[0071] The steps in the flowchart in Fig. 16 are as follows: Note that the flowchart in Fig. 16 is merely one embodiment, and it goes without saying that changes such as the order of the steps or the deletion or addition of steps can be made by modifying the program.

[0072] [Step (S) described in FIG. 16] S100: <Video Recording Step> Video recording of an actual rotational motion, for example, a baseball pitching motion, is performed. S102: <Skeletal Estimation Step> Skeletal estimation is performed using a skeletal estimation technique from the photographic data captured in S100. For example, the skeletal estimation technique disclosed in Patent Document 2 and various other known skeletal estimation techniques can be used for skeletal estimation. S104: <Three-dimensional coordinate detection step> Three-dimensional coordinates are detected from the skeleton estimation in the rotational movement. S106: <Three-dimensional coordinate data extraction step> The detected three-dimensional coordinate data is extracted. S108a: <Skeleton image insertion step> A skeleton image is inserted. At this time, the skeleton definition file in the database in S107 is referenced (S107: skeleton definition file reference step). S110: <Bone structure estimation video step> Display a bone structure estimation video. Here, the bone structure estimation video is displayed for reference, rather than being evaluated by relative comparison.

[0073] The next step includes a step of converting coordinate data from the world coordinate system to a rotating coordinate system, which is a characteristic step of the present invention. S108b: <Three-dimensional coordinate-time data acquisition step [world coordinate system]> Time-based data of three-dimensional coordinates in the world coordinate system is acquired. S112: <Rotation center coordinate calculation step> The rotation center coordinate is calculated from the three-dimensional coordinate data of S108b. At this time, the rotation center coordinate calculation object skeleton definition file of the database is referred to in S111 (S111: rotation center coordinate calculation object skeleton definition file reference step). S114:<3D coordinates, rotation center coordinates - time data acquisition step [world coordinate system]> Obtains time-dependent 3D coordinate data in the world coordinate system. S116a: <Unit Vector Calculation Step (During Rotation--Target Joint)> A unit vector of a joint that is an evaluation target during a rotational motion is calculated. S118: <Unit Vector and Euler Angle Calculation Step> A unit vector and an Euler angle are calculated. S120: <Coordinate conversion step> The coordinate axes are converted from the world coordinate system to a rotating coordinate system. S122: <Three-dimensional coordinate-time data acquisition step [rotating coordinate system]> Three-dimensional coordinate data in the rotating coordinate system for each time period is acquired. S124: <Joint velocity calculation step [rotating coordinate system]> The velocity of the joint in the rotating coordinate system is calculated. S125: <Joint relative position (straight line matching rate) evaluation step [rotating coordinate system]> The joint relative position (straight line matching rate) of the joint part to be evaluated in the rotating coordinate system is evaluated and displayed. This step can be provided as necessary. For example, in terms of the rotational motion of pitching, it is possible to evaluate the straight line matching rate between the line R1 from the spine to the right shoulder and the line L1 from the spine to the left shoulder shown in FIG. 7, or to evaluate the straight line matching rate between the line R1 from the spine to the right shoulder and the line LA from the spine to the left arm. It can be evaluated that the higher the straight line matching rate, the closer the rotational motion is to the ideal. S126: <Step of Drawing a Speed-Time Graph [Rotating Coordinate System]> A graph showing the speed of the joint part to be evaluated in the rotating coordinate system over time is drawn and displayed. S127: <Acceleration-time graph drawing step [rotating coordinate system]> A graph showing the acceleration over time in the rotating coordinate system of the joint part to be evaluated is drawn and displayed.

[0074] On the other hand, world coordinate system data for relative comparison with the local coordinate data of the rotating coordinate system is also acquired in the next step. S116b: <Joint velocity calculation step [world coordinate system]> The velocity of the joint in the world coordinate system is calculated. S128: <Step of calculating peak velocity (Vmax) of target joint [world coordinate system]> The peak velocity (Vmax) in the world coordinate system of the joint part that is the evaluation target is calculated. S130: <Calculation of ideal rotation center [world coordinate system]> If necessary, the coordinates of the ideal rotation center are calculated. S131: <Rotation center coordinate agreement rate [world coordinate system]> The agreement rate between the rotation center coordinates in the world coordinate system of the joint part to be evaluated and the ideal rotation center coordinates is evaluated and displayed. This step may be provided as necessary. S132: <Step of drawing a velocity-time graph [world coordinate system]> A graph showing the velocity of the joint portion to be evaluated in the world coordinate system over time is drawn and displayed. S133: <Acceleration-time graph drawing step [world coordinate system]> A graph showing the acceleration of the joint portion to be evaluated in the world coordinate system over time is drawn and displayed.

