著者

近藤 亜希子 土岐 仁 廣瀬 圭

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集C編 (ISSN:18848354)

巻号頁・発行日

vol.79, no.803, pp.2351-2361, 2013 (Released:2013-07-25)

参考文献数

13

被引用文献数

1 2

---

This paper proposes the measurement method of 3D posture using inertial sensors. The proposed method estimates the 3D posture (Roll-Pitch-Yaw angles in local coordinate) using the 3-axis angular velocity and the 3-axis acceleration. The 3D posture is compensated for the drift error of gyro sensor output by the translational and gravity accelerations of accelerometer output. The nonlinear state equation and the nonlinear measurement equation were established to estimate 3D posture. The Extended Kalman filter and the Unscented Kalman filter are applied to these equations. The measurement experiment was conducted to clarify the accuracy of proposed method using the experimental setup installing the rotary encoders. The results of the Unscented Kalman filter indicated higher than those by the Extended Kalman filter. In addition, the proposed method estimated the 3D posture compensating the drift error of gyro sensor in the measurement experiment generating the translational acceleration. Therefore, the proposed method can be used for the measurement of body motion.

著者

北野 敬祐 竹田 正樹 友野 一希 近藤 亜希子 辻内 伸好 廣瀬 圭

出版者

一般社団法人 日本機械学会

雑誌

シンポジウム: スポーツ・アンド・ヒューマン・ダイナミクス講演論文集 2020 (ISSN:24329509)

巻号頁・発行日

pp.A-4-5, 2020 (Released:2021-06-01)

---

This paper proposes the estimation method of rotational axis in figure skating jump using inertial sensors. The estimation method of rotational axis consists of components centrifugal, tangential and gravity accelerations and relationship between angular velocity and combining angular velocity, and this method estimates the pitch and yaw angles to the sensor coordinate system from the axis coordinate system and the roll and pitch angles to global coordinate system from the sensor coordinate system. We conducted the measurement experiment the triple flip jumps and the quadruple salchow jumps by the high-level figure skater using inertial sensors, and we estimated the rotational axis in the triple flip and quadruple salchow jumps. These results indicated the change of rotational axis during jump, and we indicated the difference of characteristics by the difference in success of jump.

著者

廣瀬 圭 友野 一希 近藤 亜希子 辻内 伸好 北野 敬祐 竹田 正樹

出版者

一般社団法人 日本機械学会

雑誌

シンポジウム: スポーツ・アンド・ヒューマン・ダイナミクス講演論文集 2020 (ISSN:24329509)

巻号頁・発行日

pp.B-8-3, 2020 (Released:2021-06-01)

---

This paper proposes the estimation method of three-dimensional rotational axis in figure skating jump by iterated Extended Kalman filter and quaternion using inertial and magnetic field sensors. This method estimates the posture information to global coordinate system from the sensor coordinate system and the posture information to rotational axis coordinate system from the sensor coordinate system using the iterated Extended Kalman filter, and the direction component represented by quaternion was estimated by using inertial and magnetic field sensors. We conducted the measurement experiment the triple flip jumps and the quadruple salchow jumps by the high-level figure skater using inertial and magnetic field sensors, and we estimated the three-dimensional rotational axis in the triple flip and quadruple salchow jumps. These results indicated the change of rotational axis during jump by the normalized vector and the projection drawing calculated by the estimated three-dimensional rotational axis, and we indicated the high reproducibility in the triple flip jumps and the difference of characteristics by the difference in success of jump in the quadruple salchow jumps.

