Human body action acquisition method based on inertial sensor without standard posture correction

An inertial sensor and acquisition method technology, applied in the field of greenhouses, can solve the problems that the experiment cannot continue and the operation is complicated

Active Publication Date: 2020-11-06
HARBIN INST OF TECH
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Problems solved by technology

This kind of method often needs to make a special calibration tool, and the operation is more complicated. When the sensor p

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  • Human body action acquisition method based on inertial sensor without standard posture correction
  • Human body action acquisition method based on inertial sensor without standard posture correction
  • Human body action acquisition method based on inertial sensor without standard posture correction

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Embodiment Construction

[0034] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0035] A method for collecting human body movements based on an inertial sensor without standard posture correction, the specific steps of the collection method are:

[0036] Step 1: Install the IMU and establish joint physiological kinematic constraints;

[0037] Step 2: Using the IMU in step 1, when the number of sampling points of the IMU exceeds 100, run the optimization program according to the constraint equation, and use the Gauss-Newton met...

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Abstract

The invention discloses a human body action acquisition method based on an inertial sensor without standard posture correction. The method comprises the steps that 1, an IMU is arranged, and joint physiological kinematics constraints are established; 2, by utilizing the IMU in the step 1, when the number of sampling points of the IMU exceeds 100, an optimization program runs according to a constraint equation, and a joint axis and a joint position vector are estimated by utilizing a Gauss-Newton method; 3, two groups of joint angles are respectively solved through acceleration information andangular velocity integration by utilizing the solved joint axis and joint position vector; and 4, weighted average of the two joint angles in the step 3 is solved through complementary filtering, andthe joint angles are solved. The method aims to decode IMU signals of lower limbs of a human body and calculate angles of hip joints, knee joints and ankle joints of the lower limbs in real time according to a kinematic model of the lower limbs of the human body.

Description

technical field [0001] The invention belongs to the technical field of greenhouses; in particular, it relates to a human motion collection method based on an inertial sensor that does not require standard posture correction. Background technique [0002] Today, people's requirements for the convenience and comfort of life and work are increasing. Therefore, using the flexible exoskeleton of the lower limbs to assist the human body during human activities, instead of the human muscle system to do work, thereby reducing the energy consumption of the human body has received more and more attention. In the research of human body assist, more and more researchers have been involved in how to optimize the assist curve, improve the assist effect and user experience of the exoskeleton. The exoskeleton assist curve is based on the joint angle curve of the human body when walking. However, in the current research, because it is difficult to obtain the joint angle information of the e...

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Application Information

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IPC IPC(8): G01C21/20G01C1/00A61B5/11
CPCG01C21/20G01C1/00A61B5/1123A61B5/1122
Inventor 衣淳植姜峰杨炽夫王学嘉张龙海张浩李芳卓
Owner HARBIN INST OF TECH
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