오차할당을 이용한 인체 골격 모델의 자세각 모니터링 정밀도 향상

Abstract

The human skeletal model is developed for the evaluation of comfortness of passenger car seat and potentiometers are adapted for the measurement of all the skeletal joints. The origin of the coordinates are located at the center of pelvis and all the joint coordinates are calculated from the measured joint angle data with using homogeneous transformation matrix. In calculating the lumbar positions using homogeneous transformation matrix, the position errors can be piled up because of measurement errors and A/D conversion resolutions of joint angle measuring systems. The lumbar positions are very sensitive in the seat comfortness evaluation that error budgeting method is adapted to reduce the measuring and calculating errors of joint positions. A connecting rod is adapted to measure the sternum position directly from the measured angle and length of connecting rod. Using homogeneous transformation matrix, the sternum position is calculated and it is compared with the result of transformation matrix which is calculated from the series of lumbar joints. The deviation between two results are evenly budgeted for each joints to compensate the measurement errors. The compensated result shows that the position errors of all the lumbar joints can be maintained below 10 level.