Physical Extraction and Feature Fusion for Multi-Mode Signals in a Measurement System for Patients in Rehabilitation Exoskeleton
Autor: | Qiaoling Chen, Wu Xin, Canjun Yang, Ma Zhangyi, Xin Wang, Wang Hansong, Qianxiao Wei, Wu Fan |
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Rok vydání: | 2018 |
Předmět: |
0209 industrial biotechnology
Computer science exoskeleton robot Acceleration Monitoring Ambulatory Walking 02 engineering and technology lcsh:Chemical technology Biochemistry Article Analytical Chemistry 020901 industrial engineering & automation Data acquisition Inertial measurement unit 0202 electrical engineering electronic engineering information engineering Humans lcsh:TP1-1185 Computer vision visual measurement unit Electrical and Electronic Engineering Instrumentation data fusion business.industry inertial measurement unit System of measurement Rehabilitation 020208 electrical & electronic engineering Robotics Kalman filter Exoskeleton Device Sensor fusion Atomic and Molecular Physics and Optics Exoskeleton Robot Artificial intelligence business human activities Algorithms |
Zdroj: | Sensors Volume 18 Issue 8 Sensors (Basel, Switzerland) Sensors, Vol 18, Iss 8, p 2588 (2018) |
ISSN: | 1424-8220 |
Popis: | Measurement system of exoskeleton robots can reflect the state of the patient. In this study, we combined an inertial measurement unit and a visual measurement unit to obtain a repeatable fusion measurement system to compensate for the deficiencies of the single data acquisition mode used by exoskeletons. Inertial measurement unit is comprised four distributed angle sensors. Triaxial acceleration and angular velocity information were transmitted to an upper computer by Bluetooth. The data sent to the control center were processed by a Kalman filter to eliminate any noise. Visual measurement unit uses camera to acquire real time images and related data information. The two data acquisition methods were fused and have its weight. Comparisons of the fusion results with individual measurement results demonstrated that the data fusion method could effectively improve the accuracy of system. It provides a set of accurate real-time measurements for patients in rehabilitation exoskeleton and data support for effective control of exoskeleton robot. |
Databáze: | OpenAIRE |
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