국내 최대 기계 및 로봇 연구정보

NDSL학술지

NDSL학술지 제목 게시판 내용
제목	역동적 스포츠 분야 응용을 위한 IMU 기반 관절각 추정에서의 표류오차 감소
저자	이정근 이창준
초록	In the case of dynamic sports activities such as skiing and sprints, it is difficult to apply optical motion capture systems because of measurement volume limitation. Alternatively, the use of inertial measurement unit (IMU) as a motion sensor has gained attention. This paper proposes a drift reduction method in the IMU-based joint angle estimation for dynamic motion-involved sports applications. To resolve the problem of conventional IMU-based methods significantly reducing performance under highly dynamic conditions, the proposed method applies a correction method using joint constraint. The proposed method is the complementary filter based on the previous drift reduction technique using the joint constraint, but performs in real time. The proposed method was validated by comparing the estimation accuracy with conventional methods under various dynamic conditions. The results showed that the proposed method was superior to the methods that did not use the constraint. While the proposed method was 0.19o less accurate than the non-realtime method of the reference, it is more practical due to its realtime correction capability.
저널명	한국정밀공학회지
VOL	37
PAGE	pp.539-546
발표년도	2020
논문	논문보기