Yonezawa Teru, Onodera Takayuki, Mizoguchi Hiroshi, Takemura Hiroshi, Ogitsu Takeki
Annu Int Conf IEEE Eng Med Biol Soc. 2014;2014:4358-61. doi: 10.1109/EMBC.2014.6944589.
This paper presents a novel ankle motion measuring device that can measure three-dimensional motions without a motion capture system (MCS). We adapted a parallel link mechanism for the device using six wire-type displacement sensors to measure the ankle joint motions in six degrees of freedom (six-DOF). We define the motions of a foot plate which is attached to a foot sole as ankle joint motions. A posture of the foot plate, i.e., the three-dimensional position (x, y, z) and rotation angle (θ, Φ, ψ), is numerically calculated by solving the forward kinematics of the developed device. We conducted performance verification experiments of the developed device by comparing these results with those of the MCS. The experimental results show that the maximum root mean square error of the three-dimensional position and rotation angle measured by the developed device are 2.6 mm and 1.5°, respectively. This measuring performance of the developed device indicates that the ankle motion measuring device is accurate and valid. Moreover, this device enables physical therapists to easily measure ankle motions with an accuracy as high as that of an MCS.
本文介绍了一种新型的踝关节运动测量装置，该装置无需运动捕捉系统（MCS）即可测量三维运动。我们为该装置采用了一种平行连杆机构，使用六个线式位移传感器来测量踝关节在六个自由度（六自由度）下的运动。我们将附着在脚底的脚板的运动定义为踝关节运动。通过求解所开发装置的正向运动学，数值计算出脚板的姿态，即三维位置（x，y，z）和旋转角度（θ，Φ，ψ）。我们通过将所开发装置的结果与MCS的结果进行比较，对所开发装置进行了性能验证实验。实验结果表明，所开发装置测量的三维位置和旋转角度的最大均方根误差分别为2.6毫米和1.5°。所开发装置的这种测量性能表明该踝关节运动测量装置准确且有效。此外，该装置使物理治疗师能够轻松地以与MCS一样高的精度测量踝关节运动。
