pykinematics.imu.joints.correct_knee

pykinematics.imu.joints.correct_knee(thigh_w, shank_w, thigh_r, shank_r, R_shank_thigh, knee_axis_kwargs=None)

Correct the knee position based on the computed knee axis.

Parameters:

thigh_w : numpy.ndarray

(N, 3) array of angular velocities measured by the thigh sensor.

shank_w : numpy.ndarray

(N, 3) array of angular velocities measured by the shank sensor.

thigh_r : numpy.ndarray

Initial knee joint center to thigh sensor vector.

shank_r : numpy.ndarray

Initial knee joint center to shank sensor vector.

R_shank_thigh : numpy.ndarray

(3, 3) Rotation matrix from shank to thigh sensors.

knee_axis_kwargs : dict, optional

Knee axis computation key-word arguments. See KneeAxis.

Returns:

thigh_r_corr : numpy.ndarray

Corrected knee joint center to thigh sensor vector.

shank_r_corr : numpy.ndarray

Corrected knee joint center to shank sensor vector.