图1 运动学
图2 运动学2
右键点击每段骨骼或关节可以查看此骨骼或关节的欧拉角数据，比如“右肩”，也可以直接点击骨骼或关节，将其拖拽到制图窗口中。
表1 运动学
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Kinematics |
骨骼欧拉角 |
Global坐标系，相对于3D场景左下角坐标系所指示的全局坐标系。 |
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Joints |
关节欧拉角 |
Local坐标系，相对于父骨骼的旋转角度 |
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关节向量角 |
当前骨骼旋转所表示的方向向量相对于父骨骼旋转所表示的方向向量的矢量角。 |
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关节位移 |
Global坐标系，相对于3D场景左下角坐标系所指示的全局坐标系。 |
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Center of Mass |
人体重心位移 |
Global坐标系，相对于3D场景左下角坐标系所指示的全局坐标系。人体重心由人体所有骨骼加权平均计算得出。 |
在这里我们可以分别查看我们感兴趣的骨骼或关节的角度变化信息，并且可以同时监视（至多四段）骨骼或关节的角度变化信息。
其中：
表2 脊柱关节
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Kinematics |
Joints |
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S1段骨骼作为Hip/Pelvis段骨骼数据。 L5至L3段骨骼作为L5段骨骼数据。 L3至T12段骨骼作为L3段骨骼数据。 T12至T8段骨骼作为T12段骨骼数据。 T8至C7段骨骼作为T8段骨骼数据。 C7至C1段骨骼作为Neck段骨骼数据。 其中后背传感器的数据赋值给了T4骨骼。 由于传感器数量限制，其中Hip处数据由胯部传感器得出。 |
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L5S1关节角：腰5骨骼相对于骶1骨骼在空间中的欧拉角（三轴）。 L4L3关节角：腰3骨骼相对于腰4骨骼在空间中的欧拉角（三轴）。 L1T12关节角：胸椎T12骨骼相对于腰1骨骼在空间中的欧拉角（三轴）。 T9T8关节角：胸椎T8骨骼相对于胸椎T9骨骼在空间中的欧拉角（三轴）。 T1C7关节角：颈椎C7骨骼相对于胸椎T1骨骼在空间中的欧拉角（三轴）。 C1Head关节角：头骨相对于颈椎C1骨骼在空间中的欧拉角（三轴）。 |
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每个关节的外展和内收，前屈和后伸，外旋和内旋与该关节相连的子骨骼相对父骨骼的欧拉角的对应关系。
angleX，angleY，angleZ 为欧拉角的值。
前屈（+）表示：前屈的角度 = angleX，前屈的角度大于0表示前屈，小于0表示后伸
前屈（-）表示：前屈的角度 =- angleX，前屈的角度大于0表示前屈，小于0表示后伸
表3 骨骼欧拉角含义
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