ウェアラブルセンサシステムを用いた関節トルク推定における誤差解析に関する研究

抄録

This study aims to clarify the error factors in estimation of joint torque using wearable sensor system. The wearable sensor system consists of wearable motion sensor installing the inertial and magnetic field sensors and wearable force plate installing several compact force sensors and inertial and magnetic field sensors. The wearable motion sensor outputs the angular velocity, the acceleration, and magnetic field, and the wearable force plate outputs the 6-axis force components and the motion sensor output. We conducted the measurement experiment of gait analysis using the wearable sensor system and the optimal motion capture system, and we estimated the joint torque by using the measurement information of wearable sensor system and the optimal motion capture system. We compared the results of joint torques obtained by wearable sensor system and the optimal motion capture system. The analysis results indicated the effect by transfer force and moment in the inverse dynamics analysis and the error factors in the motion information by the measurement of wearable motion sensor.