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論文名稱(外文):Inertial Sensor Based Gait Motion Capture System
指導教授(外文):YANG, CHANG-YUN
外文關鍵詞:Inertial SensorsGait AnalysisQuaternion Extended Kalman FilterCoordinate Transformation
  • 被引用被引用:0
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Gait analysis is not only important in the use for research of locomotion but also substantially related to the rehabilitations or surgical treatments of patients who have lower limb disorders. The analysis is generally based on the kinetic information which has been collected during the patients' locomotion. A traditional method to acquire the kinetic information relies seriously on a multiple-camera based system which calculates and converts video-marker positions inside the independently multi-dimensional videos to the exact positions. Due to limitation of the camera viewing scope, the markers have to be initially calibrated first before use, and the patients' locomotion also have to be restricted within a limited region which all the camera viewing scope can cover. In this study, a wireless wearable gait motion capture system has been proposed to substitute the video-based method. By a series of inertial sensors attached to the human body, measurements based on the embodiment of the inertial sensors are acquired to estimate the kinetics of the locomotion. The motion capture system is no more restricted in a local area. For gait pattern assessment, a Quaternion Extended Kalman Filter (QEKF), which transforms the sensor measures from a local coordinate to the global coordinate, and removes sensory noises, is used for the kinetic assessment. Together with the QEKF, a new method to align the baseline of calculation is proposed, and is a key to achieve the performance. By wearing on the thighs, shanks and feet of a person, the sensors with their triaxial accelerometer measure and the inclination angle of the segments to calculate lower extremity joint (either hips, knees or ankles of both legs) angle. The time series of inclination angles of the hips, knees and ankles then form the gait patterns of the person. In the developing stage, the system is developed under the reference and calibration of the simultaneous gait pattern acquired by a PTI motion tracking system to obtain a reliable model accuracy. After the development, repeated experiments and long-distance outdoor locomotion tests were applied for verification and validation to guarantee the system performance.
誌 謝 I
中文論文摘要 II
英文論文摘要 III
目錄 IV
圖目錄 VII
表目錄 X
第一章 緒 論 1
1-1 研究動機與目的 2
1-2 文獻探討 3
1-2-1步態分析系統 3
1-2-2慣性感測元件之濾波器 4
1-3 本論文架構 6
第二章 研究原理與基礎 8
2-1 慣性感測單元原理 8
2-1-1 加速計原理 8
2-1-2 陀螺儀原理 12
2-1-3 磁針計原理 16
2-2 座標系統 17
2-2-1 區域 V.S. 全域之量測 18
2-2-2 座標轉換 20
2-3 姿態標記法 23
2-3-1 四元數 24
2-4 卡爾曼濾波器 26
2-4-1 簡單卡爾曼濾波器 27
2-4-2 擴展卡爾曼濾波器 32
第三章 系統建模 35
3-1 標準步態 35
3-2 步態角度計算 37
3-2-1 傾角 37
3-2-2 各關節角度量測 41
3-3 加速度值計算程序 46
3-3-1 四元數擴展卡爾曼濾波器 48
3-3-2 簡單移動平均 55
3-3-3 加速度值計算程序之系統參數 56
第四章 系統架構 57
4-1 研究流程 57
4-2 研究軟體硬體配置 58
4-2-1 研究設備及材料 60
4-3 PTI影像標記式動態追蹤參考系統 61
第五章 實驗與討論 63
5-1 步態動作捕捉系統與PTI影像標記式動態追蹤系統相比 63
5-2 五十次的歩態周期堆疊之軌跡驗證 71
5-3 連續二十個歩態之規律性驗證 79
第六章 結論 84
6-1結論 84
6-2未來計畫與發展 84
參考文獻 85

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