초록 ▼

A prescription is provided which specifies constraints, and the number of joints which may be included between any two position-sensing elements (PSEs), where the joints connect the links of a kinematically constrained multi-articulated structure, whereby the defining parameters of the structure may

A prescription is provided which specifies constraints, and the number of joints which may be included between any two position-sensing elements (PSEs), where the joints connect the links of a kinematically constrained multi-articulated structure, whereby the defining parameters of the structure may be determined using the spatial placement of the two PSEs and the kinematic constraints of the multi-articulated structure, and where at least the spatial placement of one link is not directly measured. Also provided are preferred placements of PSEs and goniometers on a kinematically constrained multi-articulated structure which will allow determinatin of the spatial placement of the links, where at least the spatial placement of one link is not directly measured. Revolute joint models of the articulations of the entire human body, as well as preferred PSE and goniometer locations, are provided. An algorithm is provided for determining the joint angles for a finger modeled as a 4-link planar manipulator with one PSE affixed to the fingertip and one PSE affixed to the metacarpus.

대표청구항 ▼

A system for determining the spatial position and orientation of a plurality of body parts of a living being, said body parts being individual articulated elements of a kinematically-constrained, multi-articulated structure of at least three links joined by at least two revolute joints where two of

A system for determining the spatial position and orientation of a plurality of body parts of a living being, said body parts being individual articulated elements of a kinematically-constrained, multi-articulated structure of at least three links joined by at least two revolute joints where two of the joints are separated by a single link, the system comprising: a plurality of position-sensing elements for disposition about links of said multi-articulated structure; means for securing each of said position-sensing elements on a respective link; first processing means for determining the spatial position and orientation of each of said position-sensing elements and thereby determining the spatial position and orientation of the respective links each position-sensing element is attached to, said first processing means generating an output indicative of the determination; and second processing means for determining the spatial position and orientation of a link located between the links on which a position-sensing element is placed utilizing the output of the first processing means and the kinematic constraints of the articulated elements of said multi-articulated structure, whereby the spatial position and orientation of at least n+1 links can be determined, where n equals the number of links on which a position-sensing element is disposed.