Initialization calibrating method for M-IMU human motion capture system

A technology of human body movement and calibration method, applied in the field of initialization calibration, which can solve the problems of complex operation and low precision, and achieve the effect of simple calibration method, high calibration cost and guaranteed reliability

Active Publication Date: 2016-11-23
苏州康莲医疗技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] The present invention proposes an initialization calibration method for an M-IMU human body motion capture system in order to solve the problems of complex operation and low precision in the prior art

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  • Initialization calibrating method for M-IMU human motion capture system
  • Initialization calibrating method for M-IMU human motion capture system
  • Initialization calibrating method for M-IMU human motion capture system

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specific Embodiment approach 1

[0029] Specific embodiment one: a kind of initialization calibration method for M-IMU human motion capture system following steps:

[0030] The articulated multi-rigid body model is widely used in human motion analysis and biomechanics research. This model regards each limb of the human body as a rigid body, ignores the translational motion of the human joints, and only considers its rotational motion. The simplified mannequin consists of head, torso, pelvis, upper and lower limbs.

[0031] Step 1: Divide the human limbs into 17 parts and number them according to the human kinematics model and human anatomy, such as figure 1 shown, and establish a human body coordinate system for each part of the human body and the corresponding sensor coordinate system Simultaneously establish a reference coordinate system where i=1,2,3,...,17;

[0032] Step 2: Fix the M-IMU sensor on 17 corresponding limbs;

[0033] Step 3: Set three calibration postures, namely calibration posture 1...

specific Embodiment approach 2

[0039] Specific embodiment 2: The difference between this embodiment and specific embodiment 1 is that in the step 1, a human body coordinate system is established for each part of the human body and the corresponding sensor coordinate system Simultaneously establish a reference coordinate system Specifically:

[0040] According to the human kinematics model, the human body is divided into 17 parts and numbered; the human body coordinate system is defined in combination with the human body's movement shape. The human body coordinate system is established on the left lower limb, the x-axis points to the front of the body, the y-axis points to the left side of the body, and the z-axis is vertically upward; The x-axis of the human body coordinate system of the upper and right lower limbs points to the front of the body, the y-axis points to the right side of the body, and the z-axis is vertically downward; the reference coordinate system is the earth coordinate system, the X...

specific Embodiment approach 3

[0042] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: the calibration posture 1, calibration posture 2 and calibration posture 3 in the step three are specifically:

[0043] Calibration posture 1 is to keep the body and lower limbs upright, feet together, arms drooping naturally, palms facing the inside of the body;

[0044] Calibration posture 2 is to keep the body and lower limbs upright, feet together, hands stretched to the sides of the body, palms facing down;

[0045] Calibration posture 3 is to keep the body and lower limbs upright, feet together, arms stretched forward to shoulder level, palms facing down.

[0046] The user performs three calibration postures in sequence, and holds each calibration posture for ten seconds. In each posture, the sensor collects data at a sampling frequency of 10 Hz. Three calibration poses such as image 3 , Figure 4 and Figure 5 shown.

[0047] Other steps and parameters a...

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Abstract

The invention provides an initialization calibrating method for an M-IMU human motion capture system and relates to an initialization calibrating method for a human motion capture system. According to the initialization calibrating method, the problems of complex operation, low precision and the like in the prior art are solved. The initialization calibrating method comprises the following steps: (1) dividing human limbs into 17 parts, marking serial numbers, and defining a coordinate system; (2) fixing M-IMU sensors on 17 parts; (4) setting three calibrating gestures; (4) carrying out implication averaging on obtained data, so as to obtain average measuration of the M-IMU sensors under the three calibrating gestures; (5) acquiring a relative rotation matrix RS2B2 of a trunk sensor coordinate system and a human coordinate system; (6) acquiring a rotation matrix ReB2 of the trunk sensor coordinate system relative to the human coordinate system; (7) calculating to obtain formula (show in the description); and (8) acquiring a relative rotation matrix RSiBi<o> of a sensor coordinate system of each limb relative to the human coordinate system. The initialization calibrating method is applied to the limb gesture measurement field.

Description

technical field [0001] The invention relates to an initialization calibration method for an M-IMU human motion capture system. Background technique [0002] Human motion capture is widely used in human-computer interaction, virtual reality, sports training, medical diagnosis and rehabilitation, robot control, film animation and other fields. At present, the commonly used human body motion capture systems include optical, video image, mechanical, M-IMU, electromagnetic, infrared, and acoustic. However, these systems have more or less shortcomings and cannot fully cover the above application fields. With the development and progress of science and technology, micro-electromechanical sensors (MEMS) have made major breakthroughs in miniaturization, precision and cost. The human motion capture system based on MEMS has attracted many scholars' research. The M-IMU sensor system consists of a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. These sen...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00A61B5/11
CPCA61B5/1126G01C25/005
Inventor 张永安刘玉焘刘盛羽
Owner 苏州康莲医疗技术有限公司
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