摘要
基于可穿戴式惯性传感器(Inertial sensor unit,IMU)的人体运动跟踪技术具有佩戴方便、运动空间不受限和成本低等优点,已广泛应用于医疗康复、体育竞技、人机交互和虚拟现实等领域.本文对惯性式人体运动跟踪技术的发展历史、研究现状以及典型方法进行了较为全面的梳理和总结,主要包括人体运动学模型和生物学约束,传感器初始对准方法,传感器种类,传感器误差处理以及数据融合方法,并概述相关方法应用于实际的现状.最后,总结了该领域待解决的难点问题,并对未来的发展趋势进行了展望.
Human motion tracking based on wearable inertial sensors has the advantages of convenient wearing, unrestricted motion space and low cost. It has found wide applications in medical treatment, sports, human-machine interaction, virtual reality and other fields. A detail overview of the history, the state of the art, and typical methods are given in this paper. Special attention is paid to the following areas: human kinematics models and biological constraints, sensor-to-segment calibration, sensor technology, sensor interference handling, information fusion methods,and the relevant applications. Finally, the outstanding issues are summarized, and the future trends of this field are discussed.
作者
张鋆豪
何百岳
杨旭升
张文安
ZHANG Jun-Hao;HE Bai-Yue;YANG Xu-Sheng;ZHANG Wen-An(College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023)
出处
《自动化学报》
EI
CSCD
北大核心
2019年第8期1439-1454,共16页
Acta Automatica Sinica
基金
国家重点研究发展计划(2016YFF0104004)
国家自然科学基金(61822311)资助~~
