C-22 A study on the estimation method of joint torque estimation using the wearable force plates

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  • C-22 ウェアラブルフォースプレートを用いた関節トルク推定法に関する研究(センサ情報によるロコモーション解析)

Abstract

The aim of this study is to establish the method for the accuracy improvement of joint torque estimation in body motion analysis by wearable sensor system. The wearable sensor system consists of the wearable motion sensors and the wearable force plates, and the system can measure the 3-axis angular velocity, the 3-axis acceleration and the 3-axis magnetic field in the body segment and the ground reaction force. The wearable force plates measure the 6-axis force compontens in the heel segment and the toe segment. We established the method for calculation the resultant force of ground reaction force by considering the change of posture between heel and toe segments. The posture is estimated by using the Extended Kalman filter. The components about impact forces of force plates are used for the posture estimation. We conducted the measurement experiment of ambulation by attaching the wearable force plates, and we obtaned the resultant force (force and moment). The results indicated the effect by considering the change of posture between the heel segment and the toe segment.

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