用于生物力学应用的六自由度仪器化空间连杆机构的校准与验证。一种实用方法。

Calibration and validation of 6 DOFs instrumented spatial linkage for biomechanical applications. A practical approach.

作者信息

Sholukha Victor, Salvia Patrick, Hilal Isam, Feipel Véronique, Rooze Marcel, Jan Serge Van Sint

机构信息

Department of Anatomy (CP 619), University of Brussels, Lennik Street 808, 1070 Brussels, Belgium.

出版信息

Med Eng Phys. 2004 Apr;26(3):251-60. doi: 10.1016/j.medengphy.2003.10.002.

DOI:10.1016/j.medengphy.2003.10.002

PMID:14984847

Abstract

A method for both calibration and validation of a 6 DOF electrogoniometer is presented. A 6 Revolute Instrumented Spatial Linkage (6R-ISL) and a three-dimensional digitizer (3DD) were used simultaneously to collect both static and continuous poses of unconstrained or constrained motions. Validation occurred using a calibrated ball-and-socket joint. A parametrical model of the 6R-ISL (i.e. Virtual Goniometer or VG) was designed using a standard multibody system geometry. Two approaches were used to adjust the VG parameters: a parametrical adjustment of the VG linkage geometry, and a functional adjustment of the potentiometer calibration curves (angle-voltage) in a predefined range of motion. After calibration, 6R-ISL accuracy was better than 1 mm and 1 degrees for translation and orientation, respectively. The functional method presented in this paper can be suggested as a practical approach, which allows on-line checking and calibration of 6R-ISL within the specific range of interest of a particular anatomical joint. In addition, improving the potentiometer calibration curves was less time consuming than the parametrical adjustment.

摘要

本文提出了一种用于六自由度电子测角仪校准和验证的方法。同时使用一个六旋转关节仪器化空间连杆机构（6R-ISL）和一个三维数字化仪（3DD）来收集无约束或受约束运动的静态和连续姿态。使用校准后的球窝关节进行验证。采用标准多体系统几何结构设计了6R-ISL的参数模型（即虚拟测角仪或VG）。采用两种方法调整VG参数：对VG连杆机构几何结构进行参数调整，以及在预定义运动范围内对电位计校准曲线（角度-电压）进行功能调整。校准后，6R-ISL在平移和方向上的精度分别优于1毫米和1度。本文提出的功能方法可作为一种实用方法，允许在特定解剖关节的特定感兴趣范围内对6R-ISL进行在线检查和校准。此外，改进电位计校准曲线比参数调整耗时更少。