Wearable motion capture suit with full-body tactile sensors
Wearable motion capture suit with full-body tactile sensors
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DOI：
10.1109/robot.2009.5152758
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发表时间：
2009-05
期刊：
影响因子：
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通讯作者：
Yuki Fujimori;Y. Ohmura;T. Harada;Y. Kuniyoshi
中科院分区：
文献类型：
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作者：
Yuki Fujimori;Y. Ohmura;T. Harada;Y. Kuniyoshi
本文提出了一种采集人体动作和触觉数据的系统以及分析这些数据的方法。如果没有触觉信息，我们就不能完全捕捉运动的本质，有时这种信息的缺乏会导致严重的问题。为了更好地理解运动行为，我们开发了一种带有全身触觉传感器的可穿戴运动捕捉套装。我们还开发了一种运动传感器，它可以通过内置的CPU来估计它的方位。我们还构建了一个可以适应多种体型的触觉传感器模块。使用该系统，我们可以同时测量用户的动作和触觉信息。通过将触觉数据和运动数据相结合，我们可以获得许多有意义的见解。通过实验验证了该系统的有效性。我们捕捉到了两个动作：坐在椅子上的伸展动作和躺在床上的动作。通过从触觉数据中识别接触点并将其拟合到环境中，我们能够估计运动轨迹。
This paper presents a system for capturing human movement and tactile data and methods for analyzing this data. We cannot fully capture the essence of motion without tactile information, and sometimes the lack of such information causes critical problems. To achieve a better understanding of motion behavior, we developed a wearable motion capture suit with full-body tactile sensors. We also developed a motion sensor which can estimate its orientation with its inner CPU. We also built a tactile sensor module which can fit many kinds of body shapes. With this system, we can measure a user's movement and tactile information simultaneously. By integrating tactile data with motion data, we can achieve many kinds of meaningful insights. We demonstrate the effectiveness of this system with experiments. We captured two motions: stretching after sitting on a chair and laying down on a bed. By recognizing the contact point from the tactile data and fitting it into the environment, we were able to estimate the motion trajectories.