公开(公告)号：US20140156218A1

公开(公告)日：2014-06-05

申请号：US14119960

申请日：2012-02-15

Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

Inventor： Jinwook Kim ,  Yujin Jung ,  Donghoon Kang

IPC: G06F3/01 ,  G01B5/004

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

Abstract: 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.

Abstract translation: 包括关节的模型的运动，相对于关节旋转的至少一个身体部分以及附接到每个身体部分并测量身体部位的旋转运动的多个惯性传感器被跟踪，通过获得 通过使用由附接到每个身体部分的惯性传感器测量的信号，相对于固定在地面上的惯性坐标系固定到每个惯性传感器的传感器坐标系; 通过使用获得的传感器坐标系的旋转矩阵值，获得相对于固定到每个身体部位的身体部位坐标系的传感器坐标系的旋转矩阵; 通过使用计算出的传感器坐标系的旋转矩阵获得每个身体部位坐标系相对于惯性坐标系的旋转矩阵; 以及通过使用身体部位坐标系的计算旋转矩阵来计算关于每个身体部位的关节变量。