慣性センサを用いた遊脚動作生成メカニズムの定量化

抄録

The purpose of this study was to analyze the swing leg motion from inertial measurement units(IMUs) outputs. The IMUs were attached on the lower trunk, thigh, shank and foot segments. The error of the estimated hip joint acceleration from IMU of the lower trunk and from IMU of the foot segment was minimized to identify 9 parameters of initial coordination system of the segments by using partial differential method. The results of dynamic contribution analysis obtained from estimated motion data show almost good agreements with those obtained with a motion-capture system in terms of generating mechanism of knee joint angular velocity.