Abstract
Motion capture of the human body potentially holds great significance for exoskeleton robots, human-computer interaction, sports analysis, rehabilitation research, and many other areas. Dielectric elastomer sensors (DESs) are excellent candidates for wearable human motion capture systems because of their intrinsic characteristics of softness, light weight, and compliance. In this paper, DESs were applied to measure all component motions of the wrist joints. Five sensors were mounted to different positions on the wrist, and each one is for one component motion. To find the best position to mount the sensors, the distribution of the muscles is analyzed. Even so, the component motions and the deformation of the sensors are coupled; therefore, a decoupling method was developed. By the decoupling algorithm, all component motions can be measured with a precision of 5°, which meets the requirements of general motion capture systems.
Highlights
The wrist is one of the most complex joints of the human body, and plays a very important role in the action of the hand
Dielectric elastomer sensors (DESs) to measure wrist motion by utilizing a decoupling method to calculate the component motions, and precision of the DESs can meet the requirements of general motion capture systems
Variations in strain of the DES can be linearly converted to variations in capacitance, and d where ε 0 is the vacuum permittivity, ε r is the relative permittivity of the dielectric layer material, A is linearly converted to an output voltage; the strain can be calculated by the voltage
Summary
The wrist is one of the most complex joints of the human body, and plays a very important role in the action of the hand. Data Glove based on five fiber optic sensors is designed to satisfy the requirements of high-precision finger motion capture [12]. The above materials are not ideally suited for the measurement of wrist motion Another widely studied class of soft sensor is the dielectric elastomer sensor (DES) that is lightweight, very soft, and has high linearity and stretchability [24]. These characteristics of such a soft sensor make them well suited to measure the motion of human beings as wearable devices. Wearable DESs have an advantage in the measurement of large deformation compared to the above conductive materials, and DESs are more precise and comfortable compared to wearable inertial motion capture sensors. DESs to measure wrist motion by utilizing a decoupling method to calculate the component motions, and precision of the DESs can meet the requirements of general motion capture systems
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