JP6663219B2 - Posture motion detection device - Google Patents

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a posture motion detection device which is attached to a finger or an arm of a human to detect a motion of a hand, and more particularly to a posture motion detection device for detecting a rotation center in a human motion and detecting the rotation of an arm or a finger. The present invention relates to a posture motion detection device capable of performing motion analysis.

  2. Description of the Related Art Conventionally, as a device capable of analyzing a posture and a movement state of a human finger, for example, a device that is attached to a back of a hand or a finger and can detect a movement of a finger has been proposed in Patent Document 1 below. I have.

  This device is provided with hand back detection means for detecting the movement and posture of the hand in the direction of gravitational acceleration by a gyro sensor or an acceleration sensor attached to the back of the hand, and is attached to the tips of a plurality of fingers to bend the first joint of the finger. Finger posture detection means comprising a gyro sensor for detecting the posture, wherein the relative position and posture of the back of the hand are obtained by information obtained from the back of hand detection means, and This makes it possible to determine the angular position of the finger action with respect to the back of the hand based on the obtained information. With such an apparatus, it is possible to control the computer by analyzing the gesture by detecting the posture of the back of the hand or the finger, and converting the gesture into operation input command information data.

  By the way, in the field of motion analysis, not only movements of hands and fingers but also movements centered on wrists or movements centered on elbows and shoulders are analyzed. Sometimes it is necessary to analyze whether a finger is moving. If such an analysis can be performed, the arm or finger should be moved in any state when performing an operation in a living environment (for example, when taking out clothes from a washing machine or taking out or putting in an article from a shelf). There is a merit that life design can be constructed by analyzing whether or not it is.

JP 2008-135033 A

  However, since the posture motion detection device described in Patent Document 1 can detect only the motion of the back of the hand and the angle of the finger, the motion is based on the joint of the finger, or the wrist or the elbow. It is not possible to judge whether the movement is centered on such as. Therefore, it is impossible to determine whether only the wrist is moved as shown in FIG. 3 or whether the hand is moved around the elbow or the like.

  SUMMARY OF THE INVENTION It is an object of the present invention to provide a posture motion detection device capable of detecting a center of a motion in a motion including a human limb.

That is, the present invention, in order to solve the above problems, the arm, upper arm, lower leg, a plate attached to any of the upper leg, acceleration attached to a position separated in the longitudinal direction of the plate and A first detection sensor and a second detection sensor for detecting the angular velocity, and from the acceleration and the angular velocity detected by the first detection sensor and the second detection sensor, to calculate the rotation center of the operation, forearm, upper arm, lower A calculation unit for calculating the posture and the exercise state of the thigh and the upper thigh is provided.

  With this configuration, for example, a plurality of detection sensors provided at positions separated in the longitudinal direction of the forearm determine whether the rotation is a rotation about the elbow or a translation of the forearm. Will be able to do it. Thus, by grasping the motion state of the forearm, it is possible to accurately determine the motion state of only the fingers.

  Further, in such an invention, a geomagnetic sensor is further attached to the first detection sensor and the second detection sensor.

  With this configuration, the motion from the initial state can be analyzed based on the detection value of the geomagnetic sensor, and the integrated value (or attitude angle) of the gyro output can be corrected by the geomagnetic sensor.

Further , a limb posture detection sensor for detecting acceleration and angular velocity is provided on the back of the hand and the back of each hand and each finger, and the posture and motion state of the limb are calculated from the acceleration and angular velocity detected by the limb posture detection sensor. In order to correct the posture and exercise state of the limbs by excluding the posture and exercise state of the forearm, upper arm, lower leg, and upper thigh calculated by the calculation unit from the calculated value. I do.

  By doing so, it becomes possible to extract and analyze the movement of only the finger, excluding the movement of the forearm.

According to the present invention, a plate attached to any of the forearm, the upper arm, the lower leg, and the upper leg, and the first detection for detecting the acceleration and the angular velocity attached to a position apart in the longitudinal direction of the plate. The sensor and the second detection sensor, the rotation center of the motion is calculated from the acceleration and the angular velocity detected by the first detection sensor and the second detection sensor, the forearm, upper arm, lower leg, upper leg Since the calculation unit for calculating the posture and the motion state is provided, for example, it is possible to determine whether the rotation is a movement around the elbow or a movement with the forearm translated about the shoulder. become able to. Thus, by grasping the motion state of the forearm, the motion state of only the fingers can be accurately determined.

