慣性センサシステムを用いた並進加速度を伴う立位バランス評価における姿勢推定に関する研究

抄録

In this study, we evaluate the effectiveness of the posture estimation method using an inertial sensor in the standing position generating small translational acceleration. Optimal motion capture system mainly used for motion analysis is expensive and takes many times for measurement and analysis. Inertial sensor consists of acceleration sensor and gyro sensor is inexpensive than optimal motion capture system, and the measurement using inertial sensor is easy. The estimation method is established the sensor fusion algorithm focused on the local coordinate system by using the Extended Kalman filter, and we estimated the 3D posture in the relative coordinate system by using the acceleration and the angular velocity. The measurement experiment was conducted to clarify the accuracy of the estimation method using the stabilometer generating disturbance, the wearable motion sensors installing inertial sensor and the motion capture system. We compared the results for ankle joint angle, knee joint angle and hip joint angle estimated by previous method and proposal method and focused on translational acceleration and segment acceleration. We indicated the effectiveness of proposed method measurement of standing with small translational acceleration.