The invention provides a portable human joint parameter
estimation method based on an IMU (
inertial measurement unit) and relates to a human joint parameter
estimation method in order to solve the problems of low precision, high price, inconvenient operation, high time consumption and the like in the prior art. The method comprises steps as follows: step one, a
human arm is equivalent to be hinged by three rigid bodies including an upper arm, a front arm and a palm through an
elbow joint and a
wrist joint, and a coordinate
system is defined; step two, a position vector of o1 in Fa is analyzed according to
kinesiology, and a second-order differential form, shown in the specification, of P<o1><e> is obtained; step three, a position vector of o1 in Fb is analyzed according to
kinesiology, and a second-order differential form, shown in the specification, of P<o1><e> is obtained; step four, a kinematic
constraint relation, caused by ball joints, of P<o1> and P<o1> is obtained; step five, an equation set is solved with the least square method, and P<o1> and P<o1> are obtained; step six, the step two to the step five are executed again, and values of P<o2> and P<o2><c> are obtained; step seven, the length of the
forearm is calculated. The method is applied to the field of limb measurement.