微传感器测量运动状态下的人体躯干倾角

精确地测量与控制躯干部的姿态对于人体和仿人机器人的运动学研究具有重要意义。先前的研究大多基于泛用算法，实验条件单一。基于陀螺仪和磁力计的数据融合，提出了一种用于估算运动状态下人体躯干倾角的算法。实验结果表明：在不同运动状态下，算法的均方根误差为1.81°±0.77°。该算法可以应用在有关人体和机器人运动平衡性的研究中。

Inclination of human trunk in movement state based on micro sensor

Accurately measure and control posture of trunk is critical for kinematic research in human and robots. The majority of former researches are based on general algorithms or under specific condition. A novel algorithm is developed by fusing of gyroscope and magnetometer data to estimate inclination of human trunk during movements. Experimental results shows that root-mean-square error is 1. 81° ±0. 77° under different moving conditions. This algorithm can be used in movement balance research of human and robotics.