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Dynamic analysis and motion measurement of ski turns using inertial and force sensors

机译：使用惯性和力传感器滑雪圈的动态分析和运动测量

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This paper proposes the dynamic motion analysis method of ski turns using inertial and force sensors. The motion analysis of ski turns in gliding on an actual field is important to resolve the mechanism of ski turns. However, it is difficult to measure physical exertion due to the severe experimental surrounding such as the outside snow conditions and the weather on the mountain. Therefore, few studies have analyzed ski turns quantitatively. The control force of skier gliding on the actual snow field must be clarified to resolve the mechanism of ski turns. In the previous studies, we developed the 3D posture estimation method of skier gliding at high speed. This method can estimate the Roll-Pitch-Yaw angles in local coordinate by the information of inertial sensors using the Unscented Kalman filter. The control force of skier (joint torque) can be calculated by combining this method and the measurement of reaction force from snow surface. We conducted the experiment of skier gliding on the actual snow field. The inertial sensors were attached to the body segments (upper body, lumber, femur, and lower thigh) of skier and ski boots, and the 6- axis force sensors were installed between boots and skis. The inertial sensors measure angular velocity and acceleration of body segments, and the force sensors measure the reaction force from snow surface. The joint torque (lumber spine, hip, knee and ankle) of skier is calculated by applying the measurement information to the Newton-Euler method. The analysis results using joint torque indicates the control force of skier gliding on the actual snow field. Therefore, the analysis method and results can be used to evaluate the skill of turns and to resolve the mechanism of ski turns.
机译：本文提出了使用惯性和力传感器的滑雪匝动态运动分析方法。滑雪转动在实际场上滑动的运动分析对于解决滑雪匝道的机制非常重要。然而，由于诸如外部雪条件和山上的天气，因此难以衡量物理劳累。因此，很少有研究过度分析滑雪圈。必须澄清滑雪者滑动在实际雪地场上的控制力以解决滑雪匝的机制。在以前的研究中，我们开发了高速滑行的3D姿势估计方法。该方法可以通过使用Unscented Kalman滤波器的惯性传感器的信息来估计局部坐标中的辊间距偏航角。通过组合该方法和从雪表面的反作用力的测量，可以计算滑雪者（关节扭矩）的控制力。我们在实际的雪地上进行了滑雪者的实验。惯性传感器连接到滑雪者和滑雪靴的身体段（上半身，木材，股骨和下大腿），并且在靴子和滑雪板之间安装了6轴力传感器。惯性传感器测量体段的角速度和加速度，力传感器测量来自雪表面的反作用力。通过将测量信息应用于牛顿 - 欧拉方法来计算滑雪者的接头扭矩（木​​材脊柱，臀部，膝关节和脚踝）。使用关节扭矩的分析结果表示滑雪者滑动在实际雪原上的控制力。因此，分析方法和结果可用于评估转弯的技能并解决滑雪圈的机制。

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