人體運動模型與校正

Kinematic Modeling and Calibration of a Human Body

黃國慶(Huynh Quoc-Khanh)

指導教授 ： 丁 鏞

中原大學/工學院/機械工程研究所/碩士(2010年)

https://doi.org/10.6840/cycu201100865

摘要

中文摘要

高爾夫揮桿動作牽涉到許多肌肉關節是一種比較複雜的運動。本論文針對所有較具影響揮桿之肌肉關節，包括 5關節所提供 12自由度建立其運動模型。首先假設在已知所有相關之運動參數條件下，利用順向運動學及設定之目標，找出較簡易各具十一自由度和六自由度之兩種運動模型。藉此簡易運動模型，可就測試者不確定之相關運動參數如手臂長度，利用順向和反向運動學及已知目標進行辨識。
本研究整個過程分為兩個階段，第一階段是稱為初步鑑別步驟，有助於逼近人體尺寸的真實值。此步驟測試者被要求觸摸兩確定目標點，其目的就是要克服不可預知的錯誤，達到鑑別效果，並為後來的校準過程提供更好的初始值。第二階段稱為微校準步驟，測試者將分別觸摸最少四個預定的校準目標點以提高準確性。利用陀螺儀作為數據記錄的基礎，其中陀螺儀裝置在測試者身體的指定位置，透過所發展之目標函數之最小化運算法則，可獲得欲辨識之參數。依據十一自由度和六自由度運之動學模型，實驗結果顯示辨識之人體手臂尺寸的平均誤差約分別為 99mm及19mm，而利用陀螺儀感測器測量之關節輸出及計算之揮桿之終端輸出與目標點之誤差分別約為1950.9mm及365mm。

關鍵字

順向運動學 ； 高爾夫揮桿數學模式 ； 反向運動學 ； 校準

並列摘要

ABSTRACT
Golf swing is one of the most sophisticated motions because of the complex human muscular skeleton structure. A comprehensive model including 12 DOF provided by 5 joints significantly influential to the swing motion is considered in this study. With known kinematics parameters and assigned end-effector position and orientation, significant parameters are determined using forward kinematics so that a reduced-order model of 6DOF and 11DOF respectively is found. On the basis of derived human-body model, several unknown dominant kinematic parameters, the link length in this study, of any arbitrary player are identified by using forward and inverse kinematics.
The identification process is divided into the course step and the fine-tune step. The purpose of the course step is to overcome unpredictable errors and approximate the actual values of body dimensions so that providing suitable initial values for the later fine-tune step. In this step, players are asked to touch two defined points. In the fine-tune step, precise calibration process is carried out step by touching minimum four pre-defined points in order to improve the identification accuracy. A number of gyros are employed to the appropriate location of the human body respectively to measure the joint motion. Base on measured, an algorithm together with a set of cost functions to minimize the errors of the end-effector is developed. Finally, target of the golf ball is assigned for the player to swing and touch. The end-effector is calculated by the measured joint motion as well as the forward kinematics, which indicates the error. Via experiment, average error of the identified link lengths is about 99mm and 19mm for 11DOF and 6DOF model respectively; and the resultant error in the target point is about 1950.9 mm and 365mm for the 11DOF and 6DOF model respectively.

並列關鍵字

Body segment dimensions ； Calibration ； Golf swing model

參考文獻

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3. Burden, A., P.N. Grimshaw, and E.S. Wallace, Hip and Shoulder Rotations During the Golf Swing of Sub-10 Handicap Players. Journal of Sports Sciences, 1998. 16(2): p. 165-176.

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6. Jorgensen, T.P., The Physics of Golf. 1999: Springer.