基于关节自由度约束的上臂轴旋转跟踪误差补偿

摘要/Abstract

摘要：

摘要：针对外敷跟踪器下皮肤组织滑移(Soft Tissue Artifact，STA)引起的人体运动跟踪中上臂轴旋转角位移跟踪误差问题，基于关节自由度约束，提出一种利用相连肢体相对位姿矩阵分解的在线STA误差补偿角度计算方法.首先，利用一组不包含上臂轴旋转的上肢运动轨迹跟踪信息，基于关节点位置连续和旋转自由度约束，通过优化方法计算各肢体分段坐标系到相应跟踪器坐标系的位姿变换矩阵；然后，上肢实时运动跟踪时，对上臂和小臂相对姿态矩阵引入上臂轴旋转STA误差补偿运动，在肘关节两旋转自由度的基础上进行3自由度的旋转矩阵分解，得到STA误差补偿角度.4人上肢运动跟踪实验表明：在不同肘关节内曲角度条件下，均能有效在线修正上臂轴旋转STA跟踪误差，且在旋转角度较大时，补偿精度优于线性STA误差补偿方法.

关键词: , 皮肤组织滑移, 关节自由度约束, 人体运动跟踪, 上臂轴旋转, 误差补偿, 矩阵分解

Abstract:

Abstract： Soft tissue artifact (STA) is the main error source in upper extremity motion tracking using skinmounted marker sets, especially in upper arm axial rotation. To address this problem, an online upper arm axial rotation angular tracking error compensation method was proposed using matrix decomposition of the relative pose data between the connected bodies based on the joint DOFs constraint. Frist, the transformation matrix between the coordinate of each limb segment to the responding tracking sensor was calculated by optimization method using a group of upper extremity motion information with no upper arm axial rotation. In this situation, the relative attitude from the forearm to the upper arm would comply with the two DOFs constraint of elbow. Then, an error compensation motion for the tracking deviation caused by the STA of upper arm axial rotation was introduced into the relative attitude. The compensation angle was calculated online by the decomposition of this relative attitude matrix using three DOFs rotational motions when the motion tracking of the movement of upper extremity with upper arm axial rotation. Vivo upper extremity motion tracking experiments of four subjects show that this method can effectively online fix the upper arm axial rotation tracking error caused by the STA. The compensation accuracy is better than that of the linear error compensation method, especially when the rotation angle range is large.

Key words: soft tissue artifact(STA), joint DOF constraint, human motion tracking, upper arm axial rotation, error compensation, matrix decomposition

中图分类号:

荆旭1，邱世广1，范秀敏1,2，何其昌1,2. 基于关节自由度约束的上臂轴旋转跟踪误差补偿[J]. 上海交通大学学报（自然版）, 2014, 48(12): 1667-1674.

JING Xu1,QIU Shiguang1,FAN Xiumin1,2,HE Qichang1,2. Tracking Error Compensation of Upper Arm Axial Rotation with Joint DOF Constraint[J]. Journal of Shanghai Jiaotong University, 2014, 48(12): 1667-1674.

参考文献

［1］Slavens B A,Harris G F. The biomechanics of upper extremity kinematic and kinetic modeling: Applications to rehabilitation engineering［J］. Critical Reviews in Biomedical Engineering, 2008, 36(23): 93125.

［2］邱世广, 武殿梁, 范秀敏, 等. 基于船舶人机工程的虚拟人操作驱动建模仿真技术［J］. 上海交通大学学报, 2012, 46(9): 13661370.

QIU Shiguang, WU Dianliang, FAN Xiumin, et al. Ship ergonomics evaluation based on virtual human realtime driven modeling technology ［J］. Journal of Shanghai Jiaotong University, 2012, 46(9): 13661370.

［3］Kuo C F,Wang M J J. Interactive virtual evaluation for interface design［J］. Human Factors and Ergonomics in Manufacturing, 2007, 17(5): 485495.

［4］Prokopenko R A,Frolov A A,Biryukova E V, et al. Assessment of the accuracy of a human arm model with seven degrees of freedom［J］. Journal of Biomechanics, 2001, 34(2): 177185.

［5］Ehrig R M,Taylor W R,Duda G N, et al. A survey of formal methods for determining functional joint axes［J］. Journal of Biomechanics, 2007, 40(10): 21502157.

［6］Ehrig R M,Taylor W R,Duda G N, et al. A survey of formal methods for determining the centre of rotation of ball joints［J］. Journal of Biomechanics, 2006, 39(15): 27982809.

［7］Cutti A G,Paolini G,Troncossi M, et al. Soft tissue artefact assessment in humeral axial rotation［J］. Gait and Posture, 2005, 21(3): 341349.

［8］van Andel C J, Wolterbeek N, Doorenbosch C A M. Complete 3D kinematics of upper extremity functional tasks［J］. Gait & Posture, 2008, 27(1): 120127.

［9］Roux E,Bouilland S,GodillonMaquinghen A P, et al. Evaluation of the global optimisation method within the upper limb kinematics analysis［J］. Journal of Biomechanics, 2002, 35(9): 12791283.

［10］Zhang Y,Lloyd D G,Campbell A C, et al. Can the effect of soft tissue artifact be eliminated in upperarm internalexternal rotation?［J］. Journal of Applied Biomechanics, 2011, 27(3): 258265.

