A HUMAN MOTION CAPTURE SYSTEM BASED ON INERTIAL SENSING AND A COMPLEMENTARY FILTER

被引：4
|
作者：
Kanjanapas, Kan [1 ]
Wang, Yizhou [1 ]
Zhang, Wenlong [1 ]
Whittingham, Lauren [1 ]
Tomizuka, Masayoshi [1 ]
机构：
[1] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA
来源：
ASME 2013 DYNAMIC SYSTEMS AND CONTROL CONFERENCE, VOL. 3 | 2013年
关键词：
ORIENTATION;
D O I：
10.1115/DSCC2013-3852
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A human motion capture system is becoming one of the most useful tools in rehabilitation application because it can record and reconstruct a patient's motion accurately for motion analysis. In this paper, a human motion capture system is proposed based on inertial sensing. A microprocessor is implemented on-board to obtain raw sensing data from the inertial measurement unit (IMU), and transmit the raw data to the central processing unit. To reject noise in the accelerometer, drift in the gyroscope, and magnetic distortion in the magnetometer, a time-varying complementary filter (TVCF) is implemented in the central processing unit to provide accurate attitude estimation. A forward kinematic model of the human arm is developed to create an animation for patients and physical therapists. Performance of the hardware and filtering algorithm is verified by experimental results.
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页数：9
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