Research on Human Motion Information Acquisition Based on IMU
Liang Xuan, Xiaochi He, Ao Shen, Yufei Xu, Shaowei Teng, Zhenfei Yuan · 2023
Wearable lower limb exoskeleton robots are of great interest as the population ages. Lower limb exoskeleton robots achieve precise motion control that relies on accurate tracking of motion information of the wearer’s limbs. Lower limb exoskeleton robots can better understand the user’s movement intention through accurate data acquisition. This results in greater accuracy and reliability in motion control. Conventional sensors are susceptible to noise interference when collecting human motion data. To ensure the accuracy and real-time performance of motion information data acquisition, this paper carries out research on human lower limb motion information acquisition based on IMU. In this paper, IMUs are used to collect human lower limb motion data in real-time, and the Kalman filtering method is applied to filter the data to improve the accuracy of data collection. The experimental results show that the method has good real-time, accuracy and applicability. It can meet the motion acquisition requirements and provide reliable support for the system control of lower limb exoskeleton robots.