Motion analysis and joint angle measurement of skier gliding on the actual snow field using inertial sensors

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1 valable onlne a Proceda Engneerng h sa-pacfc Conference on Sors Technology PCST Moon analyss and jon angle measremen of sker gldng on he aal snow feld sng neral sensors kko Kondo a*, Hosh Dok a and Kyosh Hrose a a Gradae school of Engneerng and Resorce scence, ka Unversy, Tegaa Gaken-mach, ka-sh, ka, Jaan Receved 20 March 203; revsed 6 May 203; acceed 2 Jne 203 bsra Ths aer deals wh he moon analyss of sker gldng on he aal snow feld sng neral sensors. I s dffcl o measre he moon of sker gldng on he aal snow feld snce he gldng veloy s fas and he measremen area s large. Therefore, few sdes have analyzed sk rns n gldng on he aal snow feld. I s necessary o analyze he sker gldng on he aal snow feld n resolvng he mechansm of sk rns. In or revos sdy, we develoed he moon measremen mehod of sker sng neral and magnec feld sensors. The 3D osre s esmaed by alyng he sensor fson mehod, and he mehod can esmae he 3D osre comensang he drf error of gyro sensor and redcng he effe of dynamc acceleraon of acceleromeer. Frhermore, we develoed he sensor fson mehod esmang he 3D osre n local coordnae by he nformaon of neral sensors aachng he body segmens. The jon angle of sker n gldng on he aal snow feld can be esmaed by hs mehod and nverse knemacs. We conded he measremen exermen by sker gldng on he aal snow feld. The neral sensors and he GPS recever were aached o he body segmens and he o of sker, resevely. Sker conded carvng and skddng rns n hs exermen. We calclaed he jon angles of sker by he nformaon of neral sensors, and he swchovers of rns are esmaed by he GPS recever o. The resls of moon analyss ndcaed he major feare of sker s moon and he dfference beween carvng and skddng rns. Therefore, he analyss resls can be sed o he skll rang, he clarfcaon of he mechansm of sk rns and he sggeson of more deal rnng form. 203 The hors. Pblshed by Elsever Ld. Oen access nder CC BY-NC-ND lcense. Seleon 203 Pblshed and eer-revew by Elsever nder resonsbly Ld. Seleon of he and/or School eer-revew of erosace, nder Mechancal resonsbly and Manfarng of RMIT Unversy Engneerng, RMIT Unversy Keywords: Sk; moon analyss; osre; jon angle; neral sensor; sensor fson * Corresondng ahor. Tel.: ; fax: E-mal address: kondo@mech.aka-.ac.j The hors. Pblshed by Elsever Ld. Oen access nder CC BY-NC-ND lcense. Seleon and eer-revew nder resonsbly of he School of erosace, Mechancal and Manfarng Engneerng, RMIT Unversy do: 0.06/j.roeng

