Design and Characterization of a Passive Instrumented Hand

2020 ◽  
Vol 1 (1) ◽  
Author(s):  
Saad N. Yousaf ◽  
Victoria S. Joshi ◽  
John E. Britt ◽  
Chad G. Rose ◽  
Marcia K. O’Malley
Keyword(s):  
Low Cost ◽  
Motor Impairment ◽  
Functional Independence ◽  
Measurement Tool ◽  
Position Sensing ◽  
Torque Measurements ◽  
Optical Motion ◽  
Accurate Position ◽  
Optical Motion Capture ◽  
Capture Techniques

Abstract Although soft robotic assistive gloves have high potential for restoring functional independence for individuals with motor impairment, their lack of rigid components makes it difficult to obtain accurate position sensing to validate their performance. To track soft device motion, standard practice relies on costly optical motion capture techniques, which have reduced accuracy due to limitations in marker occlusion and device deformation. We propose the Instrumented Hand as a low-cost, open-source measurement tool to serve as a standard solution for acquiring joint-level position and torque measurements from magnetoresistive sensors. Shown in a case study, the Instrumented Hand can be used to validate soft wearable devices and evaluate range of motion (ROM) and torque capabilities.

Human Motion Capture Driven by Orientation Measurements

1999 ◽  
Vol 8 (2) ◽  
pp. 187-203 ◽  
Author(s):  
Tom Molet ◽  
Ronan Boulic ◽  
Daniel Thalmann
Keyword(s):  
Motion Capture ◽  
Human Motion ◽  
High Rate ◽  
Position Measurement ◽  
Human Motion Capture ◽  
Fast Tracking ◽  
Optical Motion ◽  
Optical Motion Capture ◽  
Tracking Object ◽  
Capture Techniques

Motion-capture techniques are rarely based on orientation measurements for two main reasons: (1) optical motion-capture systems are designed for tracking object position rather than their orientation (which can be deduced from several trackers), (2) known animation techniques, like inverse kinematics or geometric algorithms, require position targets constantly, but orientation inputs only occasionally. We propose a complete human motion-capture technique based essentially on orientation measurements. The position measurement is used only for recovering the global position of the performer. This method allows fast tracking of human gestures for interactive applications as well as high rate recording. Several motion-capture optimizations, including the multijoint technique, improve the posture realism. This work is well suited for magnetic-based systems that rely more on orientation registration (in our environment) than position measurements that necessitate difficult system calibration.

scholarly journals Kinect-based posturography for in-home rehabilitation of balance disorders

2015 ◽  
Vol 4 ◽  
Author(s):  
Tomoya Tamei ◽  
Yasuyuki Orito ◽  
Hiroyuki Funaya ◽  
Kazushi Ikeda ◽  
Yohei Okada ◽  
...  
Keyword(s):  
Center Of Pressure ◽  
Low Cost ◽  
Body Motion ◽  
Whole Body ◽  
Balance Disorders ◽  
Wii Balance Board ◽  
Rehabilitation System ◽  
Optical Motion ◽  
Optical Motion Capture ◽  
Balance Board

Low-cost, compact, and accurate systems for in-home rehabilitation are needed in aging, aged, and hyper-aged groups. In this study, we developed an in-home rehabilitation system for patients with balance disorders by providing visual feedback of postural information in real-time. Our system measures the user's whole body motion and the center of pressure (COP) using a Kinect and Wii Balance Board (WBB). The accuracy of body motion for estimating the anterior folding and lateral bending angles was validated experimentally by comparing the estimates with the angles given by an optical motion capture system. Additional experiments showed that the COP has a small correlation coefficient with the angles, suggesting that WBB is necessary for measuring the COP.

Research on Intangible Cultural Heritage Based on Motion Capture

2014 ◽  
Vol 568-570 ◽  
pp. 676-680
Author(s):  
Si Xi Chen ◽  
Shu Chen
Keyword(s):  
Cultural Heritage ◽  
Motion Capture ◽  
Low Cost ◽  
Three Dimensional ◽  
Intangible Cultural Heritage ◽  
Three Dimensional Model ◽  
Motion Data ◽  
Optical Motion ◽  
Capture Method ◽  
Optical Motion Capture

The application of digital technology on the protection of intangible cultural heritage is a major topic of research in recent years. The motion capture technology of protection will gradually replace the traditional recording methods such as texts, pictures and videos. It is valuable to build a high-fidelity, high-modular and low-cost digital platform for choreographic data collection and extended application. This paper studies the intangible cultural heritage of Quanzhou breast-clapping dance, one of the most famous choreographic intangible cultural heritages from China with standard optical motion capture method. The data are acquiring and processing after the dance motion capture, we binds the motion data and three-dimensional model using Motion Builder and build digital demonstration platform base on an OGRE engine to display the movements. The viewer can view at any angle and distance. The system can be easily applied in motion intangible cultural heritages protection project. Furthermore, the system can be provided versatile motion data for additional use.

scholarly journals Implementation of Kinetic and Kinematic Variables in Ergonomic Risk Assessment Using Motion Capture Simulation: A Review

