scholarly journals Testing of the Possibilities of Using IMUs with Different Types of Movements

2014 ◽  
Vol 12 ◽  
pp. 61-66 ◽  
Author(s):  
Pavol Kajánek

Inertial navigation system (INS) is a self-contained navigation technique. Its main purpose is to determinate the position and the trajectory of the object´s movement in space. This technique is well represented not only as a supplementary method (GPS/INS integrated system) but as an autonomous system for navigation of vehicles and pedestrians, also. The aim of this paper is to design a test for low-cost inertial measurement units. The test results give us information about accuracy, which determine the possible use in indoor navigation or other applications. There are described some methods for processing the data obtained by inertial measurement units, which remove noise and improve accuracy of position and orientation.

2018 ◽  
Vol 43 ◽  
pp. 82-89 ◽  
Author(s):  
Arnaldo G. Leal-Junior ◽  
Laura Vargas-Valencia ◽  
Wilian M. dos Santos ◽  
Felipe B.A. Schneider ◽  
Adriano A.G. Siqueira ◽  
...  

Robotics ◽  
2019 ◽  
Vol 8 (4) ◽  
pp. 99
Author(s):  
Stefan Schulz

In this paper, we investigate the accuracy and the computational efficiency of an IMU-based approach for solving the direct kinematics problem of parallel mechanisms with length-variable linear actuators under dynamic conditions. By avoiding to measure the linear actuators’ lengths and by using orientations instead, a comprehensive, low-cost sensor structure can be obtained that provides a unique solution for the direct kinematics problem. As a representative example, we apply our approach to the planar 3-RPR parallel mechanism, where P denotes active prismatic joints and R denotes passive revolute joints, and investigate the achievable accuracy and robustness on a specially designed experimental device. In this context, we also investigate the effect of sensor fusion on the achievable accuracy and compare our results with those obtained from linear actuators’ lengths when the Newton-Raphson algorithm is used to compute the manipulator platform’s pose iteratively. Finally, we discuss the applicability of inertial measurement units (IMUs) for solving the direct kinematics problem of parallel mechanisms.


2017 ◽  
Vol 56 (02) ◽  
pp. 88-94 ◽  
Author(s):  
Tomás E. Ward ◽  
Eamonn Delahunt ◽  
Brian Caulfield ◽  
Darragh F. Whelan ◽  
Martin A. O'Reilly

SummaryBackground: The single leg squat (SLS) is a common lower limb rehabilitation exercise. It is also frequently used as an evaluative exercise to screen for an increased risk of lower limb injury. To date athlete/patient SLS technique has been assessed using expensive laboratory equipment or subjective clinical judgement; both of which are not without shortcomings. Inertial measurement units (IMUs) may offer a low cost solution for the objective evaluation of athlete/patient SLS technique.Objectives: The aims of this study were to determine if in combination or in isolation IMUs positioned on the lumbar spine, thigh and shank are capable of: (a) distinguishing between acceptable and aberrant SLS technique; (b) identifying specific deviations from acceptable SLS technique.Methods: Eighty-three healthy volunteers participated (60 males, 23 females, age: 24.68 +/− 4.91 years, height: 1.75 +/− 0.09 m, body mass: 76.01 +/− 13.29 kg). All participants performed 10 SLSs on their left leg. IMUs were positioned on participants’ lumbar spine, left shank and left thigh. These were utilized to record tri-axial accelerometer, gyroscope and magnetometer data during all repetitions of the SLS. SLS technique was labelled by a Chartered Physiotherapist using an evaluation framework. Features were extracted from the labelled sensor data. These features were used to train and evaluate a variety of random-forests classifiers that assessed SLS technique.Results: A three IMU system was moderately successful in detecting the overall quality of SLS performance (77% accuracy, 77% sensitivity and 78% specificity). A single IMU worn on the shank can complete the same analysis with 76% accuracy, 75% sensitivity and 76% specificity. Single sensors also produce competitive classification scores relative to multi-sensor systems in identifying specific deviations from acceptable SLS technique.Conclusions: A single IMU positioned on the shank can differentiate between acceptable and aberrant SLS technique with moderate levels of accuracy. It can also capably identify specific deviations from optimal SLS performance. IMUs may offer a low cost solution for the objective evaluation of SLS performance. Additionally, the classifiers described may provide useful input to an exercise biofeed-back application.


Procedia CIRP ◽  
2019 ◽  
Vol 86 ◽  
pp. 204-209 ◽  
Author(s):  
Martijn Cramer ◽  
Jeroen Cramer ◽  
David De Schepper ◽  
Peter Aerts ◽  
Karel Kellens ◽  
...  

2003 ◽  
Vol 13 (2) ◽  
pp. 247-258 ◽  
Author(s):  
Wook Chang ◽  
Kyoung-Ho Kang ◽  
Eun-Seok Choi ◽  
Won-Chul Bang ◽  
Alexy Potanin ◽  
...  

Sensors ◽  
2019 ◽  
Vol 19 (21) ◽  
pp. 4734
Author(s):  
Ahmed A. Youssef ◽  
Naser El-Sheimy

Inertial measurement units (IMUs) are typically classified as per the performance of the gyroscopes within each system. Consequently, it is critical for a system to have a low bias instability to have better performance. Nonetheless, there is no IMU available commercially that does not actually suffer from bias-instability, even for the navigation grade IMUs. This paper introduces the proposition of a novel fluid-based gyroscope, which is referred to hereafter as a particle imaging velocimetry gyroscope (PIVG). The main advantages of the PIVG include being nearly drift-free, a high signal-to-noise ratio (SNR) in comparison to commercially available high-end gyroscopes, and its low cost.


Sensors ◽  
2019 ◽  
Vol 19 (14) ◽  
pp. 3089 ◽  
Author(s):  
Aliénor Vienne-Jumeau ◽  
Laurent Oudre ◽  
Albane Moreau ◽  
Flavien Quijoux ◽  
Pierre-Paul Vidal ◽  
...  

Gait assessment and quantification have received an increased interest in recent years. Embedded technologies and low-cost sensors can be used for the longitudinal follow-up of various populations (neurological diseases, elderly, etc.). However, the comparison of two gait trials remains a tricky question as standard gait features may prove to be insufficient in some cases. This article describes a new algorithm for comparing two gait trials recorded with inertial measurement units (IMUs). This algorithm uses a library of step templates extracted from one trial and attempts to detect similar steps in the second trial through a greedy template matching approach. The output of our method is a similarity index (SId) comprised between 0 and 1 that reflects the similarity between the patterns observed in both trials. Results on healthy and multiple sclerosis subjects show that this new comparison tool can be used for both inter-individual comparison and longitudinal follow-up.


2015 ◽  
Vol 49 (3) ◽  
pp. 56-63
Author(s):  
Donal Kennedy ◽  
Eric Cullen ◽  
Regina McNulty ◽  
Mark Gaffney ◽  
Michael Walsh ◽  
...  

Abstract This paper describes the development of marine inertial measurement units (MIMUs) for the measurement of buoy motions. MIMUs are miniature, low-power, low-cost devices that utilize off-the-shelf microelectromechanical system (MEMS) components to monitor motion. Two MIMU devices have been deployed off the coast of Ireland—using SmartBay's test facilities and data infrastructure; these transmit buoy motion data to shore in real time. The recorded inertial data are used to develop algorithms that provide relevant information for marine applications, with the eventual aim of embedding these on the MIMU itself. Methods and results are presented of one such application—the measurement of significant wave height (Hs)—and are shown to be comparable to state-of-the-art solutions, at a fraction of the cost and power requirements. Additional applications and possible future developments of the work are also discussed.


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