2 308 kko Kondo e al. / Proceda Engneerng Inrodon Skng has a hgh ndsry scale and olary arond wde age gro. Therefore, many sdes have been conded n several secal felds of sdy. There are several sdes on skng sch as he develomen of sk robo [], he smlaon of sk rns [2], he charaerscs analyss of skng [3] and he moon analyss of sker [4] n he feld of engneerng. These sdes have been conded o clarfy he mechansm of sk rns. I s necessary o advance hese sdes for conrbon o frher rogress of skng. In he sdes abo he moon analyss of sker, he moon analyss of sker gldng on he aal snow feld s moran o resolve he mechansm of sk rns. In he revos sdes, we have roosed he moon analyss mehods of sker gldng on he aal snow feld by sng he DLT mehod, he 3D magnec osonng sensor and he neral and magnec feld sensors [5, 6]. Frhermore, we develoed he esmaon mehod of gldng veloy by combnng GPS recever and neral and magnec feld sensors [7], and he moon analyss sng jon angles of sker and gldng veloy was conded [8]. Ths mehod can esmae he 3D osre comensang he drf error of gyro sensor, and he jon angles of sker are calclaed by alyng he nverse knemacs. Ths mehod can redce he effe of dynamc acceleraon. However, he erformance of hs mehod s nadeqaely n he moon measremen of sker gldng a he hgh seed on he aal snow feld. Therefore, we develoed he esmaon mehod of 3D osre sng neral sensors, and we calclaed he jon angles of sker aachng he neral sensors [9]. Ths mehod can esmae he Roll-Pch-Yaw angles n local coordnae comensang he drf error and avodng he effe of dynamc acceleraon. We ndcaed he jon angles of sker condng he carvng rn. The major feares of sker can be clarfed by sng hs mehod. In hs sdy, we cond he moon measremen and analyss of carvng and skddng rns of sker gldng on he aal snow feld. We ndcae he major feares and he dfference beween hese rns by he resls of moon analyss. 2. Theory The 3D osre of sker Roll-Pch-Yaw angles n local coordnae s esmaed by he sensor fson mehod sng he Unscened Kalman fler [9]. Ths mehod can esmae he 3D osre avodng he drf error and he effe of dynamc acceleraon by focsng he nformaon of local coordnae. The Unscened Kalman fler s a nonlnear Kalman fler ha can esmaes he omal vale n he nonlnear sae and measremen eqaons. The nonlnear sae eqaon and he nonlnear measremen eqaon are shown n Eq. and Eq. 2, where, are he gyro sensor os anglar veloy n lnk and lnk, resevely, R s he roaonal marx from lnk o lnk, [ x, y, z ] T s he jon anglar veloy,,, are he Roll-Pch-Yaw angle of lnk n lnk coordnae,, are he acceleraon sensor os on lnk and lnk and, are he sms of cenrfgal and angenal acceleraons reresenng he roaonal comonen of acceleraon sensors aachng on lnk and lnk. x F x w x ψ, F x x sn an cos ψ sn sec y y y cos sn cos z sec an z z

3 309 kko Kondo e al. / Proceda Engneerng These eqaons conss of he relaonal exresson beween jon anglar veloy and anglar veloy, he ranslaon exresson from he jon anglar veloy o he me dfferenal of Roll-Pch-Yaw angles n local coordnae and he relaonal exresson beween acceleraons n lnk and lnk are shown n Eqs The jon angles are calclaed by alyng he nverse knemacs o he 3D osre. The 3D rgd lnk model for he calclaon of jon angles s shown n Fg.. Ths model consss of he lmber, h, knee and ankle jons. The lmber, h and ankle jons are defned as he 3 DOF jon. In hs sdy, he lmber and h jon angles are calclaed. The defnon of lmber and h jons s shown n Table. Fg..3D rgd lnk model v x H y R R x H y T, ω ω R T z y x an cos an sn sn cos 0 sec cos sec sn 0 ψ R

4 30 kko Kondo e al. / Proceda Engneerng Table. Defnon of jons Lmbar exenson -, flexon Lmbar laeral fold o lef, 2 o rgh - Lmbar lef roaon -, 3 rgh roaon Rgh h exenson -, 4 flexon Rgh h addon, 5 abdon- Rgh h nernal roaon, 6 exernal roaon - Lef h exenson -, 7 flexon Lef h addon -, 8 abdon Lef h nernal roaon -, 9 exernal roaon 3. Exermen We conded he measremen exermen by sker aachng he neral sensor ns and GPS recever. The overvew of he neral sensor n s shown n Fg. 2, and he seng oson of sensors s shown n Fg. 3. The neral sensor ns are aached o he body segmens Uer body, lmber and femr of sker, and he GPS recever s nsalled o he o of sker. Sker conded he carvng and skddng rns afer he rn. We calclaed he jon angles Lmber and h by he nformaon of neral sensors, and we esmae he swchovers of rns by he GPS recever o. The samlng freqences of he neral sensor ns and he GPS recever are 00Hz and 5Hz, resevely. The measremen me s 30sec. Fg. 2. Ineral sensor n overvew Fg. 3. Seng oson of measremen sysems

