IEEE Trans Neural Syst Rehabil Eng. 2020 Mar;28(3):637-645. doi: 10.1109/TNSRE.2020.2971762. Epub 2020 Feb 5.
For personalized rehabilitation or sports training, it is necessary to monitor dynamic motions and track postures of human body and limbs. Traditional methods using micro inertial sensors usually suffer from drift problems in tracking dynamic motions. In this paper, a wearable flow-MIMU human motion capture device is proposed by incorporating micro flow sensor with micro inertial measurement unit (MIMU). Motion velocity is detected by a micro flow sensor and utilized to figure out the motion acceleration. The gravity accelerations are extracted by eliminating the motion accelerations from the accelerometer outputs. Finally, posture estimation is implemented by using a tailor-designed Kalman-based data fusion of the gyroscope outputs and the extracted gravity accelerations. The flow-MIMU device with wireless communication is designed like a watch to be wearable. Experimental results validate that the motion velocity, acceleration and posture of human limb are determined accurately and free of accumulative error in monitoring of dynamic motions using the proposed method. The wearable flow-MIMU device provides an advantageous monitoring approach for applications of personalized rehabilitation, sports training, intelligent prosthetics, etc.
对于个性化的康复或运动训练，有必要监测人体和肢体的动态运动和跟踪姿势。传统的使用微惯性传感器的方法在跟踪动态运动时通常会受到漂移问题的困扰。本文提出了一种可穿戴的流-MIMU 人体运动捕捉设备，该设备将微流传感器与微惯性测量单元（MIMU）结合在一起。通过微流传感器检测运动速度，并利用运动速度来确定运动加速度。通过从加速度计输出中消除运动加速度来提取重力加速度。最后，通过使用针对陀螺仪输出和提取的重力加速度的定制卡尔曼数据融合来实现姿势估计。带有无线通信的流-MIMU 设备设计得像手表一样可穿戴。实验结果验证了使用所提出的方法在监测动态运动时，人体肢体的运动速度、加速度和姿势可以被准确确定，并且没有累积误差。可穿戴的流-MIMU 设备为个性化康复、运动训练、智能假肢等应用提供了一种有利的监测方法。
