拡張カルマンフィルタを用いた運動解析のためのセグメント慣性パラメータの同定に関する研究

抄録

This paper proposes an estimation method of body segment parameters (mass, moment of inertia and center of gravity position). This method consists of the Extended Kalman filter. The nonlinear state equation is established by the compensation values of the body segment parameters, and the nonlinear measurement equation is established by the inverse dynamics using the Newton-Euler method. In this study, we conducted the simulation using the four-segment and three-joint model. The estimation results indicated the compensated joint torque (Joint reaction and moment). The effectiveness of this method was indicated by the analytical results.