[0075] Next, the obtained local coordinate data in the rotating coordinate system and the coordinate data in the world coordinate system are relatively compared and evaluated. S135: <Relative comparison evaluation step> The obtained local coordinate data in the rotating coordinate system and the coordinate data in the world coordinate system are relatively compared and evaluated. In this relative comparison, for example, a graph showing the velocity of a predetermined position in the human body that is the evaluation target of S126, such as a joint, over time in the rotating coordinate system is relatively compared and evaluated with a graph showing the velocity of a joint that is the evaluation target of S132 over time in the world coordinate system.

[0076] As a criterion for evaluating the relative comparison between the velocities in the rotating coordinate system and the world coordinate system, if the maximum velocity of the rotating coordinate system local coordinate data is close to or greater than the maximum velocity of the world coordinate system coordinate data, it can be determined that the physical load is large. <Evaluation: Low load> If the maximum speed of the joint that is the evaluation target in the world coordinate system is 100%, the maximum speed of the joint that is the evaluation target in the rotational coordinate system is 60% or less. This pitching motion places less strain on the joints, and is less likely to cause injury even if the pitching motion is continued. <Rating: Medium load> If the maximum speed of the joint part that is the evaluation target in the world coordinate system is 100%, the maximum speed of the joint part that is the evaluation target in the rotational coordinate system is more than 60% and less than 80%. It is believed that a considerable amount of strain is being placed on the joint in question, and caution is required if such a pitching motion is continued. <Evaluation: Heavy load> If the maximum speed of the joint part that is the evaluation target in the world coordinate system is 100%, the maximum speed of the joint part that is the evaluation target in the rotational coordinate system exceeds 80%. This pitching motion places a great strain on the relevant joints, and there is a high possibility of injury if such a pitching motion is continued.

[0077] In addition, in the relative comparison evaluation step of S135, for example, a maximum acceleration of a graph showing the acceleration in the rotating coordinate system of the joint part, which is the evaluation target of S127, for each time, is relatively compared with a maximum acceleration of a graph showing the acceleration in the world coordinate system of a predetermined position in the human body, for example, a joint, which is the evaluation target of S133, for each time, and if the maximum acceleration in the rotating coordinate system is close to or greater than the maximum acceleration in the world coordinate system, it can be determined that the load on the joint part is large. In addition, a relative comparison is made between the areas of the graphs of the speeds shown for each time of the rotating coordinate system and the world coordinate system of a predetermined position in the human body, and if the area of ​​the graph of the speeds shown for each time of the rotating coordinate system is close to or greater than the area of ​​the graph of the speeds shown for each time of the world coordinate system, it can be determined that the load on the predetermined position in the human body, for example, a joint part, is large. In addition, by relatively comparing the displacement of a specific position within the human body in the rotating coordinate system and the world coordinate system, if the displacement in the rotating coordinate system is close to or greater than the displacement in the world coordinate system, it can be determined that the load on the specific position within the human body, such as a joint, is large.

[0078] The present invention is characterized in that it does not compare with other people's data, but with one's own data. Therefore, although the physical load, such as the load on joints due to rotational motion, varies from person to person, it is possible to visualize, i.e., quantify, and evaluate the physical load, which was not possible until now, by comparing with one's own data. Furthermore, the rotational motion evaluation system and rotational motion evaluation method of the present invention can also evaluate the performance of rotational motion by relatively comparing the data in the rotational coordinate system with the data in the world coordinate system, in addition to evaluating the physical load, such as the load on joints due to rotational motion. EXAMPLES

[0079] Next, an embodiment will be described. In the present invention, the rotation center may use at least one real rotation center obtained from the group of actual motion, skeletal estimation, and rotation motion by motion capture, and / or may use an ideal rotation center.

