人体运动论文：新型人体运动位姿测量系统

人体运动论文：新型人体运动位姿测量系统

【中文摘要】人体运动是自然界最复杂的运动之一,随着当今医疗、体育及机器人等技术的快速发展,人类对于人体运动的研究也越来越深入。为探究人体运动规律,获取人体运动参数,本文提出一种基于丝线并联技术的新型人体运动位姿测量系统,该系统在人体运动测量、病人康复训练、仿人机器人和虚拟现实等领域具有重要应用。本文主要研究内容如下:1.根据运动生物力学及解剖学等相关理论,提

出一种基于丝线并联机构的人体运动位姿测量系统,提出人体运动测量单元概念,对人体运动测量单元的构型和布局进行了分析;2.对人

体运动测量单元进行了运动学和动力学分析,介绍了三种人体运动测量单元正解的求解方法:四面体法、无坐标法及消元法;3.对人体运动测量单元的工作空间进行了分析,对静态可达位置工作空间、静态可达方向工作空间和可达方向工作空间进行了计算,提出了静态可达工作空间和可达方向工作空间的性能评价指标;4.对人体运动测量系统进行了系统仿真和实验,获取了人体行走过程中下肢位姿数据,计算

了髋关节欧拉角、膝关节欧拉角以及人体行走过程中大腿的速度和角速度,最后给出了误差估计算法并对实验误差来源进行了分析。

【英文摘要】Human motion is perhaps one of the most complex motions in nature. With the rapid development of today’s health care, sports and robotics technology, the study of human body movement is more and more in-depth.To explore the laws of human

motion and acquire human motion parameters, a new type of human motion measurement system based on cable parallel technology is proposed in this thesis. The system can be applied to many domains such as human motion measurement, patient rehabilitation training, humanoid robots and virtual reality. The main contents of this thesis are as follows:1. According to the theories of sports biomechanics and anatomy, a new type of human motion measurement system is presented in the thesis. The concept of human motion measurement unit is proposed, the configuration and layout of the human motion measurement unit are analysed.2. The kinematics and dynamics of human motion measurement unit are studied.Three kinds of direct kinematic solution of human motion measurement unit are introduced: Tetrahedron approach, coordinate-free method and elimination method.3. The thesis researched the workspace of human motion measurement unit and discussed the statically reachable position workspace, the statically reachable orientation workspace and the reachable orientation workspace, finally proposed the performance evaluation index of the statically reachable workspace and reachable orientation workspace.4. We conducted the system simulation and experiment of human motion measurement system, acquired the position and orientation data

of the lower limb during human walking, and also calculated the hip joint Euler angles, knee joint Euler angles, the velocity and angular velocity of the thigh. Finally, the error estimation algorithm was proposed and the experimental error sources were analyzed.

【关键词】人体运动位姿测量丝线并联机构四面体法工作空间

【英文关键词】Human Motion Position and Orientation Measurement Cable Driven Parallel Mechanism Tetrahedron Approach Workspace

【目录】新型人体运动位姿测量系统摘要

3-5ABSTRACT5-6第一章绪论10-18 1.1 课题研究背景及意义10-11 1.2 人体运动测量国内外研究现状11-16 1.3 课题来源及本文主要研究内容16-18 1.3.1 课题来源16 1.3.2 主要研究内容16-18第二章人体运动及其测量系统基本原理

18-31 2.1 引言18 2.2 人体运动基本术语18-24 2.2.1 解剖学姿势18 2.2.2 基本平面和人体解剖学坐标系18-19 2.2.3 人体关节、环节的概念19-20 2.2.4 人体多刚体模型

20-21 2.2.5 人体关节参考系与关节坐标系21-24 2.2.6 人体运动生物力学参数24 2.3 人体运动测量系统组成与测量原理

24-30 2.3.1 人体运动测量系统组成24-25 2.3.2 人体运动测量单元选型25-27 2.3.3 人体运动测量单元下平台三点布局及人