Human Joint Angle Estimation with Inertial Sensors and Validation with A Robot Arm

2015 ◽  
Vol 62 (7) ◽  
pp. 1759-1767 ◽  
Author(s):  
Mahmoud El-Gohary ◽  
James McNames
Keyword(s):  
Joint Angle ◽  
Inertial Sensors ◽  
Robot Arm ◽  
Angle Estimation ◽  
Human Joint

scholarly journals Human Joint Angle Estimation with Multiple-strip E-textile Stretching Sensor

2018 ◽  
Vol 30 (8) ◽  
pp. 1787
Author(s):  
Sang-Ho Han ◽  
Mun-Ho Ryu ◽  
Je-Nam Kim
Keyword(s):  
Joint Angle ◽  
Angle Estimation ◽  
Human Joint

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.

BP–AR-BASED HUMAN JOINT ANGLE ESTIMATION USING MULTI-CHANNEL SEMG

2015 ◽  
Vol 30 (3) ◽  
Author(s):  
Lina Tong ◽  
Feng Zhang ◽  
Zeng-Guang Hou ◽  
Weiqun Wang ◽  
Liang Peng
Keyword(s):  
Joint Angle ◽  
Angle Estimation ◽  
Human Joint

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

scholarly journals Human Joint Angle Estimation and Gesture Recognition for Assistive Robotic Vision

2016 ◽  
pp. 415-431 ◽  
Author(s):  
Alp Guler ◽  
Nikolaos Kardaris ◽  
Siddhartha Chandra ◽  
Vassilis Pitsikalis ◽  
Christian Werner ◽  
...  
Keyword(s):  
Gesture Recognition ◽  
Joint Angle ◽  
Angle Estimation ◽  
Robotic Vision ◽  
Assistive Robotic ◽  
Human Joint
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