Marker-based motion capture for measuring joint kinematics in leg swing simulator

Riky Tri Yunardi

doi:10.1109/ICA.2017.8068405

Marker-based motion capture for measuring joint kinematics in leg swing simulator

Riky Tri Yunardi, Winarno

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 Citations (Scopus)

Abstract

Implementation of motion capture systems have attracted the attention of researchers in biomedical science and engineering. Motion capture system has a function to capture and record the movement of the marker placed on an object. This paper describes the marker-based motion capture for measuring joint kinematics in leg swing simulator. The forward and inverse kinematics are used for calculating and measuring leg movement in simulation. Markers are placed on three points of joint of leg. The calibrated camera captures the movement of the position of points in a Cartesian coordinates and stored in the database. Markers are detected by camera as the input where every point encodes the pose of the leg model to be measured. The simulation process is implemented in a model of a robotic leg with sagittal position which has three joint that is hip, knee and ankle. Three markers joint kinematics are estimated and compared with the calculated joint rotations. The results show the data accuracy of system with an average of hip joint estimation has average error 1.46°, knee joint has average error 1.66° and ankle joint has 0.46°.

Original language	English
Title of host publication	Proceedings of the 2017 5th International Conference on Instrumentation, Control, and Automation, ICA 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	13-17
Number of pages	5
ISBN (Electronic)	9781538603499
DOIs	https://doi.org/10.1109/ICA.2017.8068405
Publication status	Published - 13 Oct 2017
Event	5th International Conference on Instrumentation, Control, and Automation, ICA 2017 - Yogyakarta, Indonesia Duration: 9 Aug 2017 → 11 Aug 2017

Publication series

Name	Proceedings of the 2017 5th International Conference on Instrumentation, Control, and Automation, ICA 2017

Conference

Conference	5th International Conference on Instrumentation, Control, and Automation, ICA 2017
Country/Territory	Indonesia
City	Yogyakarta
Period	9/08/17 → 11/08/17

Keywords

Motion capture
kinematics
leg swing simulator
marker-based motion capture
robotic leg

Access to Document

10.1109/ICA.2017.8068405

Cite this

Yunardi, R. T., & Winarno (2017). Marker-based motion capture for measuring joint kinematics in leg swing simulator. In Proceedings of the 2017 5th International Conference on Instrumentation, Control, and Automation, ICA 2017 (pp. 13-17). Article 8068405 (Proceedings of the 2017 5th International Conference on Instrumentation, Control, and Automation, ICA 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICA.2017.8068405

Yunardi, Riky Tri ; Winarno. / Marker-based motion capture for measuring joint kinematics in leg swing simulator. Proceedings of the 2017 5th International Conference on Instrumentation, Control, and Automation, ICA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 13-17 (Proceedings of the 2017 5th International Conference on Instrumentation, Control, and Automation, ICA 2017).

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title = "Marker-based motion capture for measuring joint kinematics in leg swing simulator",

abstract = "Implementation of motion capture systems have attracted the attention of researchers in biomedical science and engineering. Motion capture system has a function to capture and record the movement of the marker placed on an object. This paper describes the marker-based motion capture for measuring joint kinematics in leg swing simulator. The forward and inverse kinematics are used for calculating and measuring leg movement in simulation. Markers are placed on three points of joint of leg. The calibrated camera captures the movement of the position of points in a Cartesian coordinates and stored in the database. Markers are detected by camera as the input where every point encodes the pose of the leg model to be measured. The simulation process is implemented in a model of a robotic leg with sagittal position which has three joint that is hip, knee and ankle. Three markers joint kinematics are estimated and compared with the calculated joint rotations. The results show the data accuracy of system with an average of hip joint estimation has average error 1.46°, knee joint has average error 1.66° and ankle joint has 0.46°.",

keywords = "Motion capture, kinematics, leg swing simulator, marker-based motion capture, robotic leg",

author = "Yunardi, {Riky Tri} and Winarno",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 5th International Conference on Instrumentation, Control, and Automation, ICA 2017 ; Conference date: 09-08-2017 Through 11-08-2017",

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doi = "10.1109/ICA.2017.8068405",

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Yunardi, RT & Winarno 2017, Marker-based motion capture for measuring joint kinematics in leg swing simulator. in Proceedings of the 2017 5th International Conference on Instrumentation, Control, and Automation, ICA 2017., 8068405, Proceedings of the 2017 5th International Conference on Instrumentation, Control, and Automation, ICA 2017, Institute of Electrical and Electronics Engineers Inc., pp. 13-17, 5th International Conference on Instrumentation, Control, and Automation, ICA 2017, Yogyakarta, Indonesia, 9/08/17. https://doi.org/10.1109/ICA.2017.8068405

Marker-based motion capture for measuring joint kinematics in leg swing simulator. / Yunardi, Riky Tri ; Winarno.
Proceedings of the 2017 5th International Conference on Instrumentation, Control, and Automation, ICA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 13-17 8068405 (Proceedings of the 2017 5th International Conference on Instrumentation, Control, and Automation, ICA 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Yunardi, Riky Tri

AU - Winarno,

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N2 - Implementation of motion capture systems have attracted the attention of researchers in biomedical science and engineering. Motion capture system has a function to capture and record the movement of the marker placed on an object. This paper describes the marker-based motion capture for measuring joint kinematics in leg swing simulator. The forward and inverse kinematics are used for calculating and measuring leg movement in simulation. Markers are placed on three points of joint of leg. The calibrated camera captures the movement of the position of points in a Cartesian coordinates and stored in the database. Markers are detected by camera as the input where every point encodes the pose of the leg model to be measured. The simulation process is implemented in a model of a robotic leg with sagittal position which has three joint that is hip, knee and ankle. Three markers joint kinematics are estimated and compared with the calculated joint rotations. The results show the data accuracy of system with an average of hip joint estimation has average error 1.46°, knee joint has average error 1.66° and ankle joint has 0.46°.

AB - Implementation of motion capture systems have attracted the attention of researchers in biomedical science and engineering. Motion capture system has a function to capture and record the movement of the marker placed on an object. This paper describes the marker-based motion capture for measuring joint kinematics in leg swing simulator. The forward and inverse kinematics are used for calculating and measuring leg movement in simulation. Markers are placed on three points of joint of leg. The calibrated camera captures the movement of the position of points in a Cartesian coordinates and stored in the database. Markers are detected by camera as the input where every point encodes the pose of the leg model to be measured. The simulation process is implemented in a model of a robotic leg with sagittal position which has three joint that is hip, knee and ankle. Three markers joint kinematics are estimated and compared with the calculated joint rotations. The results show the data accuracy of system with an average of hip joint estimation has average error 1.46°, knee joint has average error 1.66° and ankle joint has 0.46°.

KW - Motion capture

KW - kinematics

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Y2 - 9 August 2017 through 11 August 2017

ER -

Yunardi RT , Winarno. Marker-based motion capture for measuring joint kinematics in leg swing simulator. In Proceedings of the 2017 5th International Conference on Instrumentation, Control, and Automation, ICA 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 13-17. 8068405. (Proceedings of the 2017 5th International Conference on Instrumentation, Control, and Automation, ICA 2017). doi: 10.1109/ICA.2017.8068405

Marker-based motion capture for measuring joint kinematics in leg swing simulator

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Keywords

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