| Summary: | 碩士 === 國立中央大學 === 生物醫學工程研究所 === 103 === The purpose of this study is developing a wireless inertial sensing system and limb motion reconstruction algorithm. In this study, we employ two of nine-axis inertial measurement units and ZigBee wireless transmission module to consist a wireless inertial sensing device for acquiring motion signals. Then, combine EMD, spectral analysis and quaternion to develop algorithm for reconstructing the trajectory of limb motion. The algorithm employ quaternion as rotation matrix used to translate the coordinate between global coordinate and relative coordinate. EMD and spectral analysis are considered as filter to reduce noise of inertial signals and used to obtain angular displacement of each joint. After obtaining the angular displacement of each joint, the kinematic model will be applied for trajectory reconstruction.
As the verification of developed algorithms, we employ developed device and applied algorithm to reconstruct trajectories of designed motion of robotic arm and limb. The result of the experiment shows that the algorithm can be used to reconstruct the limb motion trajectory of multiple joints with different initial position and attitude, and estimate the rotation angles of multiple joints in 3-D space.
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