人體下肢運動之分析與動畫模擬

Analysis and Animation Simulation of the Human Lower Limb Motion

張傑閔(Chieh-Min Chang)

指導教授 ： 楊智媖

國立中正大學/工學院/機械工程學系/碩士(2012年)

摘要

本論文目的為開發一人體下肢虛擬實境運動狀態系統，其將利用LabVIEW做為開發平台，以OpenGL圖形函式庫做為三維圖形顯示基礎，整合加速度計(Accelerometer)、陀螺儀(Gyroscope)、力感測器(Load Cell) 及訊號擷取卡等硬體裝置，呈現人體下肢運動姿態，並結合MATLAB程式，計算運動過程中各肢節力與力矩之變化。首先利用機器人學，定義座標系以描述下肢運動的姿態變化，推導人體下肢運動之動態方程式，並將其以MATLAB撰寫模擬程式。另外，加速度計所量測趾骨移動量與陀螺儀所量測之各關節旋轉角度、角速度及角加速度值匯入Matlab下肢動態方程式中，計算各關節、肢體受力情況受力情形。最後，此研究將下肢運動模擬計算得知之腳底受力值，與力感測器測得之腳底受力情形進行比對，以驗證下肢動態方程式是否正確。

關鍵字

加速度計 ； 陀螺儀 ； 力感測器 ； 動態方程式

並列摘要

The purpose of this paper is to develop a virtual reality implementation of human lower limb movement using LabVIEW as a development platform and OpenGL as a 3D graphics display, and integrating accelerometers, gyroscopes, load cells, signal acquisition cards and other hardware devices in order to present the human lower limb movement gesture. First, we derived dynamic equations of human lower limb movement using robotics and then loaded them into a MATLAB simulation program. Then, the motion magnitudes of phalanges (as measured by accelerometer) as well as the rotation angles, the angular velocities, and the angular accelerations of different joints (as measured by gyroscope) were imported into the lower limb dynamic equations during MATLAB simulation in order to calculate the forces on each joint and the limb. Finally, this study compared the calculated forces value for the sole from the simulation with the measured forces value for the sole from the load cell to verify our lower limb dynamic equations of lower limb.

並列關鍵字

Accelerometer ； Gyroscope ； Load Cell ； Dynamic equation

參考文獻

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