5 kko Kondo e al. / Proceda Engneerng Resl Resls for he jon angles Lmber, lef h and rgh h of sker condng carvng and skddng rns are shown n Fg. 4-6, where he black sold lnes ndcae he swchovers of rns. The swchovers of rns were calclaed by lade, longde and alde of GPS recever o. The resls of one rn were exraed by he swchovers of rns. The roaon angle n skddng rn was bgger han he one n carvng rn o cond he bg roaonal moon of he er body n he resls for lmber jon angles. The flexon angle of h jon n carvng rn was bgger han he one n skddng rn. The flexon angles of lef h n lef rn and rgh h n rgh rn ndcaed he hgh jon angles n carvng rn. These resls reresen ha he sker nclned he er body o he cener dreon of rn. In he all resls, he jon angles n skddng rn were more vbraon han he jon angles n carvng rn. These resls ndcae ha he sker cached on he effe of he vbraon generang wh he sde skddng of sk. Therefore, he change of jon angles n carvng rn was smooh. Therefore, hs mehod can be sed o clarfy he moon of sker gldng on he aal snow feld, and he analyss resls ndcaed he major feares of sker n he dfference rns. Fg. 4. Lmber jon angles a Carvng rn; b Skddng rn Fg. 5. Lef h jon angles a Carvng rn; b Skddng rn

6 32 kko Kondo e al. / Proceda Engneerng Fg. 6. Rgh h jon angles a Carvng rn; b Skddng rn 5. Conclson In hs sdy, we conded he moon analyss of sker gldng on he aal snow feld sng neral sensors. We conded he measremen exermen by sker condng carvng and skddng rns on he aal snow feld, and he jon angles of sker were calclaed by alyng he esmaon mehod of 3D osre. The moon analyss sng he jon angles of sker ndcaed he major feares of sker and he dfference of moon n rns. Therefore, he resls of hs sdy can be sed o he develomen of new eachng mehods, he skll rang, he clarfcaon of he rn mechansm, and he sggeson of more deal rnng form. References [] T. Yoneyama, H. Kagawa, M. Unemoo, T. Izka, N. W. Sco, Sk robo sysem for qalave modelng of he carved rn, Sors Engneerng, 2009,, 3-4. [2] P. Federolf, M. Roos,. Lh and J. Dal, Fne elemen smlaon of he sk-snow neraon of an alne sk n a carved rn, Sors Engneerng, 200, 2, [3]. Sbc, P. Clfon, J. Beneyo-Ferre,. Leflohc, Y. Sao, V. Pchon, Invesgaon of snowboard sffness and camber charaerscs for dfferen rdng syles, Sors Engnnerng, 2009,, [4] M. Brode,. Walmsley, W. Page, Fson moon care: a rooye sysem sng neral measremen ns and GPS for he bomechancal analyss of sk racng, Sors Technology, 2008, -, [5] C. Naga, Y. Sakra, H. Dok and T. Iwam, Sdes on he Effe of Was Movemen on he Sk Trn, Jornal of Sk Scence, 2004, 2-, 9, n Jaanese. [6] K. Hrose, H. Dok, S. Koda, K. Nagasak, Sdes on he dynamc analyss and moon measremen of skng rn sng exended Kalman fler, JEMS, 20, , n Jaanese. [7] K. Hrose, H. Dok, H. Mraa, N. Sao, Sdes on he moon analyss of skng rn sng orenaon and gldng rajeory measremen, Jornal of Sk Scence, 20, 8-, n Jaanese. [8] K. Hrose and H. Dok, roosal for he moon analyss mehod of skng rn by measremen of orenaon and gldng rajeory, The Ima of Technology on Sor, 20, [9]. Kondo, H. Dok and K. Hrose, n aem of a new moon measremen mehod for alne sk rns sng neral sensors, The Engneerng of Sor 9, 202,