モーションキャプチャ装置を利用したＬＥＤペアの順次点灯による人間の指の動作計測システムの開発

Abstract

For a camera system of tracking reflection markers, it is difficult to measure a motion of human fingers reliably and precisely, since occlusion of markers frequently occurs based on the concentration of them in a small measured space. On the other hand, the tactile sense is lost in a system using a glove and internal sensors. In order to solve these problems, a system is proposed which employs a commercial motion capture system and adds some improvements to it. Instead of a passive reflection marker, an LED is adopted. By machining the glass cover of it spherically, a non-directional marker is achieved. A method of preventing occlusion is newly proposed, in which a pair of four LED markers is attached to each finger and is successively emitted from one finger to an adjacent next finger. The sampling rate in case of applying this method is 50Hz for each finger. The accuracy for the dynamic joint angle is inspected and proved to be about 0.3° by measuring a motion of a pseudo finger link model. This accuracy is good compared with that of a glove system. For an example of a complicated finger motion, a manipulation of chopsticks is measured and the effectiveness of the developed system is experimentally confirmed.