Filtro de Kalman para captura de movimiento con estimación de esfuerzos motores y reacciones en tiempo real

Abstract

The object of the present work is the development of a method to perform motion capture by means of optical markers and force plates, being able to reconstruct and visualize the movement in real time, as well as to estimate derivative values, such as motor efforts and joint reaction forces. Having the possibility to capture and reconstruct the movement in real time can be useful for multiple reasons: on the one hand, it will allow to assess right away if a capture has been successful, and, on the other hand, will serve to generate real-time biofeedback applications for rehabilitation, sports, video games, etc., where the input is the movement of the user captured in real time. In order to achieve these goals, a Kalman filter based on a dynamic model of the skeletal system, using the optical markers and force plates as sensors, will be developed.