A Basic Test of Calibration Methods for Measurement of Three-Dimensional Movements of Lower Limbs with Inertial Sensors
A Basic Test of Calibration Methods for Measurement of Three-Dimensional Movements of Lower Limbs with Inertial Sensors
复制标题
惯性传感器测量下肢三维运动校准方法的基本试验
DOI：
10.1109/lsc.2018.8572202
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Watanabe Takashi
中科院分区：
文献类型：
--
作者：
Ando Takuma;Watanabe Takashi
下肢关节三维角度的测量有助于评价各种下肢疾病或损伤后的运动变化。然而，利用惯性测量单元（伊穆斯）估计三维角度会引起误差，特别是在外展/内收角和内/外旋转角中。这被认为是由传感器坐标系和身体坐标系之间的差异引起的。为了解决这一问题，已经提出了各种坐标系的校准方法。针对惯性测量组合（IMU）的8种安装条件，对基于实际应用选择的3种标定方法在刚体模型三维角度估计中的应用进行了研究。方法A通过在矢状面中测量直立姿势和另一姿势期间的垂直轴来确定身体坐标系。方法B从下肢的每个节段在矢状面中的运动期间测量的加速度信号估计矢状面和该平面的法向量。方法C与方法A相似，采用双下肢垂直位和水平位姿势。IMU坐标系的差异显著增加了估计角度的RMSE值。由于方法A和C显示出与没有坐标系差异的情况下几乎相同的RMSE值，因此认为该方法是实用的。然而，在矢状面中使用移动的方法B在许多附着条件下不能降低RMSE值。在矢状面中进行运动被认为难以实际使用。
Measurement of three-dimensional lower limb joint angles are useful to evaluate changes of movements after various lower limb diseases or injuries. However, estimation of three-dimensional angles with inertial measurement units (IMUs) causes errors, especially in abduction/adduction angle and in internal/external rotation angle. This was considered to be caused by difference between the sensor coordinate system and the body coordinate system. In order to solve the problem, various calibration methods of the coordinate system have been proposed. In this paper, three calibration methods, which were selected based on practical application, were examined in estimation of three-dimensional angles of a rigid body model under the 8 attachment conditions of IMU. The Method A determined the body coordinate system by measuring the vertical axis during a standing upright posture and another posture in the sagittal plane. The Method B estimated the sagittal plane and the normal vector of the plane from measured acceleration signals during movement of each segment of the lower limb in the sagittal plane. Method C was similar to Method A, in which postures of vertical and horizontal positions of lower limbs were used. Difference of the coordinate system of the IMU increased significantly RMSE values of estimated angles. Since the Method A and C showed almost same RMSE values as in the case that there was no difference of the coordinate system, the methods are considered to be practical. However, the Method B that used movement in the sagittal plane could not decrease RMSE values in many attachment conditions. Performing the movement in the sagittal plane was considered to be difficult for practical use.
影响因子：
2.4
作者：
Favre, J.;Jolles, B. M.;Aminian, K.
通讯作者：
Aminian, K.