基于机构运动学分析的人体下肢几何参数提取

doi:10.3901/JME.2018.15.052

机械工程学报 ›› 2018, Vol. 54 ›› Issue (15): 52-59.doi: 10.3901/JME.2018.15.052

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基于机构运动学分析的人体下肢几何参数提取

张书涛¹, 钱晋武², 王笑一¹

1. 河南科技大学机电工程学院洛阳 471003;
2. 上海大学机电工程与自动化学院上海 200072

收稿日期:2017-08-19 修回日期:2018-01-11 出版日期:2018-08-05 发布日期:2018-08-05
通讯作者: 钱晋武(通信作者),男,1962年出生,博士,教授,博士研究生导师。主要研究方向为先进机器人技术,智能医疗仪器与计算机辅助外科,智能机械与系统。E-mail:jwqian@shu.edu.cn
作者简介:张书涛,男,1974年出生,博士,讲师。主要研究方向为机器人技术,运动仿生。E-mail:zhstmail@163.com;王笑一,男,1976年出生,博士,讲师。主要研究方向为数控技术,精密测试技术及仪器。E-mail:wxy2.0@163.com
基金资助:
国家自然科学基金资助项目（51275282）。

Extraction of the Geometric Parameters of Human Low Limbs Based on Kinematics Analysis of Mechanism

ZHANG Shutao¹, QIAN Jinwu², WANG Xiaoyi¹

1. School of Mechatronics Engineering, Henan University of Science and Technology, Luoyang 471003;
2. School of Mechatronics and Automation, Shanghai University, Shanghai 200072

Received:2017-08-19 Revised:2018-01-11 Online:2018-08-05 Published:2018-08-05

摘要/Abstract

摘要： 由关节中心（轴）位置所确定的下肢几何参数是步态运动测量与分析的关键参数。已有的基于三维运动捕捉系统的步态运动测量应用中，人工干预因素较多，存在一定的主观性，从而对步态运动的测量信度产生显著的不利影响。针对这一问题，在对下肢环节和关节进行合理机构学简化的基础上，建立人体下肢多刚体运动学模型；通过下肢机构运动学分析，改进标志点设置方案；通过构造下肢运动的约束方程，充分利用大量的采样数据，推导了关节位置、模型几何参数的拟合算法。并通过试验验证测量方案及算法的有效性。

关键词: 步态, 机构, 下肢几何参数, 运动学

Abstract: The geometric parameters of the lower limbs determined by the location of the joint centers (or axes) are the key parameters for gait kinematic measurement and analysis. The existing methods for gait motion measurement based on 3D motion capture instrument need much manual intervention. As a result, these methods have a certain degree of subjectivity, and the measurement accuracy and repeatability are impaired severely. Aim at this problem, the multi-body kinematics model of human lower limb is established based on reasonable simplifications to the body segments and joints of lower limbs. Through kinematic analysis, the configuration scheme of marker set is improved. By constructing the constraint equations of lower limb motion and making full use of a large amount of sample data, an algorithm for joint centers, geometric parameters of the model, and gait kinematics is established. The feasibility of the algorithm and the gait kinematics measurement method is verified by experiment.

Key words: gait, geometric parameters of human low limbs, kinematics, mechanism

中图分类号:

TP242

张书涛, 钱晋武, 王笑一. 基于机构运动学分析的人体下肢几何参数提取[J]. 机械工程学报, 2018, 54(15): 52-59.

ZHANG Shutao, QIAN Jinwu, WANG Xiaoyi. Extraction of the Geometric Parameters of Human Low Limbs Based on Kinematics Analysis of Mechanism[J]. Journal of Mechanical Engineering, 2018, 54(15): 52-59.

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基于机构运动学分析的人体下肢几何参数提取

Extraction of the Geometric Parameters of Human Low Limbs Based on Kinematics Analysis of Mechanism

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