Correcting whole‐body motion capture data using rigid body transformation

Motion capture systems play an important role in health-care and sport-training systems. In particular, there exists a great demand on a mobile motion capture system that enables people to monitor their health condition and to practice sport postures anywhere at any time. The motion capture systems with infrared or vision cameras, however, require a special setting, which hinders their application to a mobile system. In this paper, a mobile three-dimensional motion capture system is developed based on inertial sensors and smart shoes. Sensor signals are measured and processed by a mobile computer; thus, the proposed system enables the analysis and diagnosis of postures during outdoor sports, as well as indoor activities. The measured signals are transformed into quaternion to avoid the Gimbal lock effect. In order to improve the precision of the proposed motion capture system in an open and outdoor space, a frequency-adaptive sensor fusion method and a kinematic model are utilized to construct the whole body motion in real-time. The reference point is continuously updated by smart shoes that measure the ground reaction forces.

Download Full-text

Mirrored Motion: Augmenting Reality and Implementing Whole Body Gestural Control Using Pervasive Body Motion Capture Based on Wireless Sensors

Whole Body Interaction - Human-Computer Interaction Series ◽

10.1007/978-0-85729-433-3_4 ◽

2011 ◽

pp. 35-50 ◽

Cited By ~ 1

Author(s):

Philip Smit ◽

Peter Barrie ◽

Andreas Komninos ◽

Oleksii Mandrychenko

Keyword(s):

Motion Capture ◽

Wireless Sensors ◽

Body Motion ◽

Whole Body ◽

Gestural Control

Download Full-text

Dynamical Analysis of a Flexible Multibody System: Lagrangian Approach

Volume 3: Dynamic Systems and Controls, Symposium on Design and Analysis of Advanced Structures, and Tribology ◽

10.1115/esda2006-95216 ◽

2006 ◽

Author(s):

Alexis Mouhingou ◽

Naoufel Azouz

Keyword(s):

Rigid Body ◽

Multibody System ◽

Lagrangian Approach ◽

Body Motion ◽

Dynamical Analysis ◽

Whole Body ◽

Flexible Multibody System ◽

Numerical Application ◽

Body Reference ◽

Deformation Modes

This work presents the dynamical modelling of a flying multibody system. We consider a quadrirotor Helicopter composed of flexible and rigid components. We use the Lagrangian approach to define the equations governing the motion. Deformation modes are used to represent elastic deformation of the substructure relative to a body reference frame. The dynamic model of the whole body interconnected by links is made taking into account the inertial coupling between the rigid body motion and the deformation. The numerical application is related to the quadrirotor XSF developed in the LSC (Laboratory of Complex Systems).

Download Full-text

Quantitative measurement of motor symptoms in Parkinson's disease: A study with full-body motion capture data

2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society ◽

10.1109/iembs.2011.6091674 ◽

2011 ◽

Cited By ~ 21

Author(s):

S. Das ◽

L. Trutoiu ◽

A. Murai ◽

D. Alcindor ◽

M. Oh ◽

...

Keyword(s):

Parkinson’S Disease ◽

Parkinson's Disease ◽

Motion Capture ◽

Quantitative Measurement ◽

Body Motion ◽

Motion Capture Data ◽

Motor Symptoms ◽

Full Body

Download Full-text

WHOLE-BODY MOTION GENERATION OF ANDROID ROBOT USING MOTION CAPTURE AND NONLINEAR CONSTRAINED OPTIMIZATION

International Journal of Humanoid Robotics ◽

10.1142/s0219843613500035 ◽

2013 ◽

Vol 10 (02) ◽

pp. 1350003 ◽

Cited By ~ 2

Author(s):

JUNG-YUP KIM ◽

YOUNG-SEOG KIM

Keyword(s):

Constrained Optimization ◽

Motion Capture ◽

Optimization Technique ◽

Human Motion ◽

Body Motion ◽

Whole Body ◽

Motion Generation ◽

Nonlinear Constrained Optimization ◽

Gimbal Lock ◽

Android Robot

This paper describes a whole-body motion generation scheme for an android robot using motion capture and an optimization method. Android robots basically require human-like motions due to their human-like appearances. However, they have various limitations on joint angle, and joint velocity as well as different numbers of joints and dimensions compared to humans. Because of these limitations and differences, one appropriate approach is to use an optimization technique for the motion capture data. Another important issue in whole-body motion generation is the gimbal lock problem, where a degree of freedom at the three-DOF shoulder disappears. Since the gimbal lock causes two DOFs at the shoulder joint diverge, a simple and effective strategy is required to avoid the divergence. Therefore, we propose a novel algorithm using nonlinear constrained optimization with special cost functions to cope with the aforementioned problems. To verify our algorithm, we chose a fast boxing motion that has a large range of motion and frequent gimbal lock situations as well as dynamic stepping motions. We then successfully obtained a suitable boxing motion very similar to captured human motion and also derived a zero moment point (ZMP) trajectory that is realizable for a given android robot model. Finally, quantitative and qualitative evaluations in terms of kinematics and dynamics are carried out for the derived android boxing motion.

Download Full-text

A Simple Algorithm for Assimilating Marker-Based Motion Capture Data During Periodic Human Movement Into Models of Multi-Rigid-Body Systems

Frontiers in Bioengineering and Biotechnology ◽

10.3389/fbioe.2018.00141 ◽

2018 ◽

Vol 6 ◽

Cited By ~ 3

Author(s):

Yasuyuki Suzuki ◽

Takuya Inoue ◽

Taishin Nomura

Keyword(s):

Rigid Body ◽

Motion Capture ◽

Simple Algorithm ◽

Human Movement ◽

Motion Capture Data

Download Full-text

Decomposing spontaneous sign language into elementary movements: A principal component analysis-based approach

PLoS ONE ◽

10.1371/journal.pone.0259464 ◽

2021 ◽

Vol 16 (10) ◽

pp. e0259464

Author(s):

Félix Bigand ◽

Elise Prigent ◽

Bastien Berret ◽

Annelies Braffort

Keyword(s):

Principal Component Analysis ◽

Sign Language ◽

Motion Capture ◽

Computational Models ◽

Body Movement ◽

Principal Component ◽

Component Analysis ◽

Body Motion ◽

Upper Body ◽

Motion Capture Data

Sign Language (SL) is a continuous and complex stream of multiple body movement features. That raises the challenging issue of providing efficient computational models for the description and analysis of these movements. In the present paper, we used Principal Component Analysis (PCA) to decompose SL motion into elementary movements called principal movements (PMs). PCA was applied to the upper-body motion capture data of six different signers freely producing discourses in French Sign Language. Common PMs were extracted from the whole dataset containing all signers, while individual PMs were extracted separately from the data of individual signers. This study provides three main findings: (1) although the data were not synchronized in time across signers and discourses, the first eight common PMs contained 94.6% of the variance of the movements; (2) the number of PMs that represented 94.6% of the variance was nearly the same for individual as for common PMs; (3) the PM subspaces were highly similar across signers. These results suggest that upper-body motion in unconstrained continuous SL discourses can be described through the dynamic combination of a reduced number of elementary movements. This opens up promising perspectives toward providing efficient automatic SL processing tools based on heavy mocap datasets, in particular for automatic recognition and generation.

Download Full-text