[0080] Example 1 A left-handed pitcher A was actually asked to throw a baseball with his left arm, and a video of the left arm pitching was taken. The center of rotation was calculated based on skeletal estimation from the video. Then, the speed of the elbow in the left arm pitching motion was calculated for each time in the world coordinate system and the local rotating coordinate system. FIG. 17 shows a graph of the results in the world coordinate system. The maximum speed Vmax in the world coordinate system was 16.19 m / sec. FIG. 18 shows a graph of the speed results in the rotating coordinate system for each time. In a relative comparison, the speed in the rotating coordinate system for each time was 8.67 m / sec, even at the maximum speed Vmax, which is much slower than the maximum speed Vmax of the world coordinate system of 16.19 m / sec (53.55% when the maximum speed in the world coordinate system is 100%), and it can be determined that the load on the elbow in the left arm pitching motion is small. There is little possibility of injury even if such a pitching motion is continued. 19 shows the results of calculating the acceleration over time of the elbow in the world coordinate system and the local rotating coordinate system and comparing them relatively for the left arm's pitching motion. Since the maximum acceleration in the rotating coordinate system is neither close to nor exceeds the maximum acceleration in the world coordinate system, it can be determined that the load on the elbow, which is the joint in question, is small. 20 shows the results of calculating and relatively comparing the displacement of the elbow in the world coordinate system and the local rotating coordinate system for the elbow during the pitching motion of the left arm. Since the displacement of the elbow in the rotating coordinate system is neither close to nor exceeds the displacement of the elbow in the world coordinate system, it can be determined that the load on the elbow, which is the joint in question, is small.

[0081] Example 2 Next, the center of rotation was calculated based on skeletal estimation from a recorded video of right-handed pitcher B throwing a baseball with his right arm. Then, the velocity of the elbow in the world coordinate system and the local rotating coordinate system per time was calculated for the pitching motion of the right arm. Figure 21 shows a graph of the results in the world coordinate system. The maximum velocity Vmax in the world coordinate system was 16.21 m / sec. Figure 22 shows a graph of the results of the velocity per time in the rotating coordinate system. In relative comparison, the maximum velocity Vmax per time in the rotating coordinate system reached a value close to the Vmax of the world coordinate system of 16.21 m / sec, which was 16.03 m / sec (98.89% when the maximum velocity in the world coordinate system is 100%). From this, it can be determined that this pitching motion places a large load on the elbow. 23 shows the results of calculating the acceleration over time of the elbow in the world coordinate system and the local rotating coordinate system and comparing them relatively for the right arm during the pitching motion. The maximum acceleration in the rotating coordinate system exceeds the maximum acceleration in the world coordinate system, and it can be determined that this is a pitching motion that places a large load on the elbow, which is the joint in question. 24 shows the results of calculating and relatively comparing the displacement of the elbow in the world coordinate system and the local rotating coordinate system during the pitching motion of the right arm. The displacement of the elbow in the rotating coordinate system exceeds the displacement of the elbow in the world coordinate system, and it can be determined that this is a pitching motion that places a large load on the elbow, which is the joint in question.

[0082] The above example shows a baseball pitch. 2 A movement involving rotational motion with an acceleration exceeding 9.8 m / sec in the world coordinate system. 2 In the present invention, this refers to a motion involving a rotational movement with an acceleration exceeding 9.8 m / sec 2 For movements involving rotational motion with an acceleration of more than 9.8 m / sec 2This includes any movement involving rotational motion with an acceleration exceeding 9.8 m / sec. For example, this includes sports involving rotational motion in flying or gliding objects such as baseball, softball, soccer, tennis, golf, volleyball, basketball, cricket, hockey, rugby, American football, handball, water polo, bowling, lacrosse, table tennis, squash, badminton, and ice hockey, as well as any movement involving rotational motion such as dancing and figure skating. In addition, athletics, swimming, diving, gymnastics, acrobatics, exercise, and the like, may also include movements involving rotational motion with an acceleration exceeding 9.8 m / sec. 2 Any exercise involving a rotational movement with an acceleration exceeding 100 rpm is included in the exercise involving a rotational movement of the present invention. Of course, in addition to these listed exercises, any exercise involving a rotational movement is included.

