慣性センサを用いた関節間距離の推定に関する研究

抄録

This paper proposes the estimation method of distance between joints or specific points using inertial sensors. This method consists of the method for posture estimation using sensor fusion and the forward kinematics. This method estimates the posture of the inertial sensors in local coordinate and distance between specific position. We conducted the measurement experiment using the elastic material attaching on the measurement system. The analytical results indicated the posture in local coordinate and distance between the specific points compensating the accumulative error by integration calculation and the error by dynamic acceleration. This system can be used to evaluate the deformation of body segment and the small translational motion.