JP5388473B2 - 較正ユニットを使った動作追跡のためのシステムと方法 - Google Patents
較正ユニットを使った動作追跡のためのシステムと方法 Download PDFInfo
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Description
少なくとも物体部分の方位に関係するデータを測定するための方位測定ユニットであって、少なくとも方位パラメーターを有する各物体部分と位置的及び方位的関係に配置されている、方位測定ユニットと、
方位測定ユニットからデータを受け取るためのプロセッサであって、受け取ったデータを使って、物体部分の方位及び/又は位置の情報を導き出すためのモジュールを備えている、プロセッサと、を備えているシステムに関する。
a)OMUを既知の姿勢で対象の身体部分に慎重に固定すること。例えば、この姿勢を決めるには、骨の目印に触接する必要がある。
b)運動を測定する被験者に、既知の姿勢、例えば、腕を下げた直立の、又はいわゆるT姿勢で立つように求めること。
c)被験者に、或る軸に対応するよう想定されている或る運動を行うように求めること。例えば、腕の軸は、回内又は回外運動によって決められる。身体部分に対するOMUの方位を見つけ出すには、測定された方位、又は角速度の様な他の量が用いられる。その様な技法については、例えば、Luinge他、J.Biomech.2007、40(1)、第78-85頁、電子出版、2006年2月7日に記載されている。
−身体部分は、関節によって相互接続されて運動連鎖を形成し、従って、各関節は、各解剖学上の関節の領域と実質的に一致するという事実。これによって、運動学的制約は、関節によって接続されて、運動連鎖を構成している身体部分の、許容可能な運動に関する知識に基づいて形成される。運動学的制約は、関節制約とも呼ばれるが、これについては、図3を参照して更に論じる。
−最後の段落でも述べられている既知の肩の運動の共同作用又は神経学的共同作用の様な、或る動作パターンにおける冗長度に関する機械的境界条件。
−ユニット構造に関する幾何学形状的な及び機械的な制約。ユニット構造は、関節によって相互接続されている2つの身体部分として定義されている。これについては、図3を参照して更に述べる。
−較正に用いられるモデルの人の人体測定パラメーターであって、モデルの人の少なくとも1つの身体部分の少なくとも1つの寸法の測定値、モデルの人を構成している異なる身体部分の間の比率に関するスケーリングデータ、母集団固有のパラメーターに関するアプリオリな知識、及びセンサーの身体上の位置に関するアプリオリな知識の内の何れかに関係するパラメータ。
距離に関する知識。例えば、モデルの人の各身体部分を測定するのではなく、2点間の距離を同じか又はゼロに維持し、測定データを、特定の基本の運動又は姿勢の間に収集すると考えても十分である。これについては、図4を参照して詳しく述べる。加えて又は代わりに、特定の方向の寸法が分かっていると考えても十分である。この所定の制約の実施形態は、モデルの人が平面上に立っているときの状況に関連しているので、身体の左側と右側の間の垂直方向の差はゼロであることが分かっている。
関節によって接続されている2つの異なる物体部分で測定される加速度。本発明による動作追跡システムの別の実施形態によれば、各身体部分の2点に対するOMUの加速度に関する測定データは、OMUの2つのパラメーター、特に関節に対するOMUの方位と位置を求めるために、適切に選択された所定の制約、特に関節の制約、又は2点の間の距離に関する知識と共に用いられる。更に、身体部分の個別の絶対寸法が求められる。
方法I 身体部分上に決められている1つの点Aは、身体部分上に決められている点Bに対して、既知又は一定の距離に保たれることが知られている。これは、人に指示して、身体の一部を、他の部分と接触させ続けることによって行われる。この方法は、関節間の相対距離、並びに身体部分に対するOMUの方位を見つけ出す。この技法については、図4と図5を参照して詳しく述べる。
少なくとも物体部分の方位に関係するデータを方位測定ユニットで測定する段階であって、方位測定ユニットは、少なくとも方位パラメーターを有する各物体部分との位置的及び方位的関係で配置される、方位に関係するデータを測定する段階と、
方位測定ユニットからのデータを受け取る段階と、
受け取ったデータを使って、物体部分の方位及び/又は位置の情報を導き出す段階と、
