通过构建肢体运动模型,运用C空间到关节空间映射理论得到关节空间中的运动参数(角位移/肢体长度)。基于光学运动捕捉仪采集步态运动实时序列,运用最小二乘法拟合关节点计算肢体长度,然后分析点坐标误差和关节长度误差对角位移的影响。结果显示,通过最小二乘拟合法计算得到的肢体长度误差小于0.5 mm,尺寸误差在0.3%以内,点误差和肢体长度误差引起的角位移误差在1.5%以内。此方法稳定可靠且精度高。

Based on the theory of C-space mapping to joint space,motion parameters (displacement/limb length) are collected by setting up a body model.Gait sequences in real time are collected with an optical motion capturing system.A 4-flag-point coordinate is used via least squares fitting to calculate the limb length.The relationship between limb length and angular displacement is obtained based on the kinematic equation.The limb length error and its effect on the angular displacement is investigated.The results show that the calculated limb length error is less than 0.5 mm and the fitting precision of the limb length is within 0.3%.The angular displacement error caused by the point error and the limb length error is within 1.5%.The method is stable,reliable,and with high accuracy.