Simulation Modelling Practice and Theory （仿真建模实践和理论）.pdf

Simulation Modelling Practice and Theory 16 (2008) 933–944 Contents lists available at ScienceDirect Simulation Modelling Practice and Theory journal homepage: /locate/simpat Model based inertial sensing of human body motion kinematics in sit-to-stand movement ´ a,* b b Josip Music , Roman Kamnik , Marko Munih a ´ University of Split, Faculty of Electrical Engineering, Mechanical Engineering and Naval Architecture, R. Boškovica bb, 21000 Split, Croatia b ˇ University of Ljubljana, Faculty of Electrical Engineering, Trzaška 25, 1001 Ljubljana, Slovenia a r t i c l e i n f o a b s t r a c t Article history: The paper presents the design and validation of a three-segment human body model. The Received 4 January 2008 model is aimed at the reconstruction of motion trajectories of the shank, thigh and HAT Received in revised form 14 March 2008 (Head-Arms-Trunk) segments in sit-to-stand-motion using low cost inertial sensors. For Accepted 9 May 2008 this purpose the Extended Kalman filter is applied for fusion of model data and data Available online 21 May 2008 acquired through measurements. The simplifications, like motion constraint to sagittal plane, symmetry of movement and assumption of ideal joints are i