Implementation of a Wearable Sensor System for Motion Capture of Human Lower Limbs

• Main Authors: Wu,Yu Chen, 吳宇晟
• Other Authors: Pu, Yu Chi
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/07696482788815464299

碩士 === 遠東科技大學 === 電機工程研究所 === 99 === Due to the rapid development of Micro-Electro-Mechanical System (MEMS), the applications of Inertial Measurement Units (IMU) based on MEMS technology are more and more feasible. This research aims to develop an IMU based motion capture system to record the actions of human lower limbs. The IMU node in the system includes a three-axis accelerometer and a dual-axis gyroscope. Integrating the hardware and the software, we can estimate the joint angles of human lower limbs under variety of activities. Traditionally, the most common motion capture device is the optical system, followed by the mechanical and the magnetic type. The optical system is both high cost and time-consuming, although its measurement is accurate but there is a marker occlusion problem, the magnetic system may measure the posture inaccurately because of magnetic interference. Oppositely, the inertial motion capture system is more affordable than previous ones, and the wireless and light wearable design is convenient for system setting. The drift and bios problems of data resulted from accelerometers and gyroscopes can be calibrated by the Kalman filter or other estimation algorithms. Moreover, we also record the motion data and make the computer animation of the avatar to verify the feasibility of the proposed approach.