拡張カルマンフィルタを用いたスキー・ターンの運動計測と力学解析に関する研究

概要

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This paper proposes the motion measurement system and the dynamic analysis methods of the skiing turn on an outside actual snowfield. This motion measurement system that consists of inertial and magnetic field sensors provides 3-axis angular velocity, acceleration and intensity of magnetic field. This motion analysis method provides joint angle of lower body in skier using information from the motion measurement system, extended Kalman filter and inverse kinematics. In addition, this dynamic analysis method provides joint torque using joint angle, angular velocity, angular acceleration, acceleration, reaction force from the snow surface obtained from 6-axis force sensor and inverse dynamics. In order to indicate the performance of our proposed system, we have performed the measurement experiment of the skiing turn on an actual snowfield. It is found that the proposed method is able to analyze the major features of skiing turn and to evaluate quantitatively the skill and characteristics of skiers.