少なくとも物体部分の相互比率と、少なくとも方位測定ユニットの方位パラメーターを、受け取ったデータと、所定の制約と、少なくとも2点間の距離に関する知識及び/又は関節で接続されている少なくとも2つの物体部分の加速度に関する知識を含む追加の入力データと、に基づいて求めるための較正値を計算する段階と、を含んでいる。
a)関節間の(相対)距離、
b)鎖の中の第1関節と最終関節の間、及び点AとBの間それぞれの(相対)距離、
c)関節の間又は点の間の線に対するOMUの方位
について求め又は精緻化することができる。
更に、この較正方法は、身体部分のOMUの位置とは独立であることに注目されたい。
Gri=Gri(Sri,qi)
と表される。
(rA−rB)・n−D=0
rA−rB=0
と書くことができる。
(GrA(SrA,qA)―GrA(SrB,qB))・n−D=0
x+=x+Qx・CT(C・Qx・CT+R)-1(y−C・x)
である。
ajointA=ajointA(rA)
ajointA(rA)−ajointB(rB)=0
A.ユーザーに、身体の1つの点を他の点と接触させるか、一定の距離に保持するよう求めることであり、例えば図4を参照されたい。
B.被験者は運動を行い、その際、例えば、両手で棒を保持し、両手を移動させることによって、或る距離を一定に保つよう求められる。代わりに、人が、水平な面上に、好ましくは図2に概略的に示している様に、下肢を幾つかの異なる姿勢にして立ってもよい。この場合、平坦な面であれば、垂直方向の距離は分かっている。人は、測定中に、鎖が壊れない限り、動くことが許される。これは、パラメーターを更に精緻化できるように多数の異なる関係を迅速に得るのに好都合である。
Claims (29)
- 三次元空間内の物体(P)の運動を追跡するための動作追跡システム(10)であって、前記物体は、関節(21AB)によって順次相互接続されている物体部分(21、22、23、24、25、26)で構成されており、前記物体部分は個々の寸法を有し、前記個々の寸法間には相互比率が定められる、動作追跡システムにおいて、
少なくとも前記物体部分(21、…26)の方位に関係するデータを測定するための方位測定ユニット(S1、S3…SN)であって、各物体部分と位置的及び方位的関係に配置されており、少なくとも方位を有している、方位測定ユニットと、
前記方位測定ユニットからデータを受け取るためのプロセッサ(3、5)であって、前記受け取ったデータを使って、前記物体部分の方位及び/又は位置情報を導き出すためのモジュールを備えている、プロセッサと、を備えており、
前記プロセッサは、受け取ったデータと、所定の制約(42、52)と、少なくとも2つの点の間の距離に関する知識及び/又は関節で接続されている少なくとも2つの物体部分の加速度に関する知識を含む追加入力データ(45、55)と、に基づいて、少なくとも前記相互比率と、少なくとも前記方位測定ユニット(48、56、58)の方位と、を求めるための較正値を計算するようにされている較正ユニット(7)を備えていることを特徴とする動作追跡システム。 - 前記所定の制約は、前記物体部分(21、22、23、24、25、26)の順次相互接続に関する幾何学形状的及び/又は機械的制約を含む、請求項1に記載の動作追跡システム(10)。
- 前記所定の制約(42、52)は、統計学的に表される、上記請求項1又は2に記載のシステム。
- 前記測定データは、更に、前記方位測定ユニットの位置及び/又は方位に関係しており、前記較正ユニットは、更に、前記方位測定ユニットの前記方位を統計学的に表すようにされている、上記請求項1乃至3の何れか1項に記載のシステム。
- 前記較正ユニットは、更に、求めるように考えられている個々のパラメーターに割り当てることのできる統計学的エラーを計算するようにされている、上記請求項3又は4の何れか1項に記載のシステム。
- 前記較正ユニットは、更に、個々の寸法及び/又は相互比率に、前記計算された統計学的エラーに関して重み付け係数を割り当てるようにされている、上記請求項5に記載のシステム。
- パラメーターの計算に用いられるデータに小さな重み付け係数を提供する方位測定ユニットからの測定データを廃棄するように、前記プロセッサを制御するようにされている制御ユニットを更に備えている、請求項6に記載のシステム。
- 前記較正ユニットは、前記物体部分の寸法及び/又は相互比率、及び/又は前記方位測定ユニットの方位を求めるために、事前に定義された物体のモデルを使用するようにされている、上記請求項1乃至7の何れか1項に記載のシステム。
