Consistent accuracy in whole-body joint kinetics during gait using wearable inertial motion sensors and in-shoe pressure sensors

2015 ◽  
Vol 42 (1) ◽  
pp. 65-69 ◽  
Author(s):  
Tsolmonbaatar Khurelbaatar ◽  
Kyungsoo Kim ◽  
SuKyoung Lee ◽  
Yoon Hyuk Kim
Keyword(s):  
Pressure Sensors ◽  
Whole Body ◽  
Motion Sensors ◽  
Inertial Motion ◽  
Joint Kinetics ◽  
Body Joint

Fusion of Inertial Motion Sensors and Electroencephalogram for Activity Detection

2019 ◽  
pp. 319-326 ◽  
Author(s):  
Ibai Baglietto Araquistain ◽  
Xabier Garmendia ◽  
Manuel Graña ◽  
Javier de Lope Asiain
Keyword(s):  
Motion Sensors ◽  
Activity Detection ◽  
Inertial Motion

Accuracy of Inertial Motion Sensors in Static, Quasistatic, and Complex Dynamic Motion

2009 ◽  
Vol 131 (11) ◽  
Author(s):  
Alison Godwin ◽  
Michael Agnew ◽  
Joan Stevenson
Keyword(s):  
Human Motion ◽  
Three Dimensions ◽  
Motion Sensors ◽  
Inertial Motion ◽  
Dynamic Motion ◽  
Technical Specifications ◽  
Rms Error ◽  
Arm Motion ◽  
Roll Axis ◽  
Better Than

Inertial motion sensors (IMSs) combine three sensors to produce a reportedly stable and accurate orientation estimate in three dimensions. Although accuracy has been reported within the range of 2 deg of error by manufacturers, the sensors are rarely tested in the challenging motion present in human motion. Their accuracy was tested in static, quasistatic, and dynamic situations against gold-standard Vicon camera data. It was found that static and quasistatic rms error was even less than manufacturers’ technical specifications. Quasistatic rms error was minimal at 0.3 deg (±0.15 deg SD) on the roll axis, 0.29 deg (±0.20 deg SD) on the pitch axis, and 0.73 deg (±0.81 deg SD) on the yaw axis. The dynamic rms error was between 1.9 deg and 3.5 deg on the main axes of motion but it increased considerably on off-axis during planar pendulum motion. Complex arm motion in the forward reaching plane proved to be a greater challenge for the sensors to track but results are arguably better than previously reported studies considering the large range of motion used.

The effects of load on system and lower-body joint kinetics during jump squats

2012 ◽  
Vol 11 (4) ◽  
pp. 492-506 ◽  
Author(s):  
Gavin L. Moir ◽  
Jared M. Gollie ◽  
Shala E. Davis ◽  
John J. Guers ◽  
Chad A. Witmer
Keyword(s):  
Lower Body ◽  
Joint Kinetics ◽  
Body Joint

scholarly journals Accurate and robust localization for walking robots fusing kinematics, inertial, vision and LIDAR

2018 ◽  
Vol 8 (4) ◽  
pp. 20180015 ◽  
Author(s):  
Maurice Fallon
Keyword(s):  
Humanoid Robot ◽  
Situational Awareness ◽  
Pressure Sensors ◽  
Whole Body ◽  
Walking Robots ◽  
Joint Angles ◽  
State Estimate ◽  
External Forces ◽  
The Relationship ◽  
Frequency State

In this article, we review methods for localization and situational awareness of biped and quadruped robotics. This type of robot is modelled as a free-floating mechanical system subject to external forces and constrained by whole-body distributed rigid contacts. Measurements of the state of the robot can be made using a variety of sensor information—such as kinematics (the sensing of the joint angles of the robot), contact force (pressure sensors in the robot's feet), accelerometers and gyroscopes as well as external sensors such as vision and LIDAR. This high-frequency state estimate is then passed to the control system of the robot to allow it to traverse terrain or manipulate its environment. In this article, we describe the development of an estimator for the Boston Dynamics Atlas humanoid robot. It was later adapted to the HyQ2 quadruped, developed by the Istituto Italiano di Tecnologia. Some discussion is given as to future trends while also considering briefly the relationship with biological systems.

Vision adds to haptics when dyads perform a whole-body joint balance task

2017 ◽  
Vol 235 (7) ◽  
pp. 2089-2102 ◽  
Author(s):  
Eric Eils ◽  
Rouwen Cañal-Bruland ◽  
Leonie Sieverding ◽  
Marc H. E. de Lussanet ◽  
Karen Zentgraf
Keyword(s):  
Whole Body ◽  
Balance Task ◽  
Body Joint
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