FIG. 2 is a diagram illustrating a state in which a posture motion detection device according to an embodiment of the present invention is attached. Functional block diagram in the same form Diagram showing a detectable operation example in the same form Diagram showing an operation example based on acceleration and angular velocity in the same form The figure which shows the relationship between a rotational acceleration vector, an angular velocity vector, and a position vector at the time of performing two types of rotation operations in the same form. The figure which shows the relationship between the outer product in calculating | requiring a rotation center in the same form, and the unit position vector u to a rotation center. The figure which shows the relationship between the sensor position and the rotation center in the same form The figure which shows the positional relationship of the sensor attached to the finger in the same form The figure which shows the flowchart which shows the process in the same form The figure which shows the flowchart which shows the process in the same form

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

  As shown in FIGS. 1 and 2, a posture motion detection device 1 according to this embodiment includes a first detection unit 2 that detects acceleration, angular velocity, and the direction of geomagnetism of a forearm when attached to a human forearm. And a second detection unit 3 that detects the acceleration, angular velocity, and direction of geomagnetism of the finger while being attached to the back of the hand or finger. Based on the detection result of the first detection unit 2, the rotation center of the forearm is determined. The posture and the motion state of the forearm are calculated and analyzed, and thereafter, the posture and the motion state of the finger can be analyzed based on the analysis result and the detection result of the second detection unit 3. Hereinafter, the configuration of the posture motion detection device 1 according to the present embodiment will be described in detail. In this embodiment, a case will be described in which an acceleration sensor, a gyro sensor, and a geomagnetic sensor are attached to a human forearm, a back of a hand, a finger, and the like, but an upper arm, a lower leg, an upper thigh, an upper back, The same configuration can be applied to a case where the limb is attached to a toe or the like, and the posture and the motion state of the limb can be analyzed.

<Detectable operation example>
First, when detecting the movement of a human hand or arm, as shown in the left diagram of FIG. 3, a rotational motion around the wrist (upper left diagram) or a rotational motion around the elbow (lower left diagram) Or a movement that translates the forearm. However, when the acceleration sensor or the gyro sensor is merely attached to the back of the hand or the finger as in the related art, the state in which the hand is moved while rotating the wrist (upper right figure) or the state in which the hand is moved around the elbow ( (Lower right figure) cannot be determined. Therefore, the first detecting unit 2 is provided at a position near the wrist of the forearm so that the center of rotation can be detected so that the difference between these movements can be determined.

<Basic Configuration of First Detector 2 and Second Detector 3>
The first detection unit 2 is attached to a position near the wrist of the forearm, and is configured by mounting two first detection sensors 21 and second detection sensors 22 on one plate 23. Each of the first detection sensor 21 and the second detection sensor 22 is an acceleration sensor that detects acceleration in three axis directions (X-axis, Y-axis, and Z-axis directions orthogonal to each other), and a gyro sensor that detects angular velocity in three-axis directions. And a nine-axis sensor composed of a geomagnetic sensor that detects the direction of geomagnetism in three axial directions. The plate 23 (see FIG. 1) is separated by a predetermined distance (for example, 10 cm) along the longitudinal direction of the forearm. ). Then, the rotational motion around the wrist, the rotational motion around the elbow, the pronation, the supination and the like are detected using the acceleration and the angular velocity of the first detection sensor 21 and the second detection sensor 22, respectively. I can do it.

  On the other hand, the second detection unit 3 is configured to detect the distance from the back of the hand or the tip of each finger to the first joint (DIP joint), the distance from the first joint (DIP joint) to the second joint (PIP joint), An acceleration sensor attached between the (PIP joint) and the third joint (MP joint) for detecting acceleration in three axis directions (X-axis, Y-axis, and Z-axis directions orthogonal to each other) A gyro sensor for detecting angular velocity in the direction is provided, and a geomagnetic sensor for detecting the direction of geomagnetism in three axial directions is provided. In addition, a nine-axis sensor including a three-axis acceleration sensor, a gyro sensor, and a terrestrial magnetism sensor is similarly provided in the CM joint on the side closer to the wrist from the third joint (MP joint) to provide the bending direction of the palm. It can detect the posture and the exercise state of the person.

  When estimating a posture or a motion using these plural sensors, first, an output value of an acceleration sensor is measured in a state where a finger is stationary, and only a gravitational acceleration is measured. In addition, the geomagnetic sensor cannot output the geomagnetic azimuth correctly with the output as it is, except in the horizontal plane. Therefore, the terrestrial magnetism sensor converts the geomagnetic output to the horizontal plane using the vertical gravitational acceleration to obtain the azimuth. Then, a rotation matrix between global coordinates and each sensor coordinate is created from two axes of the gravitational direction and the geomagnetic azimuth common to all sensors, and the initial attitude is estimated using these.

