Research On The Wearable Motion Capture System

With the development of science and technology,wearable devices have already integrated into our daily life as a new field.Wearable devices which are intelligent and portable have showed a new way of life.The technology of motion capturing has be widely used in inertial navigation,virtual reality(VR),biomedical,human-machine control,sports and other fields.Therefore,we can combine the wearable device and the motion capture system in order to make the motion capture system more lightweight and energy-efficient.This paper designs a wearable motion capture system based on micro electro mechanical system(MEMS).The hardware part adopts STM32F103C8T6 as the main control chip;The data acquisition module uses the MPU9250 nine-axis inertial sensor to transmit the data collected by the sensor to the main control chip for data processing;The Bluetooth module is used as a data transmission module to transfer the processed data to the upper computer for display;The power module uses a lithium battery to supply power to the device,a charge management module and a battery fuel gauge chip are designed to charge the lithium battery and a TPS62233 voltage conversion is used to convert into different voltage values for each functional module.The software part includes master chip programming,nine-axis inertial sensor programming,Bluetooth module programming,and data processing module programming.The main control chip programming includes:the main control chip initialization,IIC communication programming,SPI communication programing and so on;The data processing module uses the method of complementary filtering and extended Kalman filtering as the data fusion algorithm in this paper.The attitude angle data obtained through the data fusion algorithm can better represent the posture results of the carrier motion.The wearable motion capture system constructed in this paper uses the hand as the research,by the experiments verifies the correctness of the design results.The movement model is displayed by the upper computer,which further proves the feasibility of the system.It also provides technical support and lays a foundation for designing the whole-body motion capture node in the future.