Design of a system capture human gait data in joint space - 文章详情页

作者：

Gong, Daoxiong (Gong, Daoxiong.) | Xie, Xunpeng (Xie, Xunpeng.) | Wang, Baoping (Wang, Baoping.) | Sun, Xiaoying (Sun, Xiaoying.)

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摘要：

Based　on　the　methodology　of　bio-inspired　control　of　humanoid　robot,　human　motion　capture　data　is　crucially　important　for　improving　the　quality　of　gait　as　well　as　the　ability　of　push-recovery　of　the　humanoid.　In　order　to　get　the　human　motion　data　that　is　easy　to　be　applied　to　humanoid　motion　control,　we　designed　a　wearable　human　motion　capture　system　that　can　capture　the　motion　of　the　trunk　and　the　lower　limbs　in　the　joint　space　as　well　as　the　motion　of　the　pelvis　in　the　Descartes　space;　and　the　forces　exerted　on　the　sole　of　foot　are　also　measured　so　as　to　capture　the　moving　of　the　zero　moment　point　(ZMP)　of　human　when　he/she　is　walking.　Both　the　mechanical　and　electronic　parts　of　the　motion　capture　system　are　introduced　in　detail;　the　advantages　and　the　disadvantages　of　the　system　are　also　discussed.　©　2014　IEEE.

关键词：

Anthropomorphic robots Gait analysis Intelligent control Joints (anatomy) Quality control

作者机构：

[ 1 ] [Gong, Daoxiong]College of Electronic Information and Control Engineering, Beijing University of Technology, No.100, Pingleyuan, Chaoyang District, Beijing, China
[ 2 ] [Xie, Xunpeng]College of Electronic Information and Control Engineering, Beijing University of Technology, No.100, Pingleyuan, Chaoyang District, Beijing, China
[ 3 ] [Wang, Baoping]College of Electronic Information and Control Engineering, Beijing University of Technology, No.100, Pingleyuan, Chaoyang District, Beijing, China
[ 4 ] [Sun, Xiaoying]College of Electronic Information and Control Engineering, Beijing University of Technology, No.100, Pingleyuan, Chaoyang District, Beijing, China

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