Dynamic Measurement of Legs Motion in Sagittal Plane Based on Soft Wearable Sensors Human motion capture is widely used in exoskeleton robots, humancomputer interaction, sports analysis, rehabilitation training, and many other fields. However, softsensorbased wearable dynamic measurement has not been well achieved. In this paper, the dynamic measurements of legs were investigated by using dielectric elastomers as stain sensors, and an alternating signal was applied to detect the dynamic rotational angles of the legs. To realize a quick response, parameters of the sensors were optimized by circuit analysis. The sensor can detect hip, knee, and ankle joint motions with a sample frequency of 200xe2x80x89Hz. The measurements of the sensors were compared with a commercial motion capture system from PhaseSpace, and dynamic errors between them were smaller than 3xc2xb0 when squatting and walking at low speed and smaller than 5xc2xb0 when walking at high speed. Experiments therefore demonstrate the feasibility of the integrated wearable stretch sensors with pants.

A Threedimensional Finger Motion Measurement System of a Thumb and an Index Finger Without a Calibration Process Various wearable systems have been investigated to measure hand motion, but some challenges remain. Many systems require a calibration process to map sensor signals to actual finger joint angles by the principle of measuring the length change of the finger, or bending sensors. Also, few studies have investigated how to measure thumb motion accurately using the wearable systems. This paper proposes an exoskeleton system with linear Hall sensors to measure threedimensional hand motion without a calibration process. The calibration process is avoided by measuring finger joint angles through an absolute rotation measurement. A new wearing method with lower parts underneath the hand joints and rubber bands is proposed to fix the structure to the hand and adapt it for various hand sizes. As the thumb has a complex biomechanical feature at carpometacarpal (CMC) joint, a new measuring method of the CMC joint is proposed to directly calculate the orientation of the metacarpal. The prototype of the thumb and index finger was manufactured, and the performance was verified experimentally by using an optical motion capture system.