  When estimating the posture during operation, the displacement angle is obtained by time-integrating the angular velocity of the output value of the gyro sensor, a rotation matrix around the angle vector is created for each sampling time, and the rotation matrix of the immediately preceding sampling time is obtained. Is multiplied by one to form one rotation matrix connecting the global coordinates and the initial posture, and the initial posture and the current posture. By using this, the posture during operation is estimated. As for the posture during operation, the angle obtained by integrating the output of the gyro sensor with time is used. Therefore, the error of the posture estimation becomes larger as time elapses, and it is necessary to appropriately correct using the gravitational acceleration and the azimuth. There is. Therefore, the integrated value (or attitude angle) of the gyro output is corrected using an acceleration sensor or a geomagnetic sensor.

  <Method of determining operation by first detection unit 2 attached to forearm>

  The first detection unit 2 uses the first detection unit 2 having such an acceleration sensor, a gyro sensor, and a geomagnetic sensor to perform a movement around a wrist, a translational movement of a forearm, and a movement of a pronation / supination. Is determined.

  When determining such a movement, first, the gravitational acceleration is removed from the accelerations of the first detection sensor 21 and the second detection sensor 22. When removing the gravitational acceleration component, the output value obtained from the gyro sensor is removed using a rotation matrix. Then, the rotational acceleration component for pronation / supination is calculated based on the output value from the gyro sensor, and is excluded. The acceleration remaining after this calculation is the translational acceleration and the rotational acceleration due to the rotation around the elbow and shoulder.

  <How to determine the operation type>

When discriminating various actions, when discriminating motions around the wrist, translational movements of the forearm, and pronation / supination movements, the rotational acceleration of the first detection sensor 21 is set to a ₁ , and the first detection is performed. When the angular velocity of the sensor 21 is ω ₁ , the rotational acceleration of the second detection sensor 22 is a ₂ , the angular velocity of the second detection sensor 22 is ω _2, and pr / su is its pronation / pronation component, The following movements can be determined based on the detected values (see FIG. 4).

a ₁ = a ₂ = 0: no movement on the body side from the wrist

Further, in the case where a ₁ = a ₂す る と 0, in order to determine the movement in more detail, if the rotation component of the acceleration around the elbow is set to “el”, the pronation / supination and the elbow and shoulder Can be determined as follows.
ω ₁ = ω ₂ = 0: translational motion only _{ω 1 = ω 1pr / su ≠} 0, a _{ω 2 = ω 2pr / su ≠} 0,
_{a 1pr / su = a 1 -a} 1pr / su, when the _{a 2pr / su = a 2 -a} 2pr / su,

a _{1-pr / su} = 0, a _{2-pr / su} = 0: pronation / supination only

a _{1-pr / su} = a _{2-pr / su} : translation and pronation / supination ω ₁ ≠ ω 1pr _{/ su} ≠ 0, ω ₂ ≠ ω _{2pr / su} ≠ 0,
When a _{1-pr / su-el} = a _{1-pr / su} -a _1el and a _{2-pr / su-el} = a _{2-pr / su} -a _2el ,

a _{1-pr / su-el} = 0, a _{2-pr / su-el} = 0: _{Pronation / supination} and elbow rotation

a _{1-pr / su-el} = a _{2-pr / su-el} : translation and _{pronation / supination} and elbow rotation

a _{1-pr / su-el} ≠ a _{2-pr / su-el} : Influence of _{pronation / supination} and translation and rotation of elbow / shoulder ω ₁ ≠ 0, ω ₂ ≠ 0, ω _{1pr / su} = 0 , Ω _{2pr / su} = 0,

When a _1-el = a ₁ −a _1el and a _2−el = a ₂ −a _2el ,

a _{1-pr / su-el} = 0, a _{2-pr / su-el} = 0: Elbow rotation only

a _{1-pr / su-el} = a _{2-pr / su-el} : translation and elbow rotation

a _{1-pr / su-el} ≠ a _{2-pr / su-el} ： Translation and elbow / shoulder rotation effects

  Note that these acceleration a and angular velocity ω are each expressed as a vector.

  When it is determined that "there is an influence of shoulder rotation", if an acceleration sensor, a gyro sensor, or a geomagnetic sensor is attached to the upper arm, the rotation of these shoulders can be detected.

