The Human Motion Analysis Based On The Xsens MVN Inertial Motion Capture

With the proposal of the strategic plan “Made in China 2025", high-grade CNC machine tool and robot make the robot one of the most promising new industries. The humanoid robot is one of the most active branches in the robot technology field. To make the humanoid robot service our family and fit into society, it must have form and characteristics of natural person. The research of inherent mechanisms essential attribute and characteristics on imitation human body joints structure, muscle group of the parallel drive mode(synergy and antagonism) and the movement law of joints are the humanoid robot bionic research and design theory basis and data suppot. It has scientific significance and practical value.The research, with the Xsens MVN inertial motion capture system as experimental items and the 6 motion parameters(position, position angle, velocity, angular velocity,acceleration and angular acceleration)as data basis, collects experiment data of human daily typical action----walking by Xsens MVN,to study the kinematics, statics, dynamics of human,etc.The paper also studies the work space of shoulder,hip and ankle. The main contents are listed as follows:On the basis of human anatomy, human body motion model of the skeleton is constructed.The human body motion model consists of 23 segments, 18 joints and 36 degrees of freedom.This dissertation formulates the corresponding anatomical terminology and constructs the corresponding human body coordinate systems.The research, with the Xsens MVN inertial motion capture system as experimental items collects 40 sets of experiment data of human daily typical action---- walking. Based on the analysis of the function of hip, knee, ankle joints angle change over time in individual walking, the general function of three joints angle change over time is established. On the basis of the 40 sets of data,the paper puts height, weight, walk cycle three parameters as independent variables and have solved the function of general function solutions by using the statistical principle and function fitting function solutions.The research puts the flexible workspace of the shoulder, hip and ankle as part of asphere.We put the joint limit movement trajectory spherical envelope by the part of a sphere as joint work space, collect the measured data of joint work space and discuss the joints work space from the spherical coordinates and euler Angle two forms.Human body three branched chain dynamics model is established in the research. On the basis of the Lagrange principle and with the combination of inertial force and inertial moment, the space force system balance equation is established. We study the body lower limb statics and hip, knee, ankle joint force when the person and the change of the joint torque image and its lower limit, range, etc.Taking spherical parallel bionic ankle of humanoid robot for example, we formulate the height, body weight when walking and walking cycle to determine the trajectory function, and then put the human body movement function as the output, and export input through the kinematics inverse solution.The accuracy of the conclusion is verified through the comparison with the input from Adams simulation software. Secondly the research puts the most value of human body joint force and joint moment for reference, Through the calculation of mechanism dynamics, we have had the size of the driving force to select the appropriate drive motor and proved the practicability of the conclusion.