［11］Rettig O,Fradet L,Kasten P, et al. A new kinematic model of the upper extremity based on functional joint parameter determination for shoulder and elbow［J］. Gait and Posture, 2009, 30(4): 469476.

［12］Cutti A G,Cappello A,Davalli A. In vivo validation of a new technique that compensates for soft tissue artefact in the upperarm: Preliminary results［J］. Clinical Biomechanics, 2006, 21(SUPPL 1): S13S19.

［13］Andersen M S,Damsgaard M,Rasmussen J, et al. A linear soft tissue artefact model for human movement analysis: Proof of concept using in vivo data［J］. Gait and Posture, 2012, 35(4): 606611.

［14］Cappozzo A,Catani F,Della Croce U, et al. Position and orientation in space of bones during movement: Anatomical frame definition and determination［J］. Clinical Biomechanics, 1995, 10(4): 171178.

［15］Wu G,Van Der Helm F C T,Veeger H E J, et al. ISB recommendation on definitions of joint coordinate systems of various joints for the reporting of human joint motionPart II: Shoulder, elbow, wrist and hand［J］. Journal of Biomechanics, 2005, 38(5): 981992.

编辑推荐 0

Metrics

阅读次数

全文

294

HTML			PDF

最新录用	在线预览	正式出版	最新录用	在线预览	正式出版
0	0	0	4	0	290

来源	本网站	其他网站

次数	30	264
比例	10%	90%

摘要

827

最新录用	在线预览	正式出版

46	0	781

来源	本网站	其他网站

次数	356	471
比例	43%	57%

[1]	王聚团, 戚晓宁, 黄志明. 水下生产管汇测试技术及其改进研究[J]. 海洋工程装备与技术, 2022, 9(2): 43-49.
[2]	袁振钦, 邹科, 孙亚峰, 刘刚, 屈衍, 李居跃. 基于时域分析法的动态电缆疲劳分析[J]. 海洋工程装备与技术, 2022, 9(2): 50-55.
[3]	王娟, 杨明旺, 郑茂尧, 刘凌云, 赵立君. 高强钢在大型半潜式平台组块建造中的应用[J]. 海洋工程装备与技术, 2022, 9(1): 27-31.
[4]	陈欣, 赵晓磊, 王立坤, 肖德明, 张腾月. 深水大型吸力锚建造技术研究[J]. 海洋工程装备与技术, 2022, 9(1): 32-36.
[5]	尹彦坤, 易涤非. 半潜式生产平台船体结构关键节点工程临界评估[J]. 海洋工程装备与技术, 2022, 9(1): 52-57.
[6]	ZHANG Shengfa (张胜发), TANG Na (唐纳), SHEN Guofeng (沈国峰), WANG Han (王悍), QIAO Shan (乔杉). Universal Software Architecture of Magnetic Resonance-Guided Focused Ultrasound Surgery System and Experimental Study[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(4): 471-481.
[7]	MA Qunsheng (马群圣), CEN Xingxing (岑星星), YUAN Junyi (袁骏毅), HOU Xumin (侯旭敏). Word Embedding Bootstrapped Deep Active Learning Method to Information Extraction on Chinese Electronic Medical Record[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(4): 494-502.
[8]	牛牧, 许黎明, 赵达, 范帆. 基于工件轮廓图像的砂轮磨损在线检测方法[J]. 上海交通大学学报, 2021, 55(3): 221-228.
[9]	安庆升, 孙立东, 武秋生. 碳纤维增强复合材料发射筒设计研究[J]. 空天防御, 2021, 4(2): 13-.
[10]	KONG Xiangqiang (孔祥强), MENG Xiangxi (孟祥熙), LI Jianbo (李见波), SHANG Yanping (尚燕平), CUI Fulin (崔福林) . Comparative Study on Two-Stage Absorption Refrigeration Systems with Different Working Pairs[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(2): 155-162.
[11]	ZHUANG Weimin (庄蔚敏), WANG Pengyue (王鹏跃), AO Wenhong (熬文宏), CHEN Gang (陈刚) . Experiment and Simulation of Impact Response of Woven CFRP Laminates with Different Stacking Angles[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(2): 218-230.
[12]	ZHOU Xuhui (周旭辉), ZHANG Wenguang (张文光), XIE Jie (谢颉). Effects of Micro-Milling and Laser Engraving on Processing Quality and Implantation Mechanics of PEG-Dexamethasone Coated Neural Probe[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(1): 1-9.
[13]	HUANG Ningning (黄宁宁), MA Yixin (马艺馨), ZHANG Mingzhu (张明珠), GE Hao (葛浩), WU Huawei (吴华伟). Finite Element Modeling of Human Thorax Based on MRI Images for EIT Image Reconstruction[J]. J Shanghai Jiaotong Univ Sci, 2021, 26(1): 33-39.
[14]	陶正瑞, 党嘉强, 徐锦泱, 安庆龙, 陈明, 王力, 任斐. 基于支持向量机回归的曲面零件涡流测距标定方法[J]. 上海交通大学学报, 2020, 54(7): 674-681.
[15]	WANG Xianjin, GAO Xu, YU Kuigang . Fixture Locating Modelling and Optimization Research of Aluminum Alloy Sidewall in a High-Speed Train Body[J]. J Shanghai Jiaotong Univ Sci, 2020, 25(6): 706-713.