Design of a system capture human gait data in joint space

Based on the methodology of bio-inspired control of humanoid robot, human motion capture data is crucially important for improving the quality of gait as well as the ability of push-recovery of the humanoid. In order to get the human motion data that is easy to be applied to humanoid motion control, we designed a wearable human motion capture system that can capture the motion of the trunk and the lower limbs in the joint space as well as the motion of the pelvis in the Descartes space; and the forces exerted on the sole of foot are also measured so as to capture the moving of the zero moment point (ZMP) of human when he/she is walking. Both the mechanical and electronic parts of the motion capture system are introduced in detail; the advantages and the disadvantages of the system are also discussed.