抄録
Whole body 3D estimation of jumping motion using body-mounted sensor system is proposed. Inertial sensor board using 3D accelerometer, 3D gyroscope and 3D geomagnetic sensor is newly developed and twelve boards are mounted on upper body and lower body. The posture of the body is estimated using the orientation of sensors applying extended Kalman filter when the foot is on the ground, and trajectory of the body is calculated by the numerical integration of acceleration measured from the trunk during jumping. Contact sensors are attached under foot to classify the body motion into landing and jumping and to select the calculation method of body motion. To confirm the precision of the proposed method, the position of the trunk and joint angles estimated by the proposed method are compared with that measured by optical motion capture system. The experimental results show that the proposed method has successfully derived 3D motion of jumping motion toward forward, sideways and backward.
