Human body joint angle resolving method and device

Abstract

The invention relates to a human body joint angle resolving method and device based on quaternion numbers. The method comprises the following steps of obtaining initial quaternion numbers at a first collecting point and initial quaternion numbers at a second collecting point; calculating initial bias quaternion numbers of the initial quaternion numbers at the first and second collecting points by using the initial quaternion numbers at the first collecting point and the initial quaternion numbers at the second collecting point; obtaining current quaternion numbers at the first collecting point and current quaternion numbers at the second collecting point in each collecting period; calculating an absolute bias quaternion numbers of the current quaternion numbers at the first and second collecting points by using the current quaternion numbers at the second collecting point and the current quaternion numbers at the second collecting point; calculating relative bias quaternion numbers of the first collecting point and the second collecting point at the current moment; resolving the relative rotating angle of the right arm elbow joint in the three-axis direction according to the relative bias quaternion numbers. The device is realized on the basis of the method. The robot following control based on the human body posture can be realized by using the real-time angle change of the quaternion numbers of the two collecting points resolved in the three-axis direction of the human body joint relative to the initial position.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method and device for calculating human joint angles. Background technique [0002] With the increasing maturity of micro-electro-mechanical technology and strapdown inertial navigation technology, more and more researchers use MEMS (Micro-Electro-Mechanical System, micro-electro-mechanical system) technology, and inertial navigation sensors (gyroscope, accelerometer, magnetic Compass, etc.) for data fusion, and then use the quaternion form to represent the human body posture, and apply the acquired human body posture to the fields of medical monitoring, gesture recognition, action correction, three-dimensional reconstruction and robot control. [0003] At present, the common human body posture acquisition method in the prior art is based on modular design, and different numbers of acquisition modules are equipped according to different specific functions, and human body ...

AI Technical Summary

Problems solved by technology

[0004] All the above methods directly solve the absolute position of each part of the human body relative to the ground coordinate system, but do not solve the relative motion between the collection points, so it needs to cooperate with the host computer, otherwise the robot cannot be directly controlled

In addition, because the wearable human body posture acquisition device will cause the calculated human body posture to be very different due to different body wearers, and the initial wearing position and direction consistency have high requirements, otherwise it will cause the collected different results

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