[0083] In the case of pitching a baseball, the center of rotation of the body during the movement is somewhere on the spine, but in rotational movements in other sports, such as kicking a ball in soccer, the center of rotation is at the hip joint, etc. In this way, the center of rotation within the human body during movements involving rotational movements in this invention varies depending on the type of movement, but the center of rotation within the human body can be defined according to the type of movement.

[0084] According to the present invention, the various 9.8 m / sec 2 In the exercise involving rotational movements with the above acceleration, by relatively comparing the rotational coordinate system coordinate data of one's own rotational movement with the world coordinate system data of one's own rotational movement, the physical load on the joints of the body, etc., and performance, etc. can be visualized and evaluated. [Explanation of symbols]

[0085] 10, 12: bones, 14: joints, 16: arbitrary object, 18: center, 20: rotational movement evaluation system, 22: memory unit, 24: information input operation unit, 26: control unit, 28: display unit, 30: server, 32: terminal device, 34: communication network, 36: input unit, 38: communication interface, 40: RAM / ROM, 42: CPU, 44: memory, 46: display interface.

Claims

1. 9.8m / sec ２ A rotational movement exercise evaluation method for estimating and evaluating performance and / or physical load in exercise involving rotational movements with acceleration exceeding A rotation center definition process for defining a rotation center of a three-dimensional coordinate system from at least one real rotation center obtained from a group of an actual movement, a rotation movement by skeletal estimation, and a motion capture, and / or an ideal rotation center; obtaining three-dimensional world coordinate system coordinate data, which is coordinate data in the world coordinate system during the rotational motion, from a rotation center of the defined three-dimensional coordinates; A step of converting the world coordinate system coordinate data into three-dimensional rotating coordinate system local coordinate data, which is local coordinate data of a rotating coordinate system having a rotation center within the human body during the rotational motion as an origin; an evaluation step of relatively comparing and evaluating two data values ​​of the world coordinate system coordinate data and the rotating coordinate system local coordinate data of a predetermined position in the human body obtained from the same rotational motion; A rotational motion assessment method comprising:

2. the world coordinate system coordinate data is world coordinate data indicating world coordinates of a predetermined position in a human body for each time period, 2. The rotational motion evaluation method according to claim 1, wherein the rotating coordinate system local coordinate data is local coordinate data indicating local coordinates of a predetermined position within the human body for each time period, the local coordinates being taken as an origin at a center of rotation within the human body during the rotational motion.

3. 2. The method for evaluating rotational motion according to claim 1, wherein said evaluating step is a step of evaluating by relative comparison of speed or acceleration shown for each time at a predetermined position in the human body.

4. The evaluation is an evaluation of physical load, The two pieces of data, the world coordinate system coordinate data and the rotation coordinate system local coordinate data, are data relating to a velocity or acceleration indicated for each time at a predetermined position in a human body, 4. The rotational motion assessment method according to claim 3, wherein the physical load is determined to be large when the maximum velocity or maximum acceleration of the rotating coordinate system local coordinate data is close to or greater than the maximum velocity or maximum acceleration of the world coordinate system coordinate data.

5. The evaluation is an evaluation of physical load, the two pieces of data, the world coordinate system coordinate data and the rotating coordinate system local coordinate data, are data relating to an area of ​​a velocity graph shown for each time at a predetermined position in the human body or data relating to a displacement of a predetermined position in the human body; The area of ​​a graph of the velocity of a predetermined position in the human body shown per time in the rotating coordinate system local coordinate data or the displacement of a predetermined position in the human body is The area of ​​a velocity graph showing a time-dependent position in the human body at the world coordinate system coordinate data or a displacement of a predetermined position in the human body, 2. The method of claim 1, wherein the physical load is determined to be large when the measured value is close to or greater than .

6. 2. The rotational motion evaluation method according to claim 1, wherein said rotation center definition step further comprises a step of evaluating a rotation center coincidence rate between said actual rotation center and said ideal rotation center.

