Miyajima Saori, Tanaka Takayuki, Imamura Yumeko, Kusaka Takashi
Annu Int Conf IEEE Eng Med Biol Soc. 2015;2015:6716-9. doi: 10.1109/EMBC.2015.7319934.
We estimate lumbar torque based on motion measurement using only three inertial sensors. First, human motion is measured by a 6-axis motion tracking device that combines a 3-axis accelerometer and a 3-axis gyroscope placed on the shank, thigh, and back. Next, the lumbar joint torque during the motion is estimated by kinematic musculoskeletal simulation. The conventional method for estimating joint torque uses full body motion data measured by an optical motion capture system. However, in this research, joint torque is estimated by using only three link angles of the body, thigh, and shank. The utility of our method was verified by experiments. We measured motion of bendung knee and waist simultaneously. As the result, we were able to estimate the lumbar joint torque from measured motion.
我们仅使用三个惯性传感器基于运动测量来估计腰部扭矩。首先，通过一个6轴运动跟踪设备测量人体运动，该设备结合了放置在小腿、大腿和背部的一个3轴加速度计和一个3轴陀螺仪。接下来，通过运动学肌肉骨骼模拟来估计运动过程中的腰椎关节扭矩。估计关节扭矩的传统方法使用由光学运动捕捉系统测量的全身运动数据。然而，在本研究中，仅通过身体、大腿和小腿的三个连杆角度来估计关节扭矩。我们的方法的实用性通过实验得到了验证。我们同时测量了屈膝和弯腰的运动。结果，我们能够从测量的运动中估计出腰椎关节扭矩。
