A New Type Of Human Motion Measurement System

Human motion is perhaps one of the most complex motions in nature. With the rapid development of today's health care, sports and robotics technology, the study of human body movement is more and more in-depth.To explore the laws of human motion and acquire human motion parameters, a new type of human motion measurement system based on cable parallel technology is proposed in this thesis. The system can be applied to many domains such as human motion measurement, patient rehabilitation training, humanoid robots and virtual reality. The main contents of this thesis are as follows:1. According to the theories of sports biomechanics and anatomy, a new type of human motion measurement system is presented in the thesis. The concept of human motion measurement unit is proposed, the configuration and layout of the human motion measurement unit are analysed.2. The kinematics and dynamics of human motion measurement unit are studied.Three kinds of direct kinematic solution of human motion measurement unit are introduced: Tetrahedron approach, coordinate-free method and elimination method.3. The thesis researched the workspace of human motion measurement unit and discussed the statically reachable position workspace, the statically reachable orientation workspace and the reachable orientation workspace, finally proposed the performance evaluation index of the statically reachable workspace and reachable orientation workspace.4. We conducted the system simulation and experiment of human motion measurement system, acquired the position and orientation data of the lower limb during human walking, and also calculated the hip joint Euler angles, knee joint Euler angles, the velocity and angular velocity of the thigh. Finally, the error estimation algorithm was proposed and the experimental error sources were analyzed.