  As described above, the rotation about the wrist, the rotation about the elbow and the shoulder using the first detection sensor 21 and the second detection sensor 22 along the axial direction on the forearm, or the pronation movement It is possible to determine whether the exercise is supination or supination. Then, in order to specifically calculate the posture and movement of the forearm, the calculation unit 4 calculates the rotational acceleration, the rotation center, and the like.

を用いて回転加速度ａを算出する。 <Rotation acceleration calculation method>
Generally, when calculating the rotational acceleration, the rotational acceleration can be calculated by using the angular velocity, which is the output value of the gyro sensor, and the position vector from the rotation center. However, it is necessary to separate the angular velocity into components by a single rotation axis, and to calculate this, use the first detection sensor 21 or the second detection sensor 22 attached to the upper arm,

Is used to calculate the rotational acceleration a.

<Method of calculating rotation center>
Further, the calculation of the rotation center is based on the data obtained by performing rotation around each axis under the condition that there are two rotation axes having the same rotation center (for example, a vertical rotation axis and a horizontal rotation axis). Can be calculated by using. At this time, it is assumed that the relative relationship between the sensor and the center position does not change.

  In this case, since the distance between the sensor position and the rotation center does not change in the sensor coordinate system, the above equation 1 is only the first term, and the rotation acceleration and the position vector are a relational expression of an outer product. The outer product is an irreversible arithmetic expression, but by using a plane in the rotation of two axes (the normal of the acceleration vector), a unit vector of the position vector can be calculated as an intersection of the two planes, The magnitude of the position vector is calculated by using this vector and the angular acceleration vector (the differential value of the angular velocity). Therefore, since the position vector is obtained from these two values, the rotation center can be calculated.

Specifically, the rotation acceleration vector calculated from the acceleration sensor of the first detection sensor 21 is a ₁ , the angular velocity vector is ω ₁ , the position vector is x ₁ , and the rotation acceleration calculated from the acceleration sensor of the second detection sensor 22 is Assuming that the vector is a ₂ , the angular velocity vector is ω ₂ , and the position vector is x ₂ (x ₁ = x ₂ = x), the rotational acceleration satisfies Equation 1.

となり、回転加速度ベクトルを法線ベクトルとする平面は、角加速度ベクトルと位置ベクトルを含んでいることになる。そして、

とすると、図５に示すような原点を通る平面の方程式は次のように表される。

At this time, in the sensor coordinate system, the rotation center and the sensor position do not change with time,

Thus, the plane having the rotation acceleration vector as the normal vector includes the angular acceleration vector and the position vector. And

Then, the equation of a plane passing through the origin as shown in FIG. 5 is expressed as follows.

  Since the intersection vector of the two planes points in the same direction as the position vector, the unit vector u of the intersection vector shown in FIG. 6 is calculated.

The angle θ formed by the angular acceleration vector position vector on the plane can be calculated from the unit intersection vector and the angular acceleration vector, and by using the relational expression of the magnitude of the outer product, the magnitude of the position vector is calculated as follows. Can be calculated.

Therefore, the position vector x is expressed as follows.

That is, the rotation center position c can be calculated as follows, considering the origin of the sensor coordinates.

  Then, the vector “c” is calculated by the calculation unit 4 by operating the joints at both ends of the position where the nine-axis sensor is attached, as shown in FIG. And the vector to one end and the vector to the sensor and the other end can be calculated, and the length of the part to which the sensor is attached, the longitudinal vector of the part, and the like can be calculated.

  Hereinafter, the same processing is performed for the sensor attached to the finger, and the second calculating unit 41 calculates the length of the finger and the length to the rotation center (joint).

  Note that when calculating the length of a finger part or the longitudinal direction vector of the part, the same process cannot be performed because only the second joint (DIP joint) exists at the distal phalanx of the fingertip. Therefore, in this embodiment, as shown in FIG. 8, sensors are attached at equal distances around each joint (DIP joint, PIP joint), and the distal phalanx is arranged at the center of the distal phalanx. Then, in this state, the joint angle is maintained at 0 degree (the finger is straightened), and the joint is rotated in two axial directions (for example, up and down directions and left and right directions) around the base MP joint. The distance from each sensor to the MP rotation center is obtained. Then, using the arrangement relation of the sensors attached to each finger, the length to each rotation center, the part length, and the vector in the longitudinal direction of the part can be calculated. Then, using the rotation center and the part length calculated in this way and the output values from each sensor, the motion state such as the posture position of the finger and the speed, acceleration, angular velocity, and the like are calculated by the second calculation unit 41.

