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Portable human joint parameter estimation method based on IMU (inertial measurement unit)

A technology for estimating human joints and parameters, applied in medical science, sensors, diagnostic recording/measurement, etc., can solve the problems of inconvenient operation, high price, and long time consumption, and achieve low price, short time consumption, small and portable device Effect

Inactive Publication Date: 2017-01-25
苏州坦特拉智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0012] In order to solve the problems of low precision, high price, inconvenient operation and long time consumption in the prior art, the present invention proposes a convenient method for estimating human joint parameters based on IMU

Method used

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  • Portable human joint parameter estimation method based on IMU (inertial measurement unit)
  • Portable human joint parameter estimation method based on IMU (inertial measurement unit)
  • Portable human joint parameter estimation method based on IMU (inertial measurement unit)

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specific Embodiment approach 1

[0033] Specific implementation mode one: as Figure 4 As shown, the IMU-based portable human joint parameter estimation method includes the following steps:

[0034] Ignore the translational motion of human joints, only consider their rotation. The human body can usually be regarded as a multi-rigid body structure articulated by flexion joints and ball joints. By wearing the IMU sensor module on each limb, and then combining with the sensor fusion algorithm, the orientation, linear acceleration and angular rate information of the limb can be obtained. Then calculate the human body joint parameter information. Simplified human skeleton model such as image 3 shown.

[0035] Step 1: The human arm is equivalent to three rigid bodies of the upper arm, forearm and palm hinged through the elbow joint and wrist joint, and the coordinate system is defined;

[0036] Step 2: According to Step 1, pass o through human kinematics analysis 1 exist The position vector of The second...

specific Embodiment approach 2

[0047] Specific embodiment 2: The difference between this embodiment and specific embodiment 1 is that the coordinate system defined in the step 1 is specifically:

[0048] Use A, B, and C to represent the upper arm, forearm, and palm, respectively, such as figure 1 As shown, define o 1 , o 2 It is the rotation center of the elbow joint and wrist joint; install the IMU sensor on the upper arm, forearm and palm in any direction, and establish the upper arm sensor coordinate system on the upper arm, forearm and palm IMU sensors respectively Forearm sensor coordinate system and palm sensor coordinate system a, b, c are the origins of their corresponding coordinate systems, is a fixed reference frame. The IMU sensor can be installed anywhere on the upper arm, forearm, and palm, respectively.

[0049] Other steps and parameters are the same as those in Embodiment 1.

specific Embodiment approach 3

[0050] Specific implementation mode three: the difference between this implementation mode and specific implementation mode one or two is: said step two obtains The second order differential form of Specifically:

[0051] Through the analysis of human kinematics:

[0052] p ·· o 1 e = R e a ( a a a + ( ω ^ e a a ω ^ e a a + ω · ^ e a a ...

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Abstract

The invention provides a portable human joint parameter estimation method based on an IMU (inertial measurement unit) and relates to a human joint parameter estimation method in order to solve the problems of low precision, high price, inconvenient operation, high time consumption and the like in the prior art. The method comprises steps as follows: step one, a human arm is equivalent to be hinged by three rigid bodies including an upper arm, a front arm and a palm through an elbow joint and a wrist joint, and a coordinate system is defined; step two, a position vector of o1 in Fa is analyzed according to kinesiology, and a second-order differential form, shown in the specification, of P<o1><e> is obtained; step three, a position vector of o1 in Fb is analyzed according to kinesiology, and a second-order differential form, shown in the specification, of P<o1><e> is obtained; step four, a kinematic constraint relation, caused by ball joints, of P<o1> and P<o1> is obtained; step five, an equation set is solved with the least square method, and P<o1> and P<o1> are obtained; step six, the step two to the step five are executed again, and values of P<o2> and P<o2><c> are obtained; step seven, the length of the forearm is calculated. The method is applied to the field of limb measurement.

Description

technical field [0001] The invention relates to a method for estimating human joint parameters. Background technique [0002] With the development of science and technology, human body real-time motion capture system has been widely used in real life. Motion capture systems play an important role in the fields of human-computer interaction, animation production, medical rehabilitation, sports training and medical robots. An accurate human skeleton model is indispensable for analyzing and reconstructing human motion, and human skeleton parameters are the basis of the skeleton model. On the one hand, the reconstruction of the 3D model of human motion requires accurate human skeleton parameters as the basis. On the other hand, the IMU-based indoor positioning algorithm must also combine forward kinematics to complete indoor positioning under the premise of known human skeleton parameters. At the same time, on the basis of the existing motion capture system, combined with the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B5/107A61B5/11
CPCA61B5/1072A61B5/1116A61B5/1118A61B5/6802A61B5/6813A61B5/7246A61B2560/0431A61B2562/0219
Inventor 张永安刘玉焘刘盛羽
Owner 苏州坦特拉智能科技有限公司
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