7. A method for converting coordinate data in a rotational movement, which is used in the rotational movement evaluation method according to claim 1, 9.8m / sec ２ In motion involving rotational motion with acceleration exceeding A rotation center definition process for defining a rotation center of a three-dimensional coordinate system from at least one real rotation center obtained from a group of an actual movement, a rotation movement by skeletal estimation, and a motion capture, and / or an ideal rotation center; obtaining three-dimensional world coordinate system coordinate data, which is coordinate data of a world coordinate system indicating world coordinates of a predetermined position in the human body during the rotational movement from a rotation center of the defined three-dimensional coordinates for each time; defining a center coordinate of the world coordinate system coordinate data for each time; A step of obtaining orthogonal coordinate system data by matching one axis of the orthogonal coordinate system with a line segment connecting the center coordinate and a predetermined joint position; converting the Cartesian coordinate system data into three-dimensional rotating coordinate system local coordinate data that indicates local coordinates of a predetermined position within the human body for each time period, the local coordinates being defined by a center of rotation within the human body during the rotational motion; A method for converting coordinate data in a rotational motion, comprising:

8. 9.8m / sec ２ A rotational movement exercise evaluation system that estimates and evaluates performance and / or physical load in exercise involving rotational movements with acceleration exceeding A rotation center definition device that defines a rotation center from at least one real rotation center obtained from a group of an actual movement, a rotation movement by skeletal estimation, and a motion capture, and / or an ideal rotation center; a world coordinate system coordinate data acquisition device for acquiring world coordinate system coordinate data, which is coordinate data in the world coordinate system during the rotational movement from the defined rotation center; a conversion device for converting the world coordinate system coordinate data into rotating coordinate system local coordinate data, which is local coordinate data of a rotating coordinate system having an origin at a rotation center within the human body during the rotational motion; a relative comparison device for relatively comparing two data values ​​of the world coordinate system coordinate data and the rotating coordinate system local coordinate data of a predetermined position in the human body obtained by the same rotational motion; A rotational motion assessment system comprising:

9. the world coordinate system coordinate data is world coordinate data indicating world coordinates of a predetermined position in a human body for each time period, 9. The rotational motion motion evaluation system according to claim 8, wherein the rotating coordinate system local coordinate data is local coordinate data indicating local coordinates of a predetermined position within the human body for each time period, the local coordinates being taken as an origin at a center of rotation within the human body during the rotational motion.

10. The evaluation is an evaluation of physical load, The two pieces of data, the world coordinate system coordinate data and the rotation coordinate system local coordinate data, are data relating to a velocity of a predetermined position in a human body for each time period, 9. The rotational motion exercise evaluation system according to claim 8, wherein the physical load is determined to be large when the velocity of the rotating coordinate system local coordinate data is close to or greater than the velocity of the world coordinate system coordinate data.

11. A system for converting coordinate data in a rotational movement, which is used in the rotational movement evaluation system according to claim 8, 9.8m / sec ２ In motion involving rotational motion with acceleration exceeding a rotation center definition device that defines a rotation center of a three-dimensional coordinate system from at least one real rotation center obtained from a group of an actual motion, a rotation motion by skeletal estimation, and a motion capture, and / or an ideal rotation center; a world coordinate system coordinate data acquisition device for acquiring three-dimensional world coordinate system coordinate data, which is coordinate data of a world coordinate system indicating world coordinates of a predetermined position in the human body during the rotational movement from a rotation center of the defined three-dimensional coordinates for each time period; a device for defining the center coordinates of the world coordinate system coordinate data for each time; a device for obtaining orthogonal coordinate system data by matching one axis of an orthogonal coordinate system with a line segment connecting the center coordinate and a predetermined joint position; a conversion device for converting the Cartesian coordinate system data into three-dimensional rotating coordinate system local coordinate data that indicates local coordinates of a predetermined position within the human body for each time period, the local coordinates being defined by a center of rotation within the human body during the rotational motion; A system for transforming coordinate data in a rotational motion, comprising:

12. A program for causing a computer to function as each device in the rotational motion evaluation system according to claim 8.

13. A program for causing a computer to function as each device in the system for converting coordinate data in a rotational motion according to claim 11.

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