  <Exclusion processing of forearm exercise state>

  Using the rotation center calculated in this way and the acceleration and angular velocity detected by the first detector 2, the translational acceleration is excluded from the acceleration of the finger in the case of translation, and the finger in the case of supination and rotation of the elbow. By excluding the acceleration in consideration of the influence of the position vector on the second detection unit 3, the influence of the rotation of the elbow and the like can be excluded from the acceleration output of the finger. Further, by excluding the angular velocity component of the first detector 2 provided on the forearm from the output value of the gyro sensor of the second detector 3 for the finger, the acceleration with respect to the movement of the finger alone is calculated.

  As described above, the gravitational acceleration can be extracted from the acceleration output of the finger by using the first detection unit 2 attached to the forearm, and the posture during operation can be corrected by using the gravitational acceleration. .

  Further, when the sensor is attached only to the finger as in the related art, it is impossible to distinguish between flexing / extension or bending / extension with the finger and bending / extension with the elbow. By excluding the posture and the movement state by the first detection unit 2 provided on the forearm, it is possible to analyze the fine movement of the finger.

  Next, a processing flow in the posture motion detection device 1 configured as described above will be described with reference to FIGS. 9 and 10.

  First, when performing calibration, a plate 23 having the first detection sensor 21 and the second detection sensor 22 is attached to the forearm portion near the wrist of the subject, and an acceleration sensor, a gyro sensor, and a geomagnetic sensor are also attached to each bone of the finger. The second detection unit 3 is attached. At this time, when the sensor is attached to the finger, as shown in FIG. 8, the sensor is attached at an equal distance from the DIP joint and the PIP joint, and the sensor is attached at the center of the distal phalanx. Then, with the sensors attached in this way, the fingers and forearm are stopped, and the gravitational acceleration is detected from each sensor to calculate the initial posture (step S1).

  Next, in order to calculate the part length of the part where each sensor is attached, the longitudinal vector of the part, the center of rotation, etc., first, the subject's forearm is moved in two directions up and down and left and right around the elbow. The user is moved, the rotational acceleration is calculated from the sensor of the first detector 2, and the position vector (distal side vector in FIG. 7) from the sensor to the elbow is calculated using Equations 5 to 7 (Step S2). .

  Conversely, this time, on the contrary, the subject moves the forearm up and down or left and right around the wrist, calculates the rotational acceleration from the sensor of the first detection unit 2, and similarly, from the sensor to the wrist Is calculated (step S3).

Then, using the position vector to the elbow and the position vector to the wrist calculated in this way, the length of the forearm, the longitudinal vector of the part (longitudinal vector V _B of the part in FIG. 7), the rotation center, etc. Is calculated (step S4).

  Next, in order to calculate the part length, the longitudinal vector of the part, the center of rotation, etc. of the finger, the finger in a state where the finger is extended straight around the MP joint is moved vertically and horizontally, and the rotational acceleration is calculated. calculate. Then, similarly, a position vector from each sensor to the MP joint is calculated using Equations 5 to 7 (Step S5).

Then, a position vector that is calculated from the relationship of the mounting position of the sensor as shown in FIG. 8, the longitudinal direction vector _{(V D, V M, V} P), the rotation center of the site length and the site of each finger Is calculated (step S6).

  When the posture and the motion state of the forearm and the fingers based on the motion of the subject are analyzed in a state where the length of the region, the longitudinal vector of the region, and the rotation center are calculated in this way, first, the initial posture is performed in the same manner as in step S1. Is estimated (step T1), the acceleration and angular velocity are detected by the first detector 2 (step T2), and the motion state of the forearm is determined according to FIG. 4 (step T3). Then, from the rotation center and the part length of the forearm part, the longitudinal direction vector of the part, and the detected acceleration and angular velocity, the motion state such as the posture position, speed, and acceleration on the wrist is calculated, and the rotation about the elbow is calculated. In the case of exercise or pronation / supination movement, the posture or exercise state at the wrist position is calculated by adding the part length to the angular velocity about the rotation center as an axis. If the forearm is in translation, the speed at the wrist position is calculated from the acceleration (step T4).

