微传感器测量运动状态下的人体躯干倾角

于波; 夏海生; Shull Peter B

doi:10.13873/J.1000-9787(2016)11-0077-03

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微传感器测量运动状态下的人体躯干倾角

设计与制造 | 更新时间：2025-09-11

- 微传感器测量运动状态下的人体躯干倾角
- Inclination of human trunk in movement state based on micro sensor
- 传感器与微系统 2016年35卷第11期页码：77-79
- 作者机构：
  
  上海交通大学机械系统与振动国家重点实验室
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2016)11-0077-03
  中图分类号： TP212.9
- 纸质出版：2016
- 稿件说明：
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[1]于波,夏海生,Shull Peter B.微传感器测量运动状态下的人体躯干倾角[J].传感器与微系统,2016,35(11):77-79.

YU Bo, XIA Hai-sheng, Shull Peter B. Inclination of human trunk in movement state based on micro sensor[J]. 2016, 35(11): 77-79.
[1]于波,夏海生,Shull Peter B.微传感器测量运动状态下的人体躯干倾角[J].传感器与微系统,2016,35(11):77-79. DOI： 10.13873/J.1000-9787(2016)11-0077-03.

YU Bo, XIA Hai-sheng, Shull Peter B. Inclination of human trunk in movement state based on micro sensor[J]. 2016, 35(11): 77-79. DOI： 10.13873/J.1000-9787(2016)11-0077-03.

摘要

精确地测量与控制躯干部的姿态对于人体和仿人机器人的运动学研究具有重要意义。先前的研究大多基于泛用算法

实验条件单一。基于陀螺仪和磁力计的数据融合

提出了一种用于估算运动状态下人体躯干倾角的算法。实验结果表明:在不同运动状态下

算法的均方根误差为1.81°±0.77°。该算法可以应用在有关人体和机器人运动平衡性的研究中。

Abstract

Accurately measure and control posture of trunk is critical for kinematic research in human and robots.The majority of former researches are based on general algorithms or under specific condition. A novel algorithm is developed by fusing of gyroscope and magnetometer data to estimate inclination of human trunk during movements.Experimental results shows that root-mean-square error is 1. 81° ± 0. 77° under different moving conditions. This algorithm can be used in movement balance research of human and robotics.

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references

基于多磁传感器的智能航向测定系统 [J]. 吴静,朱国魂,谢波,陈孔阳. 传感器与微系统 . 2014(04)

Training multi-parameter gaits to reduce the knee adduction moment with data-driven models and haptic feedback [J] . Pete B. Shull,Kristen L. Lurie,Mark R. Cutkosky,Thor F. Besier. Journal of Biomechanics . 2011 (8)

Multi-segment trunk kinematics during locomotion and elementary exercises [J] . Alberto Leardini,Fabio Biagi,Andrea Merlo,Claudio Belvedere,Maria Grazia Benedetti. Clinical Biomechanics . 2011 (6)

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Control of sway using vibrotactile feedback of body tilt in patients with moderate and severe postural control deficits [J] . C. Wall III,E. Kentala. Journal of Vestibular Research . 2005 (5,6)

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Differences between trunk sway characteristics on a foam support surface and on the Equitest? ankle-sway-referenced support surface [J] . J.H.J Allum,F Zamani,A.L Adkin,A Ernst. Gait & Posture . 2002 (3)

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