公开(公告)号：US09759539B2

公开(公告)日：2017-09-12

申请号：US14119960

申请日：2012-02-15

申请人： Jinwook Kim ,  Yujin Jung ,  Donghoon Kang

发明人： Jinwook Kim ,  Yujin Jung ,  Donghoon Kang

IPC分类号： G06F3/01 ,  G01B5/004 ,  A61B5/11 ,  A61B5/00

CPC分类号： G01B5/004 ,  A61B5/1114 ,  A61B5/6822 ,  A61B5/6823 ,  A61B5/6824 ,  A61B5/6825 ,  A61B5/6828 ,  A61B5/6829 ,  A61B5/6831 ,  A61B2503/10 ,  A61B2505/09 ,  G06F3/011

摘要： A motion of a model including a joint, at least one body part that rotates with respect to the joint, and a plurality of inertial sensors attached to each body part and measuring a rotational motion of the body part is tracked by obtaining a rotational matrix of a sensor coordinate system fixed to each of the inertial sensors with respect to an inertial coordinate system fixed to ground, by using a signal measured by the inertial sensor attached to each body part; obtaining a rotational matrix of the sensor coordinate systems with respect to a body part coordinate system fixed to each body part, by using an obtained rotational matrix value of the sensor coordinate system; obtaining a rotational matrix of each body part coordinate system with respect to the inertial coordinate system, by using a calculated rotational matrix of the sensor coordinate systems; and calculating a joint variable with respect to each body part, by using a calculated rotational matrix of the body part coordinate system.