| Description |
1 online resource |
| Contents |
Intro; Preface; How to Use This Book; Acknowledgements; Abbreviations; Contents; 1 Introduction; 1.1 Recording Movement and Orientation; 1.2 Conventions and Basics; 1.2.1 Notation; 1.2.2 Coordinate Systems; 1.3 Software Packages; 1.3.1 Python Package scikit-kinematics; 1.3.2 Matlab 3-D Kinematics Toolbox; 1.3.3 Source Code for Python and Matlab; 1.4 Warm-Up Exercises; 2 Measurement Techniques; 2.1 Marker-Based Measurements; 2.1.1 Image Formation; 2.2 Sensor-Based Measurements; 2.2.1 Overview; 2.2.2 Linear Accelerometers; 2.2.3 Gyroscopes; 2.2.4 Ultrasound Sensors-Trilateration |
|
2.2.5 Magnetic Field Sensors3 Rotation Matrices; 3.1 Introduction; 3.2 Rotations in a Plane; 3.2.1 Rotation in Cartesian Coordinates; 3.2.2 Rotation in Polar Coordinates; 3.2.3 Application: Orienting an Object in a Plane; 3.3 Rotations About Coordinate Axes in 3-D; 3.3.1 3-D Rotations About Coordinate Axes; 3.3.2 Rotations of Objects Versus Rotations of Coordinate Systems; 3.4 Combined Rotations; 3.4.1 3-D Orientation with Sequential Rotations; 3.4.2 Gimbal Lock; 3.5 Homogeneous Coordinates; 3.5.1 Definition; 3.6 Applications; 3.6.1 Two DOF-Targeting an Object in 3-D |
|
3.6.2 Two DOF-Projection onto a Flat Surface3.6.3 Three DOF-3-D Orientation Measurements with Search Coils; 3.6.4 Nested or Cascaded 3-D Rotation Sequences; 3.6.5 Camera Images; 3.7 Exercises; 4 Quaternions and Gibbs Vectors; 4.1 Representing Rotations by Vectors; 4.2 Axis-Angle Euler Vectors; 4.3 Quaternions; 4.3.1 Background; 4.3.2 Quaternion Properties; 4.3.3 Interpretation of Quaternions; 4.3.4 Unit Quaternions; 4.4 Gibbs Vectors; 4.4.1 Properties of Gibbs Vectors; 4.4.2 Cascaded Rotations with Gibbs Vectors; 4.4.3 Gibbs Vectors and Their Relation to Quaternions; 4.5 Applications |
|
4.5.1 Targeting an Object in 3-D: Quaternion Approach4.5.2 Orientation of 3-D Acceleration Sensor; 4.5.3 Calculating Orientation of a Camera on a Moving Object; 4.5.4 Object-Oriented Implementation of Quaternions; 5 Velocities in 3-D Space; 5.1 Equations of Motion; 5.2 Linear Velocity; 5.3 Angular Velocity; 5.3.1 Calculating Angular Velocity from Orientation; 5.3.2 Calculating Orientation from Angular Velocity; 6 Analysis of 3-D Movement Recordings; 6.1 Position and Orientation from Optical Sensors; 6.1.1 Recording 3-D Markers; 6.1.2 Orientation in Space; 6.1.3 Position in Space |
|
6.1.4 Velocity and Acceleration6.1.5 Transformation from Camera- to Space-Coordinates; 6.1.6 Position; 6.2 Position and Orientation from Inertial Sensors; 6.2.1 Orientation in Space; 6.2.2 Position in Space; 6.3 Applications: Gait Analysis; 6.4 Exercises; 7 Multi-sensor Integration; 7.1 Working with Uncertain Data; 7.1.1 Uncertain Data in One Dimension; 7.1.2 Uncertain Data in Multiple Dimensions; 7.2 Kalman Filter; 7.2.1 Idea Behind Kalman Filters; 7.2.2 State Predictions; 7.2.3 Measurements and Kalman Equations; 7.2.4 Kalman Filters with Quaternions; 7.3 Complementary Filters; 7.3.1 Gradient Descent Approach |
| Summary |
This book presents an introduction to the analysis of general movements in 3D space, especially for movements of the human body. It is based on the lecture notes of a class on 3D Kinematics, which the author has been holding in the Master Degree Program of his home institution, the University of Applied Sciences Upper Austria. The lecture introduces the mathematics underlying the measurement and analysis of 3D movements. The target audience primarily comprises research experts in the field, but the book may also be beneficial for graduate students alike |
| Notes |
Online resource; title from digital title page (viewed on January 23, 2019) |
| Subject |
Kinematics -- Mathematical models
|
|
Kinematics -- Computer simulation
|
|
Human mechanics -- Mathematical models
|
|
Human mechanics -- Computer simulation
|
|
Human mechanics -- Computer simulation
|
|
Human mechanics -- Mathematical models
|
|
Kinematics -- Computer simulation
|
|
Kinematics -- Mathematical models
|
| Form |
Electronic book
|
| ISBN |
9783319752778 |
|
3319752774 |
|
