SICE東北支部研究集会資料(2012年)
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1 273 ( ) Motion measurement of nordic walking using inertial sensor, Takuya Tateyama, Koichi Sagawa * *Graduate School of Science and Technology Hirosaki University : (inertial sensor), (motion measurement), (nordic walking) : ,Tel./Fax.: (172) , h11gs62@stu.hirosaki-u.ac.jp 1. Nordic Walking NW NW NW 1) NW 2)3) NW 4) 1) 13 2) 2 3) 4) 4 5) 5) NW Japan Nordic Fitness Association JNFA JNFA 1
2 ) ' ( 2.2 NW 9) "!$#&% a ω 1 Fig. 1 Fig. 1 Stock and stock FM on world frame. NW NW 6)7) NW Position Sensitive Device PSD ) a x a y a z = ω y L ω x L + ω x ω z L ω y ω z L ( ωx 2 ωy)l 2 + i z g j z g k z g (1) L i j k 1 3 FM E E = [ i j k ] = i x j x k x i y j y k y i z j z k z (2) FM E i z j z k z i z j z k z = 1 g θ x θ y θ z a x ω y L ω x ω z L a y + ω x L ω y ω z L a z + (ω 2 x + ω 2 y)l (3) i 2 z + j 2 z + k 2 z = 1 (4) = sin 1 i z sin 1 j z sin 1 k z (5) 2
3 * % FM cos θ x tan θ x sin θ y tan θ x sin θ z E = sin θ z sin θy cos θ x cos θ x (6) sin θ x sin θ y sin θ z () () &' &' i x "!$# 2.3 h L FM k z k z FM k (Fig. 1) h = k z L (7) v v = E L Eω (8) Fig. 2 Stock FM E and E FM FM FM Fig.2 FM E = [ i j k ] 2.2 FM E = [ i j k ] i i E E E E i γ γ = tan 1 i y i x (9) z E γ E E = cos γ sin γ sin γ cos γ 1 E (1) FM E FM NW
4 -./$$ % )*+',!#%# "!#%$&'#( 3. V 3.3 V 16 ch 12 bit UART SPI PIC Microchip dspic3f612a XBee SD Fig. 3 Estimated trajectory of right foot and right stock. 1 2 PSD PSD 1[cm] t 1 t 2 t 1 t 2 xy l 1 l 2 Fig. 3 l 1 l 2 θ θ = cos 1 l 1 l 2 l 1 l 2 (l 3 z > = ) cos 1 l 1 l 2 l 1 l 2 (l 3 z < ) (11) [ l 3x l 3y l 3z ] = l 1 l 2 (12) θ l 1 l 2 FM z θ l 1 l 2 l 1 / l 2 t 1 PSD Fig. 4 Fig. 5 Fig. 6 PIC Microchip dspic3f312 3 XBee Fig. 7 Position Sensitive Device PSD SHARP GP2D12XJF (Fig. 8) 1 Hz 3 Freescale Semiconductor MMA-726Q 6 G 2 InvenSense IDG-3 5 deg/s 1 ANALOG DEVICES AD XRS-61 3 deg/s 3 3 XBee PIC UART 1152 bps 1) 4
5 !"# Fig. 8 Fig. 4 Fig. 5 PSD mounted on pole. Wireless sensor system Fig. 9 Inertial sensor mounted on foot. 4. Nordic walking. 実験方法 本報告では NW 初心者である健常な成人男 性 1 名の右足爪先に Fig. 5 のように計測装置を 取り付け Fig. 6 Fig. 8 のように計測装置とセ ンサ座標系 Y 軸方向を向けて PSD を取り付け た NW 用ストックを右手に持ち 被験者の好き な歩行速度で NW を行ってもらった (Fig. 9) こ の際 計測前に NW に慣れるまで練習をしても Fig. 6 Inertial sensor mounted on pole. らった 5. 結果と考察 Fig. 1 および Fig. 11 に無線計測装置によって 測定された右手および右ストックの加速度 角 速度データを示した このグラフより各部位が 地面に着いたタイミングや空中にいる区間など が推測できる さらに Fig. 12 に本報告の方法 で推定した右足と右ストックの移動経路を図示 Fig. 7 Host controller. した 図中では右足 右ストックの移動経路に 加え 3 サンプルごとのストックの状態を図示 5
6 PSD 2[m] 6. NW NW NW ) * #%$ * : #8 9 ;!<=<>@?A<BC>EDA?F>HG< IKJ > J <AB!"!./! LNMO P@QSR TU@VHW Fig. 1 Acceleration and angular velocity of right foot. * 9 #7 8 ) * #%$ :;=<">@?A>B<DC";=EF>@;FG<!H1I ; IJ<C!"./1 2 KFLNM OQP R"TZVQWYX 3456 KFLNM OQPSRUTVWYX Fig. 11 Acceleration and angular velocity of right stock. BC!',D >E4F?@.G >7 "!#%$'&(*)!+,$'-,./)%.213)%4652/1.7.6 K "!$#%'& )!$+ -.&"/ -1.&" ;:<-=./>29!=-,=?@.2A.'> >@?'A:B1C.D(?7EGFHE IKJ@E D(?7E F *89+:-2;5 $+ *< -5=-$; "!$#%'&()*!$+, -.&'/ -12&' , - +, - Fig. 12 Estimated trajectory of right foot and right stock. 6
7 1) : / ) : / ) : / ). < > 5) : ) Keita Mishima, Koichi Sagawa: Estimation of walking trajectory using ankle-mounted sensor, The International Conference on Mechatronics and Information Technology, 2P2-E2 (27) 7) Koichi Sagawa, Syuko Abo, Toshiaki Tsukamoto, Izumi Kondo: Forearm Trajectory Measurement during Pitching Motion using an Elbow-mounted SensorJournal of Advanced Mechanical Design, Systems, and Manufacturing, Vol.3, No.4, (29) 8) : / ) ( ): (1) 74 (26) 1) : /
SICE東北支部研究集会資料(2012年)
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