Dynamic constraint combined human body inertia parameter identification method

A technology of inertial parameters and identification methods, applied in the field of human body inertial parameter identification combined with dynamic constraints, can solve the problems of inertial parameter identification results that are difficult to approach the real value, missing constraints, etc., to achieve clear calculation process and improve accuracy , to avoid the effect of direct measurement

Inactive Publication Date: 2019-02-22
国家康复辅具研究中心
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Problems solved by technology

Considering that it is difficult to directly measure the joint moments of the human body, this method simplifies the human dynamics equations...

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  • Dynamic constraint combined human body inertia parameter identification method
  • Dynamic constraint combined human body inertia parameter identification method
  • Dynamic constraint combined human body inertia parameter identification method

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Embodiment Construction

[0045] The present invention will be further elaborated below through specific embodiments in conjunction with the accompanying drawings.

[0046] Such as figure 1 As shown, in this embodiment, the human body is simplified into a multi-segment rigid body model composed of seven rigid bodies, including torso B, double thigh T, double Calf C and feet F.

[0047] Such as figure 2 As shown, the motion capture system MCS collects the position, velocity and acceleration of each segment of the rigid body, and the ground reaction force detection system GRFDS respectively collects the reaction force of the left foot plantar surface and the reaction force on the plantar surface of the right foot

[0048] The human body inertial parameter identification method combined with dynamic constraints in this embodiment, such as image 3 shown, including the following steps:

[0049] 1) First, according to the natural lower limb joint segmentation of the human body, the human body is si...

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Abstract

The invention discloses a dynamic constraint combined human body inertia parameter identification method. The human body is simplified into a multi-segment rigid model composed of multiple segments ofrigid bodies, and a dynamic equation of the multi-segment rigid model is established; and human body motion sampling data is collected via a motion capturing system and a ground counterforce detection system, a first-step identification human body inertia parameter is obtained via a first simplified mechanical equation, a second-step identification human body inertia parameter is obtained by introducing a basic physical constraint, and a third-step identification human body inertia parameter is obtained via a second simplified mechanical equation, and finally, the inertia parameter whose second-order norm is minimal is selected as a human body inertia parameter identification optimization result. Multiple constraints are introduced, so that a calculation process of human body inertia parameter identification is clear and can be programmed easily; the dynamic equation is simplified to measure the joint moment directly, a joint moment estimated value constraint is introduced for optimization, and the accuracy of an inertia parameter identification result is improved.

Description

technical field [0001] The invention relates to a human body parameter measurement technology, in particular to a human body inertial parameter identification method combined with dynamic constraint conditions. Background technique [0002] Human body inertial parameters directly affect human body motion and gait characteristics, and there are a large number of personalized identification requirements for human body inertial parameters in the fields of medical rehabilitation and sports. The inertial parameters of the human body include the mass of the limbs, the position of the center of mass, and the tensor of inertia. [0003] In the early research, a statistical database of standard human inertial parameters was established through the measurement of human anatomy with a certain number of samples, and a regression fitting equation was established. However, due to the existence of individual differences, the fitting equation is difficult to apply to individual estimation. ...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 梁文渊
Owner 国家康复辅具研究中心
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