Abstract
COVID-19 has restricted outdoor exercise and hospital visits for rehabilitation therapy. Home-based training and rehabilitation coaching systems have emerged as a way to overcome these circumstances. Conventional optical motion-capture systems, such as VICON, have been used for measuring precise movement and providing posture feedback during exercise or rehabilitation; however, its application is limited to professional facilities because of its high cost and space requirement. To extend the applicability to home-based use, we designed wearable skin markers (WSMs) with body segment-specific patterns that can be detected by low-cost web cameras. WSMs are band-shaped and stretchable and thus can be worn like cloth, with minimal effort for placement. The body segment-specific patterns enable real-time data processing, which reduces the marker data post-processing time. A 6-degree-of-freedom (DOF) pose for each WSM is obtained by recognizing the segment-specific patterns; the 3D configuration of the contoured corners of the patterns found by triangulation is then utilized to construct the coordinates of each WSM. The WSM system was validated via three experiments. The robustness of marker recognition was evaluated by measuring the false-positive and false-negative rates of WSM. For accuracy validation, the angle estimation results were obtained for the mechanical joint of a 3-DOF gimbal and lower-limb joints of a walking human subject and compared to the reference systems. The gimbal experiment was included to evaluate the accuracy of our system in the condition with no skin movement artifact. The maximum standard deviation of the difference between WSM and the encoder was 0.9 for the gimbal experiment, and that between WSM and VICON was 5.0 for the human experiment. The accuracy was comparable to the reference systems, making it suitable for home environment application.
Highlights
OPTICAL motion-capture systems that include high-end infrared cameras, such as VICON (Vicon Motion Systems, Oxford, United Kingdom) and OptiTrack (NaturalPoint, Inc., OR, United States) systems, are considered to be gold-standard systems for motion-analysis research
We propose wearable skin markers (WSMs) that can be recognized by ordinary RGB cameras for low-cost and accurate motion analysis
As one WSM is composed of 10 triangles, the result indicates that the pixel area of each triangle should be larger than 80 in the image for robust recognition
Summary
OPTICAL motion-capture systems that include high-end infrared cameras, such as VICON (Vicon Motion Systems, Oxford, United Kingdom) and OptiTrack (NaturalPoint, Inc., OR, United States) systems, are considered to be gold-standard systems for motion-analysis research They are employed in biomechanics laboratories and in large hospitals that conduct studies on the pathological movement patterns of patients. The kinematic data acquired from these systems are applied in medical and sports applications to analyze and evaluate the quality of human movement These systems can be used in domains such as robotic research and the film industry. The protracted COVID-19 pandemic has highlighted the need for home-based training and rehabilitation systems Such a system would require that motion-capture systems be designed for home-based use, as they play an important role in pose feedback during exercise. Several low-cost motion-capture systems are introduced in the following paragraphs
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