A21 慣性センサを用いた関節角度計測に関する研究(動作計測・流体力推定)

概要

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This paper proposes the motion measurement system and method using inertial sensors. The motion measurement system that consists of 3-axis gyro sensor and 3-axis acceleration sensor measures 3-axis angular velocity and 3-axis acceleration on each body segment. The motion measurement method estimates joint angle using the sensor fusion and the information obtained from inertial sensors. The sensor fusion algorithm with extended Kalman filter can compensate drift error of the gyro sensor using gravity and translation acceleration of the acceleration sensor. The measurement experiment has been implemented to identify the measurement accuracy using the motion measurement system. The result estimated using the proposed method has indicated the joint angle compensated drift error of gyro sensor. The proposed method can estimate the high-precise result, since not only the drift error but also the effect of the translation acceleration are considered. Therefore, the proposed measurement system and method can be used to the motion measurement of various sports.
2010-11-02