IMU冗余能否改善多体优化结果以获得下体动力学? 一项初步研究说没有
Marien Couvertier1, Léonie Pacher1, Laetitia Fradet1
1Equipe RoBioSS, Institut PPRIME, UPR3346 CNRS Université de Poitiers ISAE ENSMA, 11 boulevard Marie et Pierre Curie, Site du Futuroscope TSA 41123, 86073 Poitiers Cedex 9, France.
Journal of biomechanics
|April 19, 2024
概括
将传感器冗余性添加到惯性测量单元 (IMU) 并没有提高下肢动力学精度. 使用冗余IMU的多体动力学优化 (MKO) 无法减少差异,特别是在正面和横向平面上.
科学领域:
- 生物力学 生物力学
- 人类运动分析 人类运动分析
- 可穿戴技术可穿戴技术
背景情况:
- 惯性测量单位 (IMU) 为人体关节动力学提供了光电子系统的生态替代方案.
- 之前的研究重点是改进传感器对细分校准,融合算法和多体动力学优化 (MKO) 以减少基于IMU的动力学差异.
- 现有的改进面临着局限性,特别是在横向和正面平面上.
研究的目的:
- 调查IMU冗余与多体动力学优化 (MKO) 结合是否可以提高下肢动力学精度.
- 为了比较IMU衍生动力学与没有传感器冗余与基于标记器的MKO在OpenSim.
主要方法:
- 五名受试者进行了步行,骑自行车和跑步任务,同时配备了11个IMU和30个标记器.
- 光电子摄像头追踪了标记器的运动.
- 计算了四种下肢动力学:基于标记的MKO,基于IMU而没有MKO,以及基于IMU的MKO (使用OpenSense进行传感器冗余和不使用传感器冗余).
- 动力学被使用根平均方差和相关系数进行了比较.
主要成果:
- 与经典IMU MKO相比,传感器冗余性并没有减少前面和横面平面上的动力学差异.
- 冗余性并没有显著影响这些平面的下肢动力学.
- 软组织工件的"刚性组件"可能会影响一个部分的所有传感器,限制冗余效益.
结论:
- 使用MKO的IMU传感器冗余性不会在正面和横向平面上提高下肢动力学精度.
- 软组织工件可能是IMU基于运动分析的限制因素,无论传感器冗余.
- 需要进一步的研究来克服IMU横向和正面平面运动捕捉的局限性.
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