The invention discloses a human body joint center determining method based on a wearable sensor, and relates to the technical field of robots. The method specifically comprises the steps that a plurality of Inertial Measurement Units (IMU) are selected and bound to the joint positions of the waist, the thighs and the shanks of a human body according to needs, and meanwhile a controller is connected to read the three-axis angular velocity value and the three-axis acceleration value of each IMU; through equal-time-interval sampling, the three-axis acceleration values and the three-axis angular velocity values are each drawn into an image; sawtooth ripples in the images are filtered till smooth images are obtained, a data fusion algorithm is further utilized for calculating the joint gradient and the loss function of a data set in the smooth images, a Levenberg-Marquart optimal method is utilized for optimization, and when the error of the loss function is minimum, the optimal joint center position is obtained. The joint center position can be accurately measured, no accurate measuring instrument is needed, calibration of the IMU does not need a specific rotary table or specific calibration action, the algorithm efficiency is high, and the error is small.
Human body joint center determining method based on wearable sensor