|本期目录/Table of Contents|

[1]王勇哲,沈林勇,章亚男,等.基于逆运动学的下肢步态参数计算和测量[J].生物医学工程研究,2016,02:81-86.
 WANG Yongzhe,SHEN Linyong,ZHANG Yanan,et al.Calculation Method of Lower Limb Joint Angle based on Inverse Kinematics[J].Journal of Biomedical Engineering Research,2016,02:81-86.
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基于逆运动学的下肢步态参数计算和测量(PDF)

《生物医学工程研究》[ISSN:1006-6977/CN:61-1281/TN]

期数:
2016年02期
页码:
81-86
栏目:
出版日期:
2016-06-25

文章信息/Info

Title:
Calculation Method of Lower Limb Joint Angle based on Inverse Kinematics
文章编号:
1672-6278 (2016)02-0081-06
作者:
王勇哲沈林勇章亚男钱晋武△
上海大学机电工程与自动化学院,上海 200072
Author(s):
WANG YongzheSHEN LinyongZHANG YananQIAN Jinwu
School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China
关键词:
步态参数逆运动学坐标变换运动捕捉仪康复评估
Keywords:
Gait parameters Inverse kinematics Coordinate transformationMotion capture instrument Rehabilitation assessment
分类号:
R318
DOI:
-
文献标识码:
A
摘要:
步态参数分析是神经疾病康复的重要评估手段,能够方便、准确的测量人体下肢步态参数具有重要意义。本研究把人体下肢简化为由铰链连接的串联多刚体,利用三维运动捕捉仪检测脚尖与髋关节空间坐标与姿态,根据机器人逆运动学的方法计算下肢关节角度。通过测量人体骨骼模型的关节角度,分析逆运动学方法的精度与可靠性,分析显示逆运动学法计算的关节角度算术平均误差为3.12°,具有小于10%的最大允许误差,且其与向量法计算数据在0.01水平上是显著相关的。本研究提出的逆运动学方法能够保证计算精度与可靠性,减少了测量需要的标识点数目和点滑移对测量的影响,增加了测量的方便性。
Abstract:
In this paper, the lower limb of the human body was simplified as a hinge connected in a series of multi-rigid body.We calculated the joint angles of lower limbs according to the robot inverse kinematics method which using the three dimensional motion capture instrument obtaining foot and hip joint space coordinates and pose.The joint angles of the human skeleton model for analysing the accuracy and reliability of inverse kinematics method was measured. The analysis showed that the arithmetic average error of inverse kinematics method calculating the joint angle was 3.12°with less than 10% of the maximum permissible error, at the 0.01 level,it was significantly related to the normal vector calculation data.The inverse kinematics method proposed in this paper can ensure the accuracy and reliability of the calculation, reduce the number of identification points and the influence of the slip on the measurement, and ensure the convenience of the measurement.

参考文献/References

备注/Memo

备注/Memo:
收稿日期:2015-12-18 国家自然科学基金资助项目(51275282);中国教育部博士点基金资助项目(20123108110009)通信作者〓〖HTK〗Email:jwqianc@online.sh.cn
更新日期/Last Update: 2016-06-30