著者

近藤 亜希子 友野 一希 北野 敬祐 廣瀬 圭 竹田 正樹

出版者

一般社団法人 日本機械学会

雑誌

シンポジウム: スポーツ・アンド・ヒューマン・ダイナミクス講演論文集 2020 (ISSN:24329509)

巻号頁・発行日

pp.A-1-4, 2020 (Released:2021-06-01)

---

In this study, we conducted the 3-axis acceleration analysis of figure skating jump using inertial sensors. In the motion measurement of figure skating jump, the measurement area is wide, and the figure skater conducts high speed rotational motion. Therefore, we used the inertial sensor system as simply motion measurement device. We conducted the measurement experiment of the figure skating jump by a high-level figure skater, we obtained the 3-axis measurement information of inertial sensors in the triple flip jumps and the quadruple salchow jumps. The results of combining angular velocity and acceleration indicated the high repeatability. Furthermore, we conducted the 3-axis acceleration analysis in quadruple salchow jumps using the sensor outputs and the self-assessment. The result of high point in self-assessment indicated the high acceleration, and the effect by composite axis component in centrifugal acceleration was indicated. These results indicated the importance of body inclination during the jump motion.

著者

廣瀬 圭 土岐 仁 近藤 亜希子

出版者

日本スポーツ産業学会

雑誌

スポーツ産業学研究 (ISSN:13430688)

巻号頁・発行日

vol.22, no.2, pp.255-262, 2012

被引用文献数

10

---

&nbsp;&nbsp;&nbsp;&nbsp;This paper proposes a measurement system and computation method for 3D motion analysis in sports. The measurement system that consists of inertial and magnetic field sensors is able to measure 3-axis angular velocity, 3-axis acceleration and 3-axis magnetic field. We can easily perform the experiment in sports because this system is directly attached to the body. Introducing the sensor fusion algorithm using Kalman filter, we can avoid storage error by the drift of the gyro sensor. The computation method provides the angles by compensation of centrifugal and tangential acceleration and sensor fusion. <BR>&nbsp;&nbsp;&nbsp;&nbsp;In order to confirm the accuracy of this proposed system and computation method, we compared the value obtained by this system with the value obtained by a rotary encoder. It was found that the measurement system and computation method provided the accurate value. It is shown that the proposed method can be used for motion analysis in sports.

著者

廣瀬 圭 岩渕 琢磨 千葉 遥 近藤 亜希子

出版者

一般社団法人 日本機械学会

雑誌

シンポジウム: スポーツ・アンド・ヒューマン・ダイナミクス講演論文集 2017 (ISSN:24329509)

巻号頁・発行日

pp.A-33, 2017 (Released:2018-05-25)

---

This paper proposes the estimation method of seating face geometry using belt-shaped inertial sensors system. This method uses the sensor fusion for posture estimation and the forward kinematics for position calculation. The sensor fusion estimates the Roll and Pitch angles using gyro sensor and acceleration sensor outputs, and the effect of drift error is reduced. The estimated geometry information is validated using the calibration device designed by CAD, the results indicated the effective accuracy. Furthermore, we conducted the measurement experiment using three sensor systems in dynamic condition. The results indicated the face geometry in settling and floating conditions. This system can be used to represent the face geometry in static and dynamic conditions.

著者

廣瀬 圭 土岐 仁 近藤 亜希子

出版者

日本スポーツ産業学会

雑誌

スポーツ産業学研究 (ISSN:13430688)

巻号頁・発行日

vol.22, no.2, pp.255-262, 2012 (Released:2012-11-16)

参考文献数

12

被引用文献数

3 10

---

This paper proposes a measurement system and computation method for 3D motion analysis in sports. The measurement system that consists of inertial and magnetic field sensors is able to measure 3-axis angular velocity, 3-axis acceleration and 3-axis magnetic field. We can easily perform the experiment in sports because this system is directly attached to the body. Introducing the sensor fusion algorithm using Kalman filter, we can avoid storage error by the drift of the gyro sensor. The computation method provides the angles by compensation of centrifugal and tangential acceleration and sensor fusion.     In order to confirm the accuracy of this proposed system and computation method, we compared the value obtained by this system with the value obtained by a rotary encoder. It was found that the measurement system and computation method provided the accurate value. It is shown that the proposed method can be used for motion analysis in sports.