Proceedings ArticleDOI
Joint axis and position estimation from inertial measurement data by exploiting kinematic constraints
Thomas Seel,Thomas Schauer,Jörg Raisch +2 more
- pp 45-49
TLDR
Novel methods for joint axis estimation and joint position estimation are presented that exploit the kinematic constraints induced by these two types of joints.Abstract:
We consider 6d inertial measurement units (IMU) attached to rigid bodies, e.g. human limb segments or links of a robotic manipulator, which are connected by hinge joints and spheroidal joints. Novel methods for joint axis estimation and joint position estimation are presented that exploit the kinematic constraints induced by these two types of joints. The presented methods do not require any knowledge about the sensor units' positions or orientations and do not include integration, i.e. they are insensitive to measurement bias. By means of a three-links simulation model, the estimation algorithms are validated and convergence is analyzed. Finally, the algorithms are tested using experimental data from IMU-based human gait analysis.read more
Citations
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Journal ArticleDOI
IMU-based joint angle measurement for gait analysis.
TL;DR: A set of new methods for joint angle calculation based on inertial measurement data in the context of human motion analysis are presented, including methods that use only gyroscopes and accelerometers and, therefore, do not rely on a homogeneous magnetic field.
Journal ArticleDOI
On Inertial Body Tracking in the Presence of Model Calibration Errors
TL;DR: In the absence of magnetic disturbances, severe model calibration errors and fast motion changes, the newly developed IMU centered EKF-based method yielded comparable results with lower computational complexity.
Journal ArticleDOI
Alignment-Free, Self-Calibrating Elbow Angles Measurement Using Inertial Sensors
TL;DR: This article proposes a new method, which is alignment free and self-calibrated using the arbitrary movements of the user and an initial zero reference arm pose, which can be particularly useful in the field of telerehabilitation, where precise manual sensor to segment alignment as well as precise, predefined calibration movements are impractical.
Proceedings ArticleDOI
Exploiting kinematic constraints to compensate magnetic disturbances when calculating joint angles of approximate hinge joints from orientation estimates of inertial sensors
TL;DR: A quaternion-based method for joint angle measurement for approximate hinge joints moving through inhomogeneous magnetic fields and is found to reduce the root-mean-square error of the joint angle from 25.8° to 2.6° in the presence of large magnetic disturbances.
Journal ArticleDOI
The development and concurrent validity of a real-time algorithm for temporal gait analysis using inertial measurement units.
E. Allseits,J Lučarević,J Lučarević,Robert Gailey,Vibhor Agrawal,Ignacio Gaunaurd,Ignacio Gaunaurd,Christopher Bennett +7 more
TL;DR: By utilizing the moment of zero shank angular velocity to identify toe-off, the NZC algorithm performed better than the DMM algorithm in measuring SLS and DLS times, which has significant clinical implications for pathologic gait assessment.
References
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Journal ArticleDOI
Ambulatory measurement of 3D knee joint angle
TL;DR: A simple method based on a leg movement is proposed here to align two inertial measurement units fixed on the thigh and shank segments and the three-dimentional knee joint angle is measured and compared with a magnetic motion capture system during walking.
Journal ArticleDOI
An inertial and magnetic sensor based technique for joint angle measurement
TL;DR: Experimental results show that accurate measurement of ankle joint angles is achieved by the technique during a variety of lower leg exercises including walking.
Journal ArticleDOI
Development of a wearable sensor system for quantitative gait analysis
TL;DR: In this paper, a study on development of a wearable sensor system for quantitative gait analysis using inertial sensors of gyroscopes and accelerometers is presented, which is designed to detect gait phases including initial contact, loading response, mid stance, terminal stance, pre swing, initial swing, mid swing and terminal swing.
Journal ArticleDOI
Gait posture estimation using wearable acceleration and gyro sensors
TL;DR: A method for gait analysis using wearable acceleration sensors and gyro sensors and a moving stick figure model of each volunteer was created to visually confirm the walking posture, showing that the left and right legs were bilaterally symmetric.
Journal ArticleDOI
Joint-Angle Measurement Using Accelerometers and Gyroscopes—A Survey
Peng Cheng,Bengt Oelmann +1 more
TL;DR: This paper focuses on the comparison of four different inertial-sensor combination methods that are reported in reference papers and utilizes the theory of rigid-body kinematics to explain and analyze their advantages and weaknesses.