【博士論文】学術データベース

博士論文 / Research on Joint Angle Estimation for Standing-up Motion by Using a Measurement System Consist of Inertial Sensor and Force Sensor Plate 慣性センサおよび力センサを用いた立ち上がり時の関節角度推定手法に関する研究

著者

書誌事項

タイトル

Research on Joint Angle Estimation for Standing-up Motion by Using a Measurement System Consist of Inertial Sensor and Force Sensor Plate

タイトル別名

慣性センサおよび力センサを用いた立ち上がり時の関節角度推定手法に関する研究

著者名

JIN Fang

学位授与大学

九州工業大学 (大学ID:0071) (CAT機関ID:KI000844)

取得学位

博士(工学)

学位授与番号

甲生工第317号

学位授与年月日

2018-03-23

注記・抄録

Standing-up motion from a chair is directly connected with walking and which is frequently performed every day. It is difficult for some elders because of the weakened function of muscles or motor. The training of standing-up motion and assisting the elderly with the standing-up motion from a chair is important to the elderly Quality of Life (QOL). Analysis of the posture parameters during standing up motion is useful for the physical therapists and care-giver in rehabilitation training or movement assist. The motion capture system can measure the movement of body posture in any direction precisely. However, it is difficult to use in daily life because of high cost and specific requirements for the space. And the use of motion capture system will give unpleasant feeling to users because many reflective makers are attached in the body. The purpose of this study is to develop a new estimation system, which can be used in daily life for angle estimation of extension phase during standing-up motion. This paper discusses the estimation system consist of: 1) the estimation of body joint angles and COG during extension phase; 2) the improvement of the proposed system for angle estimation. In 1), an estimation model was proposed that was able to estimate knee and ankle joint angles by combining angle and acceleration of trunk, which came from the inertial sensor attached to the chest of users during the extension phase. The estimate result of joint angle shows higher accuracy than previous research. In 2), in order to expand the use of proposed system and improve the estimation accuracy of proposed system, we estimated the initial angle of knee and ankle by combining foot pressure which measured by a force sensor plate before standing-up motion. The estimation model of initial lower limb angle shows high accuracy. It can be used for angle estimation of extension phase even though the initial knee and ankle joint angle were unknown.

九州工業大学博士学位論文 学位記番号:生工博甲第317号 学位授与年月日:平成30年3月23日

1 Introduction|2 Previous Researches|3 Angle Estimation of Extension Phase|4 Estimation of Initial Lower Limb Angle|5 Conclusion and Future Work

平成29年度

九州工業大学博士学位論文(要旨)学位記番号:生工博甲第317号 学位授与年月日:平成30年3月23日

キーワード

Elderly, Joint angle, Inertial sensor, Standing-up motion, Force sensor

各種コード

NII論文ID(NAID)

500001067833

NII著者ID(NRID)
  • 8000001197335
本文言語コード

eng

データ提供元

機関リポジトリ / NDLデジタルコレクション

博士論文 / 九州工業大学 / 工学

博士論文 / 九州工業大学

博士論文 / 工学

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