the study of optical motion capture to be integrated in

(1)

By

Samuel Gasperius 11111045

BACHELOR’S DEGREE in

MECHANICAL ENGINEERING – MECHATRONICS CONCENTRATION FACULTY OF ENGINEERING AND INFORMATION TECHNOLOGY

SWISS GERMAN UNIVERSITY EduTown BSD City

Tangerang 15339 Indonesia

August 2015

(2)

Samuel Gasperius STATEMENT BY THE AUTHOR

I hereby declare that this submission is my own work and to the best of my knowledge, it contains no material previously published or written by another person, nor material which to a substantial extent has been accepted for the award of any other degree or diploma at any educational institution, except where due acknowledgement is made in the thesis.

Samuel Gasperius

_____________________________________________

Student Date

Approved by:

Dr. Rusman Rusyadi, M.Sc.

_____________________________________________

Thesis Advisor Date

Ir. Triarti Saraswati, M.Eng.

_____________________________________________

Thesis Co-Advisor Date

Dr. Ir. Gembong Baskoro M.Sc.

_____________________________________________

Dean Date

(3)

Samuel Gasperius ABSTRACT

THE STUDY OF OPTICAL MOTION CAPTURE TO BE INTEGRATED IN JACK HUMAN MODELLING USING MICROSOFT KINECT

By

Samuel Gasperius

Dr. Rusman Rusyadi, M.Sc., Advisor Ir. Triarti Saraswati, M.Eng., Co-Advisor

SWISS GERMAN UNIVERSITY

This study explores the human analysis software Jack from Siemens which mainly used for ergonomics analysis and Kinect the device that has been used for tracking human motions. The purpose of this study is to integrate Kinect into Jack as an inputting device to manipulate a human model for analysis. The analysis tools also need different kind of data for each analysis, this study explores the analysis tools’

requirements and check whether Kinect can help the analysis or not.

To integrate Kinect into Jack, they need to be able to communicate with each other. A module for Jack to recognize Kinect has been made and available in the newer version of Jack. The module has been proven to be compatible with the older version of Jack that is used in this study. This study will also discuss the conditions required by Kinect in order to work properly.

This thesis has proved the capability and limitation of Kinect and Jack to do motion capture using Jack’s Kinect module. However, there is still possibility for a better result other than using Jack’s Kinect module.

Keywords: Jack, Kinect, Motion capture, Ergonomics analysis.

(4)

Samuel Gasperius

(5)

Samuel Gasperius DEDICATION

I dedicate this work to whatever I dedicate this work to.

(6)

Samuel Gasperius ACKNOWLEDGEMENTS

Thank You God Almighty for creating the universe and not destroying it before the thesis submission.

Thank You Lord Jesus Christ for teaching a good way of life that I fail to follow.

Thank you my advisor and co-advisor, Dr. Rusman Rusyadi M.Sc. and Ir. Triarti Saraswati M.Eng., for the inspirations and enlightenments when I’m lost in confusion.

Thank you my parents, for raising me and giving me small allowance.

Thank you my friends from batch 2011 of Swiss German University; especially Yusak, Dave, Yogi, Juan, Christian, and Davin for giving me a ride to campus and home every time I need for the last four years.

Thank you Ezra Mandira Sugandi, S.T. B.Eng., for the motivations and helps.

(7)

Samuel Gasperius TABLE OF CONTENTS

Page

STATEMENT BY THE AUTHOR ... 2

ABSTRACT ... 3

ACKNOWLEDGEMENTS ... 6

TABLE OF CONTENTS ... 7

LIST OF FIGURES ... 9

LIST OF TABLES ... 10

LIST OF EQUATIONS ... 11

Chapter 1 – INTRODUCTION ... 12

1.1 Thesis Background ... 12

1.2 Thesis Purpose ... 13

1.3 Thesis Scope ... 13

1.4 Thesis Limitation ... 13

1.5 Significance of the Study ... 14

1.6 Thesis Organization ... 14

Chapter 2 – LITERATURE REVIEW ... 15

2.1 Introduction ... 15

2.2 Ergonomics ... 15

2.2.1 Human Modelling ... 15

2.2.2 Jack ... 16

2.3 Motion Capture ... 16

2.4 Computer Vision ... 18

2.5 Microsoft Kinect ... 19

2.6 Microsoft Visual Studio ... 21

Chapter 3 – METHODOLOGY ... 22

3.2 Systems Overview ... 22

3.3 Preparation ... 25

3.3.1 Preparing Kinect ... 25

3.3.2 Preparing Jack ... 26

3.4 Skeleton Tracking Algorithm ... 27

(8)

Samuel Gasperius

3.5 Joint Coordinate Testing Program ... 29

3.6 Jack Kinect Module ... 30

3.7 Jack Animation Module ... 33

Chapter 4 – RESULTS AND DISCUSSIONS ... 34

4.2 Kinect Detection Range Test ... 34

4.3 Joint Coordinate Test Data Analysis ... 37

4.3.1 Length test ... 37

4.3.2. Range test ... 42

4.4 Test Program and Jack’s Kinect Module Comparison... 43

4.5 Jack’s Kinect Module Analysis ... 44

4.6 Jack + Kinect Motion Capture Test ... 46

4.6.1 Hand Waving Test ... 46

4.6.2 Lifting Test ... 46

4.6.3 Squat Jump Test ... 48

4.6.4 Martial Arts Test ... 49

Chapter 5 – CONCLUSIONS AND RECCOMENDATIONS ... 50

5.1 Conclusions ... 50

5.2 Recommendations ... 50

GLOSSARY ... 51

REFERENCES ... 52

APPENDIX A – Kinect’s Data Sheet ... 53

APPENDIX B – Joint Coordinate Testing Program ... 55

B.1. MainWindow.xaml.cs ... 55

B.2. MainWindow.xaml ... 66

CURRICULUM VITAE ... 69