Multimedia Tools and Applications

, Volume 76, Issue 2, pp 1681–1701 | Cite as

Motion trajectory of human arms based on the dual quaternion with motion tracker

  • Li Ji
  • Hong WangEmail author
  • Tianqi Zheng
  • Xunfang Qi


In this paper, we present an algorithm for human motion capture of the real-time motion trajectory of human arms based on wireless inertial 3D motion trackers. It aims to improve the accuracy of inertial motion captures and quickly reconstruct some human movements. To evaluate the performance of the proposed dual quaternion algorithm, we present the prototype design. The wireless inertial measurement system and Kinect device are introduced simultaneously in capturing human motion. The dual quaternion algorithm incorporates features of the quaternion rotation and translation. So the singular points of Euler angles can be avoided. Dual quaternion algorithm and DCM(direction cosine matrix) are used to reconstruct human arm movements respectively. Compared with the computing speed in Matlab, the speed of the dual quaternion is faster than it of DCM. To the end, we propose a 3D ADAMS human robotic model for simulating the motion trajectory using dual quaternion algorithm. The results show that the dual quaternion can achieve capabilities of a positive DCM solving, which completed between body segments rotating and translating the coordinate system transformation. Also it can effectively drive in real-time a human model to animate movement, and provide a good algorithm.


Dual quaternion Rotation matrix Human motion capture Kinect device Motion trajectory Singular points 



This work was supported by the National Natural Science Foundation of China (Grant No.51405073). Innovation team project of higher college in Liaoning province (LT2014006).

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Copyright information

© Springer Science+Business Media New York 2015

Authors and Affiliations

  1. 1.Department of Mechanical Engineering and AutomationNortheastern UniversityShenyangChina

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