Human body inertial parameter recognition method

A technology of inertial parameters and identification methods, which is applied in the field of human inertial parameter identification, and can solve problems such as limitations of inertial parameters

Inactive Publication Date: 2013-10-09
BEIJING UNIV OF POSTS & TELECOMM
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Problems solved by technology

Due to the differences in the density, height, weight and gender of each human body, these methods can only obtain estimated values, and the obtained inertial parameters are very limited.

Method used

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  • Human body inertial parameter recognition method
  • Human body inertial parameter recognition method
  • Human body inertial parameter recognition method

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Embodiment Construction

[0037] The present invention will be further described below in conjunction with accompanying drawing

[0038] Such as image 3 Shown is a schematic diagram of the process of the inertial parameter identification method described in the present invention. The process includes: Simplifying the human body into a five-rigid body model, listing the dynamic equations based on the momentum theorem and the moment of momentum theorem, measuring the three-dimensional motion data of the human body through a motion capture system, and measuring the plantar force on the human body through a pressure sensor force plate , Bring the data into the kinetic equation and apply iterative least squares method for calculation.

[0039] The principle of the dynamic equation based on the momentum theorem and the momentum moment theorem is as follows:

[0040] Such as Figure 4 Shown: the center of mass of the rigid body is COM, the coordinate system O is the global coordinate system, the coordinat...

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Abstract

The invention provides a human body inertial parameter recognition method. According to the method, a human body is simplified to a five-rigid-body model, the momentum theorem and the theorem of moment of momentum are used for obtaining a human body five-rigid-body kinetic equation, a motion capture system is used for obtaining the motion parameters like displacement, speed and accelerated speed of the tested human body, a pressure sensing measuring device is used for obtaining contact force of feet and the ground, and finally obtained data is substituted into the kinetic equation, and the interactive least square method is used for calculating the human body inertial parameters which need to be measured. The human body inertial parameters can be used for kinetic analysis of human body gait, and have important application in the field of physical exercise science and medical rehabilitation and other fields.

Description

technical field [0001] The invention relates to a method for identifying inertial parameters of a human body, in particular to a method for obtaining inertial parameters of a human body based on motion capture technology and a pressure sensor measuring device by using the theorem of impulse and moment of momentum. Human inertial parameters can be used for dynamic analysis of human gait, and have important applications in sports science, medical rehabilitation and other fields. Background technique [0002] The inertial parameters of the human body include mass, center of mass and inertia tensor. A large number of studies have shown that the identification of human inertial parameters has an important impact on the dynamics analysis of human gait. In other fields such as human kinematics analysis, sports science, medical rehabilitation, etc., higher precision human inertial parameters are required. [0003] In the field of biomechanics, the first method used to measure the ...

Claims

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Application Information

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IPC IPC(8): A61B5/00
Inventor 叶平宋爽孙汉旭刘文旭
Owner BEIJING UNIV OF POSTS & TELECOMM
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