Details
| Original language | English |
|---|---|
| Article number | 9850 |
| Journal | Sensors |
| Volume | 22 |
| Issue number | 24 |
| Publication status | Published - 15 Dec 2022 |
| Externally published | Yes |
Abstract
Human motion analysis using inertial measurement units (IMUs) has recently been shown to provide accuracy similar to the gold standard, optical motion capture, but at lower costs and while being less restrictive and time-consuming. However, IMU-based motion analysis requires precise knowledge of the orientations in which the sensors are attached to the body segments. This knowledge is commonly obtained via time-consuming and error-prone anatomical calibration based on precisely defined poses or motions. In the present work, we propose a self-calibrating approach for magnetometer-free joint angle tracking that is suitable for joints with two degrees of freedom (DoF), such as the elbow, ankle, and metacarpophalangeal finger joints. The proposed methods exploit kinematic constraints in the angular rates and the relative orientations to simultaneously identify the joint axes and the heading offset. The experimental evaluation shows that the proposed methods are able to estimate plausible and consistent joint axes from just ten seconds of arbitrary elbow joint motion. Comparison with optical motion capture shows that the proposed methods yield joint angles with similar accuracy as a conventional IMU-based method while being much less restrictive. Therefore, the proposed methods improve the practical usability of IMU-based motion tracking in many clinical and biomedical applications.
Keywords
- anatomical calibration, elbow joint, human motion analysis, inertial measurement unit, inertial sensor, kinematic constraints, sensor-to-segment calibration
ASJC Scopus subject areas
- Chemistry(all)
- Analytical Chemistry
- Computer Science(all)
- Information Systems
- Biochemistry, Genetics and Molecular Biology(all)
- Biochemistry
- Physics and Astronomy(all)
- Atomic and Molecular Physics, and Optics
- Physics and Astronomy(all)
- Instrumentation
- Engineering(all)
- Electrical and Electronic Engineering
Cite this
- Standard
- Harvard
- Apa
- Vancouver
- BibTeX
- RIS
In: Sensors, Vol. 22, No. 24, 9850, 15.12.2022.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Self-Calibrating Magnetometer-Free Inertial Motion Tracking of 2-DoF Joints
AU - Laidig, Daniel
AU - Weygers, Ive
AU - Seel, Thomas
N1 - Funding Information: This work has partially been conducted in the project BeMobil, which is supported by the German Federal Ministry of Research and Education (FKZ 16SV7069K).
PY - 2022/12/15
Y1 - 2022/12/15
N2 - Human motion analysis using inertial measurement units (IMUs) has recently been shown to provide accuracy similar to the gold standard, optical motion capture, but at lower costs and while being less restrictive and time-consuming. However, IMU-based motion analysis requires precise knowledge of the orientations in which the sensors are attached to the body segments. This knowledge is commonly obtained via time-consuming and error-prone anatomical calibration based on precisely defined poses or motions. In the present work, we propose a self-calibrating approach for magnetometer-free joint angle tracking that is suitable for joints with two degrees of freedom (DoF), such as the elbow, ankle, and metacarpophalangeal finger joints. The proposed methods exploit kinematic constraints in the angular rates and the relative orientations to simultaneously identify the joint axes and the heading offset. The experimental evaluation shows that the proposed methods are able to estimate plausible and consistent joint axes from just ten seconds of arbitrary elbow joint motion. Comparison with optical motion capture shows that the proposed methods yield joint angles with similar accuracy as a conventional IMU-based method while being much less restrictive. Therefore, the proposed methods improve the practical usability of IMU-based motion tracking in many clinical and biomedical applications.
AB - Human motion analysis using inertial measurement units (IMUs) has recently been shown to provide accuracy similar to the gold standard, optical motion capture, but at lower costs and while being less restrictive and time-consuming. However, IMU-based motion analysis requires precise knowledge of the orientations in which the sensors are attached to the body segments. This knowledge is commonly obtained via time-consuming and error-prone anatomical calibration based on precisely defined poses or motions. In the present work, we propose a self-calibrating approach for magnetometer-free joint angle tracking that is suitable for joints with two degrees of freedom (DoF), such as the elbow, ankle, and metacarpophalangeal finger joints. The proposed methods exploit kinematic constraints in the angular rates and the relative orientations to simultaneously identify the joint axes and the heading offset. The experimental evaluation shows that the proposed methods are able to estimate plausible and consistent joint axes from just ten seconds of arbitrary elbow joint motion. Comparison with optical motion capture shows that the proposed methods yield joint angles with similar accuracy as a conventional IMU-based method while being much less restrictive. Therefore, the proposed methods improve the practical usability of IMU-based motion tracking in many clinical and biomedical applications.
KW - anatomical calibration
KW - elbow joint
KW - human motion analysis
KW - inertial measurement unit
KW - inertial sensor
KW - kinematic constraints
KW - sensor-to-segment calibration
UR - http://www.scopus.com/inward/record.url?scp=85144563037&partnerID=8YFLogxK
U2 - 10.3390/s22249850
DO - 10.3390/s22249850
M3 - Article
C2 - 36560219
AN - SCOPUS:85144563037
VL - 22
JO - Sensors
JF - Sensors
SN - 1424-8220
IS - 24
M1 - 9850
ER -