A22 慣性センサを用いた手指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 of the hand and finger using inertial sensors. This motion measurement system is installed to the forearm, hand and finger. The 3-axis gyro sensor and the 3-axis acceleration sensor are installed on the forearm, and the two 3-axis acceleration sensors are installed on the hand and finger. The motion measurement method decomposes the information obtained from the two 3-axis acceleration sensors installed on the hand and finger to centrifugal acceleration and other acceleration, estimates the joint angle of wrist and finger and the angular velocity of the hand and finger using extended Kalman filter. We have implemented the measurement experiment to identify the measurement accuracy using the motion measurement system and method. The result of the measurement experiment has indicated to the joint angle of the wrist and angular velocity of the hand. The joint angle has avoided the effect of drift error, and the angular velocity has corresponded with value of the gyro sensor. This proposed measurement system and method can apply to the motion measurement of small body segments and sports instruments.
一般社団法人日本機械学会の論文
2010-11-02