  Next, acceleration and angular velocity are detected from the sensor of the second detection unit 3 provided on the finger (step T5), and the posture and the motion state of the finger are calculated (step T6). At this time, considering the acceleration and angular velocity based on the part length of each finger, the longitudinal vector of the part, and the rotation center, the acceleration and angular velocity are integrated at each rotation center, and the Calculate posture position, speed, acceleration, rotation speed, etc. When the angular velocity is detected by the gyro sensor at the time of such detection, an error is corrected appropriately using gravitational acceleration and geomagnetism.

  If the forearm is moving while moving the fingers in this way, it is necessary to eliminate the movement of the forearm, and the posture and motion state such as the position, speed, acceleration, etc. of the wrist determined earlier Is removed (step T7), and the posture and the motion state using only the fingers are extracted.

  Then, the posture and the movement state of the forearm are extracted by the first detection unit 2 as described above, and the posture and the movement state of the finger are determined by the second detection unit 3, and the detection result of the first detection unit 2 is removed. By doing so, the posture and the exercise state using only the fingers are extracted (step T8).

Thus, according to the above embodiment, the plate 23 that is attached to the forearm of the subject, the first sensor 21 and the detecting the mounted acceleration and angular velocity 23 longitudinally distant position of the plate The rotation center of the motion is calculated from the two detection sensors 22 and the acceleration and angular velocity detected by the first detection sensor 21 and the second detection sensor 22, and the posture and the motion state (speed, acceleration, rotation Since the calculation unit 4 for calculating the speed and the like is provided, it is possible to determine whether the movement is a rotation movement around the elbow or a movement in which the forearm is translated. Thus, by grasping the motion state of the forearm, the motion state of only the fingers can be accurately determined.

  Further, since a geomagnetic sensor is further attached to the first detection sensor 21 and the second detection sensor 22, the motion from the initial state can be analyzed by the detection value of the geomagnetic sensor, and the error generated by the gyro sensor can be analyzed. Can be corrected using its gravitational acceleration and geomagnetism.

Further , a sensor for detecting the acceleration and the angular velocity is provided on the finger, and the posture and the motion state of the finger are calculated by the second calculator 41 from the acceleration and the angular velocity detected by these sensors. Since the posture and the exercise state of the limbs are corrected by excluding the posture and the exercise state of the forearm calculated by the calculation unit 4 from the calculated values, the movement of the forearm is excluded, and only the finger is removed. Movement can be extracted and analyzed.

  The present invention can be implemented in various modes without being limited to the above embodiment.

  For example, in the above-described embodiment, a case has been described in which two detection sensors are provided on the forearm to detect the posture and the operation state of the wrist. However, a plurality of detection sensors are similarly provided on the upper arm, and the posture of the upper arm is determined. Or the state of movement of the forearm, and then the posture or state of movement of the forearm may be detected to remove the state of movement of the upper arm.

  In addition, these configurations can be similarly applied to the legs and feet, and a plurality of similar detection sensors are attached to the lower leg and upper leg, and the motion from the side close to the body is calculated and the motion is calculated. The state may be removed.

  Furthermore, in the above-described embodiment, a case has been described in which only the posture and the motion state of the forearm and the finger are detected. However, a force sensor is attached to the fingertip, and the output of the force sensor together with the output of the finger or the forearm is detected. The operation and the like may also be output.

DESCRIPTION OF SYMBOLS 1 ... Attitude operation | movement detection apparatus 2 ... 1st detection part 21 ... 1st detection sensor 22 ... 2nd detection sensor 23 ... Plate 3 ... 2nd detection part 4 ... Calculation Unit 41: Second calculation unit

Claims (3)

Plate attached to any of the forearm, upper arm, lower leg, upper leg ,
A first detection sensor and a second detection sensor for detecting acceleration and angular velocity attached to a position apart in the longitudinal direction of the plate,
From the acceleration and angular velocity detected by the first detection sensor and the second detection sensor, the rotation center of the motion is calculated, and the posture and the motion state of the forearm, upper arm, lower leg, upper leg are calculated. Department and
A posture motion detection device comprising: The attitude motion detection device according to claim 1, further comprising a geomagnetic sensor attached to the first detection sensor and the second detection sensor. In addition, a hand and foot posture detection sensor that detects acceleration and angular velocity is provided on the back of the hand and back of the foot, each finger,
From the acceleration and angular velocity detected by the limb posture detection sensor, the posture and motion state of the limb are calculated by the second calculation unit,
2. The posture and movement state of the limbs, excluding the posture and movement state of the forearm, upper arm, lower leg, and upper thigh calculated by the calculation unit from the calculated values. The posture motion detection device according to claim 1.

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