Application Of The Three-Dimensional Camera Measurement System To The Motion Analysis Of The Human Upper-Limb

According to the modified Direct Lineal Transformation (DLT) algorithm, this paper presents a three-dimensional camera meaurement analysis system based on general cameras. Moreover, according to the rigid body model of the human upper-limb, a method of calculating the joint parameters of the human upper-limb is presented, which will provide the help for the further research.By comparing several kinds of measurement system, a three-dimensional camera measurement analysis system is established based on the current conditions of the laboratory. In Chapter 2, the following aspects are introduced in detail: the camera's pin-hole model, its distortion model, modified DLT algorithm, the programming, calibration performance of index and the designing of the experiment. Moreover, several experiments are made to examine the measurement accuracy. Finally, the paper discusses error analysis of this system.During analyzing the motional parameters of the rigid body, it is difficult to calculate the rotary matrix. According to the unit quaternion's property, the simplified variable algorithm is put forward in Chapter 3, which assures the accuracy and stabilization of calculating the rotary matrix. And the experiments also prove this.In Chapter 4, after studying the anatomical and physiological structure of the human upper-limb, a seven degree-of-freedom kinematics model of the human upper-limb is brought forward and an algorithm for calculating joint parameters of the upper-limb is presented. Using it, some upper limb's movements are measured and analyzed.