- 前記較正ユニットは、更に、前記方位測定ユニットのパラメーターの推定を使用するようにされている、請求項8に記載のシステム。
- 前記物体部分の前記個々の寸法及び/又は相互比率は、アプリオリに相関付けられている、請求項8又は9の何れかに記載のシステム。
- 前記方位測定装置は、慣性感知ユニットを備えている、上記請求項1乃至10の何れか1項に記載のシステム。
- 前記方位測定ユニットには、更に、位置が割り当てられ、前記測定データは、少なくとも1つの関節によって接続されている各身体部分の定義可能な少なくとも2つの点に対して測定される加速度データを含み、前記較正ユニット(7)は、更に、受け取ったデータと、所定の制約と、追加入力データ(45、55)と、に基づいて、前記物体部分の個々の寸法と、前記方位測定ユニット(48、56、58)の位置と、を求めるための較正値を計算するようにされている、請求項11に記載のシステム。
- 前記較正ユニットは、繰り返し動作するようにされている、上記請求項1乃至12の何れか1項に記載のシステム。
- 関節によって順次相互接続されている物体部分で構成されている物体の3次元空間における運動を追跡するための方法であって、前記物体部分は個々の寸法を有し、前記個々の寸法間には相互比率が定められる、前記方法において、
少なくとも前記物体部分の方位に関係するデータを、少なくとも方位を有する各物体部分と位置的及び方位的関係に配置されている方位測定ユニットで測定する段階と、
前記方位測定ユニットからデータを受け取る段階と、
前記受け取ったデータを使って、前記物体部分の方位及び/又は位置情報を導き出す段階と、
受け取ったデータと、所定の制約と、少なくとも2つの点の間の距離に関する知識及び/又は関節によって接続されている少なくとも2つの物体部分の加速度に関する知識を含む追加入力データと、に基づいて、少なくとも前記相互比率と、少なくとも前記方位測定ユニット(48、56、58)の方位と、を求めるための較正値を計算する段階と、から成る方法。 - 前記所定の制約に関し、前記物体部分の前記順次相互接続に関係する幾何学形状的及び/又は機械的制約に関する知識が選択される、請求項14に記載の方法。
- 前記所定の制約は、統計学的に表される、上記請求項14又は15に記載の方法。
- 前記測定データは、更に、前記方位測定ユニットの前記位置及び/又は方位に関係しており、前記方位測定ユニットの前記方位は、統計学的に表される、請求項14に記載の方法。
- 個々の寸法及び/又は相互比率に割り当てることのできる統計学的エラーが、計算される、請求項16又は17に記載の方法。
- 前記個々の寸法及び/又は相互比率の重み付け係数は、前記計算された統計学的エラーに関して割り当てられる、請求項18に記載の方法。
- 小さな重み付け係数を有するパラメーターの計算に供される測定データは廃棄される、請求項19に記載の方法。
- 前記物体の事前に定義されたモデルは、前記物体部分の個々の寸法及び/又は相互比率、及び/又は前記方位測定ユニットの方位を求めるのに用いられる、上記請求項14乃至20の何れか1項に記載の方法。
- 前記方位測定ユニットの方位の推定が用いられる、請求項21に記載の方法。
- 前記物体部分の前記個々のパラメーターは、アプリオリに相関付けられている、請求項21又は22に記載の方法。
- 前記測定データは、望ましくは慣性測定ユニットを備えた方位測定装置を使って得られる、上記請求項14乃至23の何れか1項に記載の方法。
- 前記方位測定ユニットには、更に、位置が割り当てられ、前記測定データは、少なくとも1つの関節によって接続されている各身体部分上に定義されている少なくとも2つの点に対して測定される加速度データを含み、前記較正ユニットは、受け取ったデータと所定の制約とに基づいて、前記物体部分の個々の寸法と、前記方位測定ユニット(48、56、58)の位置を求めるための較正値を計算する、請求項24に記載の方法。
- 前記方法の各段階は、繰り返し実行される、上記請求項14乃至25の何れか1項に記載の方法。
- 上記請求項1乃至13の何れか1項に記載の動作追跡システムを備えている医療用リハビリテーションシステム。
- 上記請求項1乃至13の何れか1項に記載の動作追跡システムを備えているアニメーションシステム。
- コンピュータ及び上記請求項1乃至13の何れか1項に記載の動作追跡システムを備えているゲームシステム。
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