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研究生:李洋龍
研究生(外文):Yang-LongLee
論文名稱:基於運動追蹤資料之全身逆向動力學
論文名稱(外文):Full Body Inverse Dynamics Based on Motion Capture Data
指導教授:蔡明俊蔡明俊引用關係
指導教授(外文):Ming-June Tsai
學位類別:碩士
校院名稱:國立成功大學
系所名稱:機械工程學系碩博士班
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2012
畢業學年度:100
語文別:英文
論文頁數:129
中文關鍵詞:全身逆向動力學關節受力三維人體模型
外文關鍵詞:Full bodyInverse dynamicsJoint force3D human model
相關次數:
  • 被引用被引用:3
  • 點閱點閱:251
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  • 下載下載:13
  • 收藏至我的研究室書目清單書目收藏:0
本研究的主要目標為使用人體全身逆向動力學方法,由人體運動追蹤所擷取的資料中,求得受試者全身關節的受力以及力矩。本論文使用實驗室所開發的雙模式三維光學量測系統,靜態掃描可以取得受試者的三維輪廓資訊,而動態追蹤方面,藉由追蹤受試者身上所配戴的標誌框,來達到動態追蹤的目的。所得到的三維輪廓資訊,經由結構化分割為人體的連桿後,即可由連桿的三角網格資訊以及結構點資訊來求得各個連桿的幾何參數。運動學的參數則可以使用運動追蹤的資料,經由數值分析的方法來得到。結合幾何參數以及運動學的參數,我們可以分析力量平衡圖來求解出具有關節軸的人體模型的各個關節受力以及力矩。最後由量測系統實際追蹤受試者所表演的運動,來進行逆向動力學的計算,並且將計算的結果與文獻做比較。
The purpose of this thesis is to calculate the joint forces and joint moments of the subject from motion capture data, by using the full body inverse dynamics method. A dual mode 3D measurement system developed by our lab can acquire the 3D profile information of the subject by scanning. It also can record the subject’s motion by using the markers affixed on the subject’s body. The 3D profile information of the subject can be constructed into a body geometric model, and the geometric parameters can be calculated from the triangular mesh and structure points of each link of the body geometric model. The kinematic parameters can be calculated from the motion capture data through the use of the numerical analysis. Combining the geometric parameters and kinematic parameters, free body diagrams are used to calculate the joint forces and joint moments of the body kinematic model. Finally, the full body inverse dynamics is applied to the captured motions performed by the subject. The calculation results are compared to those from the literatures.
簽名頁 I
摘要 II
Abstract III
誌謝 IV
Acknowledgements V
Content VI
List of Figures IX
List of Tables XVI
Chapter 1 Introduction 1
1.1 Motivation and Purpose 1
1.2 Literature Review 2
1.3 Outline 3
Chapter 2 System Architecture 5
2.1 Optical Design of D2000 5
2.2 Hardware of D2000 10
2.2.1 The Working Region of a Single Module 11
2.2.2 Using External Trigger Source to Capture Images Synchronously 14
2.3 System Calibration 19
2.3.1 3D calibration 19
2.3.2 Lens Distortion Calibration 23
2.4 System Setup 30
2.5 Using a Probe to Verify the 3D Calibration Result 31
Chapter 3 The Calculation of the Geometric Parameters 35
3.1 The Data Structure of the Human Link 35
3.2 The Closing Method of the Triangular Mesh of the Human Link. 36
3.3 The Calculation of the Geometric Parameters 42
3.3.1 The Calculation of Surface Area 42
3.3.2 The Calculation of Volume 43
3.3.3 The Calculation of Centroid 46
3.3.4 The Principle Axes of Inertia 47
3.4 The Correction of the Geometric Parameters 50
3.5 The Introduction of the Human Geometric Parameters File 52
Chapter 4 The Calculation of the Kinematic Parameters 57
4.1 The Introduction of the Enhanced Motion Staff File 57
4.2 The Kinematic Parameters Calculation of the Base Link 58
4.3 The Introduction of the Body Motion Parameter File 66
4.4 The Kinematic Parameters Calculation of All Joints 67
Chapter 5 Full Body Inverse Dynamics 71
5.1 Stage One of the Newton-Euler Method for the Inverse Dynamics Problem 71
5.2 Stage Two of the Newton-Euler Method for the Inverse Dynamics Problem 76
5.3 The Output File of the Inverse Dynamics 88
Chapter 6 The Verification of the Full Body Inverse Dynamics 92
6.1 The Process of the Motion Tracking Experiments 92
6.2 Lifting Feet Experiment 97
6.3 Walking Experiments 99
6.4 Jumping Experiments 119
Chapter 7 Discussions and Recommendation 123
7.1 Contributions in Our Study 123
7.2 Discussions and Recommendation 123
Reference 125

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