估计胸部和肩部运动使用无磁四基功能传感器对细分校准
概括
精确的运动跟踪对于上肢康复机器人至关重要. 这项研究开发了一种使用两个惯性传感器准确估计胸部和肩膀运动的新方法,避免磁力计干扰.
科学领域:
- 生物力学 生物力学
- 机器人技术 机器人技术 机器人技术
- 传感器技术 传感器技术
背景情况:
- 可穿戴的康复机器人需要精确的身体运动传感器来进行有效的上肢治疗.
- 现有的9轴惯性传感器在准确解释复杂的上肢运动方面面临挑战,通常需要多个传感器单元和磁力计数据.
- 磁力计数据可能是不可靠的,因为来自传感器附近的执行器的铁磁干扰.
研究的目的:
- 开发一种新的方法来估计胸部和肩膀运动,只使用两个惯性传感器.
- 为了克服磁力计在可穿戴机器人系统中用于康复的局限性.
- 为上肢康复机器人开发提供准确的定向数据.
主要方法:
- 利用来自两个传感器的加速度计和陀螺仪数据的内部融合来估计方向.
- 实施了一个功能性传感器到分段校准技术.
- 在功能运动数据上使用主要组件分析 (PCA) 来识别主要旋转轴并调整传感器/解剖坐标系统.
主要成果:
- 在不依赖磁力计的情况下实现胸部和肩部运动的准确跟踪.
- 实验评估表明,肩膀方向的跟踪误差为4.07°-5.14°.
- 实验评估表明,与参考系统相比,胸部定向的跟踪误差为1.28°-3.88°.
结论:
- 拟议的方法成功地使用两个惯性传感器估计胸部和肩膀运动.
- 这种方法为基于磁力计的系统提供了可行的替代方案,可以减轻铁磁干扰.
- 这些发现支持通过增强的运动跟踪能力来推进上肢康复机器人的发展.
相关概念视频
01:25Relative Motion Analysis using Rotating Axes
539
Consider a component AB undergoing a linear motion. Along with a linear motion, point B also rotates around point A. To comprehend this complex movement, position vectors for both points A and B are established using a stationary reference frame.
However, to express the relative position of point B relative to point A, an additional frame of reference, denoted as x'y', is necessary. This additional frame not only translates but also rotates relative to the fixed frame, making it...
However, to express the relative position of point B relative to point A, an additional frame of reference, denoted as x'y', is necessary. This additional frame not only translates but also rotates relative to the fixed frame, making it...
539
01:15Torque Free Motion
568
The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
568