基于运动捕捉仪的人体上肢运动轨迹参数的测量与分析  

Measurements and analysis of upper-limb motion parameters based on motion capture

作　　者：王胤杰[1] 沈林勇[1] 章亚男[1] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072

出　　处：《机电工程》2012年第7期841-845,共5页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金资助项目(50975165);上海市学科带头人计划资助项目(10XD1401900);上海市高校创新团队资助项目(未提供)

摘　　要：针对人体上肢运动的轨迹参数和方程模型复杂、计算量庞大的问题,提出了一种新型的测量上肢运动轨迹方法。首先对人体上肢运动模型进行了重新分析与简化,根据人体上肢运动特点设计了一组实验,其中包含单关节运动实验、多关节协同运动实验及任务实验;通过NDI运动捕捉仪系统采集了实验者的上肢基本运动数据;将实验数据中的离散点用曲线拟合并展开后,得到了各组实验中各关节的周期性轨迹方程;运用ADAMS进行了建模及运动仿真,以验证拟合轨迹方程的正确性。研究结果表明,该方法能有效测量人体上肢运动参数,其结果可供上肢康复训练机器人的运动轨迹控制与上肢运动功能评价时参考。Due to the complexity of modeling and the huge amount of calculation,a new method was presented to measure and analysis upper-limb motion parameters.The modeling of upper-limb motion was re-analyzed and simplified.Series of experiments were designed based on the characteristics of upper-limb motion,which included simple-joint motion experiment,multi-joint motion experiment and task experiment.The datas of upper-limb motion from experiment objects were collected by NDI motion capture.The discrete points in datas were fitted by polynomials,and the results were expansioned to get periodic functions.ADAMS was used to model and simulate in order to verify the validity of the fitting trajectory functions.The research results indicate that the new method is effective in measuring the parameters of upper limb motion,and the results can be used as reference trajectories in control with upper limb rehabilitative robots and evalution of upper-limb movement function.

关 键 词：上肢运动 康复训练 运动参数 运动捕捉仪 

分 类 号：R318[医药卫生—生物医学工程] TP242[医药卫生—基础医学]