Drift-Free Joint Angle Calculation Using Inertial Measurement Units without Magnetometers: An Exploration of Sensor Fusion Methods for the Elbow and Wrist.

Autor: Chen H; Industrial & Systems Engineering and Engineering Management Department, University of Alabama in Huntsville, Huntsville, AL 35899, USA., Schall MC Jr; Department of Industrial & Systems Engineering, Auburn University, Auburn, AL 36849, USA., Martin SM; Department of Mechanical Engineering, Auburn University, Auburn, AL 36849, USA., Fethke NB; Department of Occupational & Environmental Health, The University of Iowa, Iowa City, IA 52242, USA.
Jazyk: angličtina
Zdroj: Sensors (Basel, Switzerland) [Sensors (Basel)] 2023 Aug 09; Vol. 23 (16). Date of Electronic Publication: 2023 Aug 09.
DOI: 10.3390/s23167053
Abstrakt: Joint angles of the lower extremities have been calculated using gyroscope and accelerometer measurements from inertial measurement units (IMUs) without sensor drift by leveraging kinematic constraints. However, it is unknown whether these methods are generalizable to the upper extremity due to differences in motion dynamics. Furthermore, the extent that post-processed sensor fusion algorithms can improve measurement accuracy relative to more commonly used Kalman filter-based methods remains unknown. This study calculated the elbow and wrist joint angles of 13 participants performing a simple ≥30 min material transfer task at three rates (slow, medium, fast) using IMUs and kinematic constraints. The best-performing sensor fusion algorithm produced total root mean square errors (i.e., encompassing all three motion planes) of 6.6°, 3.6°, and 2.0° for the slow, medium, and fast transfer rates for the elbow and 2.2°, 1.7°, and 1.5° for the wrist, respectively.
Databáze: MEDLINE
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