scholarly journals Joint angle estimation in rehabilitation with inertial sensors and its integration with Kinect

2011 ◽  
Author(s):  
A. P. L. Bo ◽  
M. Hayashibe ◽  
P. Poignet
Keyword(s):  
Joint Angle ◽  
Inertial Sensors ◽  
Angle Estimation

A Joint-Angle Estimation Method for Industrial Manipulators Using Inertial Sensors

2015 ◽  
Vol 20 (5) ◽  
pp. 2486-2495 ◽  
Author(s):  
Luciano Cantelli ◽  
Giovanni Muscato ◽  
Marco Nunnari ◽  
Davide Spina
Keyword(s):  
Joint Angle ◽  
Inertial Sensors ◽  
Estimation Method ◽  
Angle Estimation ◽  
Industrial Manipulators

scholarly journals Magnetic Condition-Independent 3D Joint Angle Estimation Using Inertial Sensors and Kinematic Constraints

Sensors ◽  
2019 ◽  
Vol 19 (24) ◽  
pp. 5522 ◽  
Author(s):  
Jung Keun Lee ◽  
Tae Hyeong Jeon
Keyword(s):  
Joint Angle ◽  
Inertial Sensors ◽  
Three Dimensional ◽  
Estimation Method ◽  
Direction Cosine ◽  
Magnetic Disturbance ◽  
Angle Estimation ◽  
Magnetic Condition ◽  
Measurement Units ◽  
Heading Estimation

In biomechanics, joint angle estimation using wearable inertial measurement units (IMUs) has been getting great popularity. However, magnetic disturbance issue is considered problematic as the disturbance can seriously degrade the accuracy of the estimated joint angles. This study proposes a magnetic condition-independent three-dimensional (3D) joint angle estimation method based on IMU signals. The proposed method is implemented in a sequential direction cosine matrix-based orientation Kalman filter (KF), which is composed of an attitude estimation KF followed by a heading estimation KF. In the heading estimation KF, an acceleration-level kinematic constraint from a spherical joint replaces the magnetometer signals for the correction procedure. Because the proposed method does not rely on the magnetometer, it is completely magnetic condition-independent and is not affected by the magnetic disturbance. For the averaged root mean squared errors of the three tests performed using a rigid two-link system, the proposed method produced 1.58°, while the conventional method with the magnetic disturbance compensation mechanism produced 5.38°, showing a higher accuracy of the proposed method in the magnetically disturbed conditions. Due to the independence of the proposed method from the magnetic condition, the proposed approach could be reliably applied in various fields that require robust 3D joint angle estimation through IMU signals in an unspecified arbitrary magnetic environment.

Knee joint angle estimation during gait cycle using low-cost inertial sensors

2017 ◽  
Author(s):  
F. Sanchez-Guzman ◽  
J. F. Guerrero-Castellanos ◽  
G. Mino-Aguilar ◽  
R. C. Ambrosio-Lazaro ◽  
J. Linares-Flores
Keyword(s):  
Knee Joint ◽  
Gait Cycle ◽  
Joint Angle ◽  
Inertial Sensors ◽  
Low Cost ◽  
Angle Estimation ◽  
Knee Joint Angle

Gyroscope-Free Link Parameter Measurement Using Accelerometers and Magnetometer

2014 ◽  
Author(s):  
Vishesh Vikas ◽  
Carl D. Crane
Keyword(s):  
Angular Velocity ◽  
Joint Angle ◽  
Inertial Sensors ◽  
Angular Acceleration ◽  
Parameter Measurement ◽  
Joint Angles ◽  
Symmetry Constraint ◽  
Estimation Techniques ◽  
Angular Velocities ◽  
Joint Parameters

Knowledge of joint angles, angular velocities is essential for control of link mechanisms and robots. The estimation of joint angles and angular velocity is performed using combination of inertial sensors (accelerometers and gyroscopes) which are contactless and flexible at point of application. Different estimation techniques are used to fuse data from different inertial sensors. Bio-inspired sensors using symmetrically placed multiple inertial sensors are capable of instantaneously measuring joint parameters (joint angle, angular velocities and angular acceleration) without use of any estimation techniques. Calibration of inertial sensors is easier and more reliable for accelerometers as compared to gyroscopes. The research presents gyroscope-less, multiple accelerometer and magnetometer based sensors capable of measuring (not estimating) joint parameters. The contribution of the improved sensor are four-fold. Firstly, the inertial sensors are devoid of symmetry constraint unlike the previously researched bio-inspired sensors. However, the accelerometer are non-coplanarly placed. Secondly, the accelerometer-magnetometer combination sensor allows for calculation of a unique rotation matrix between two link joined by any kind of joint. Thirdly, the sensors are easier to calibrate as they consist only of accelerometers. Finally, the sensors allow for calculation of angular velocity and angular acceleration without use of gyroscopes.

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