2021 ◽  
Vol 18 (16) ◽  
pp. 8342
Author(s):  
Muhamad Nurul Hisyam Yunus ◽  
Mohd Hafiidz Jaafar ◽  
Ahmad Sufril Azlan Mohamed ◽  
Nur Zaidi Azraai ◽  
Md. Sohrab Hossain
Keyword(s):  
Risk Assessment ◽  
Motion Capture ◽  
Low Cost ◽  
Classical Mechanics ◽  
Assessment Method ◽  
Work Related ◽  
Optical Motion ◽  
Optical Motion Capture ◽  
Ergonomic Risk Assessment ◽  
Ergonomic Risk

Work-related musculoskeletal disorders (WMSDs) are among the most common disorders in any work sector and industry. Ergonomic risk assessment can reduce the risk of WMSDs. Motion capture that can provide accurate and real-time quantitative data has been widely used as a tool for ergonomic risk assessment. However, most ergonomic risk assessments that use motion capture still depend on the traditional ergonomic risk assessment method, focusing on qualitative data. Therefore, this article aims to provide a view on the ergonomic risk assessment and apply current motion capture technology to understand classical mechanics of physics that include velocity, acceleration, force, and momentum in ergonomic risk assessment. This review suggests that using motion capture technologies with kinetic and kinematic variables, such as velocity, acceleration, and force, can help avoid inconsistency and develop more reliable results in ergonomic risk assessment. Most studies related to the physical measurement conducted with motion capture prefer to use non-optical motion capture because it is a low-cost system and simple experimental setup. However, the present review reveals that optical motion capture can provide more accurate data.

scholarly journals Accuracy of a Low-Cost 3D-Printed Wearable Goniometer for Measuring Wrist Motion

Sensors ◽  
2021 ◽  
Vol 21 (14) ◽  
pp. 4799
Author(s):  
Calvin Young ◽  
Sarah DeDecker ◽  
Drew Anderson ◽  
Michele L. Oliver ◽  
Karen D. Gordon
Keyword(s):  
Motion Capture ◽  
Low Cost ◽  
Wearable Device ◽  
Matching Task ◽  
Motion Capture System ◽  
Wrist Motion ◽  
Flexion Extension ◽  
Optical Motion ◽  
3D Printed ◽  
Optical Motion Capture

Wrist motion provides an important metric for disease monitoring and occupational risk assessment. The collection of wrist kinematics in occupational or other real-world environments could augment traditional observational or video-analysis based assessment. We have developed a low-cost 3D printed wearable device, capable of being produced on consumer grade desktop 3D printers. Here we present a preliminary validation of the device against a gold standard optical motion capture system. Data were collected from 10 participants performing a static angle matching task while seated at a desk. The wearable device output was significantly correlated with the optical motion capture system yielding a coefficient of determination (R2) of 0.991 and 0.972 for flexion/extension (FE) and radial/ulnar deviation (RUD) respectively (p < 0.0001). Error was similarly low with a root mean squared error of 4.9° (FE) and 3.9° (RUD). Agreement between the two systems was quantified using Bland–Altman analysis, with bias and 95% limits of agreement of 3.1° ± 7.4° and −0.16° ± 7.7° for FE and RUD, respectively. These results compare favourably with current methods for occupational assessment, suggesting strong potential for field implementation.

scholarly journals A Low-Cost, Highly Customizable Solution for Position Estimation in Modular Robots

2021 ◽  
pp. 1-10
Author(s):  
Chao Liu ◽  
Tarik Tosun ◽  
Mark Yim
Keyword(s):  
Low Cost ◽  
Complete Solution ◽  
Position Estimation ◽  
Modular Robots ◽  
Position Sensor ◽  
Position Sensing ◽  
Wide Range ◽  
Accurate Position ◽  
Estimation And Control ◽  
And Control

Abstract Accurate position sensing is important for state estimation and control in robotics. Reliable and accurate position sensors are usually expensive and difficult to customize. Incorporating them into systems that have very tight volume constraints such as modular robots are particularly difficult. PaintPots are a low-cost, reliable, and highly customizable position sensor, but their performance is highly dependent on the manufacturing and calibration process. This paper presents a Kalman Filter with a simplified observation model developed to deal with the nonlinearity issues that result from the use of low-cost microcontrollers. In addition, a complete solution for the use of PaintPots in a variety of sensing modalities including manufacturing, characterization, and estimation is presented for an example modular robot, SMORES-EP. This solution can be easily adapted to a wide range of applications.

scholarly journals Optical motion capture dataset of selected techniques in beginner and advanced Kyokushin karate athletes

2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Agnieszka Szczęsna ◽  
Monika Błaszczyszyn ◽  
Magdalena Pawlyta
Keyword(s):  
Motion Capture ◽  
Three Dimensional ◽  
Data File ◽  
Human Motion ◽  
Skill Levels ◽  
Human Motion Capture ◽  
Optical Motion ◽  
Optical Motion Capture ◽  
Capture Techniques ◽  
Karate Athletes

AbstractHuman motion capture is commonly used in various fields, including sport, to analyze, understand, and synthesize kinematic and kinetic data. Specialized computer vision and marker-based optical motion capture techniques constitute the gold-standard for accurate and robust human motion capture. The dataset presented consists of recordings of 37 Kyokushin karate athletes of different ages (children, young people, and adults) and skill levels (from 4th dan to 9th kyu) executing the following techniques: reverse lunge punch (Gyaku-Zuki), front kick (Mae-Geri), roundhouse kick (Mawashi-Geri), and spinning back kick (Ushiro-Mawashi-Geri). Each technique was performed approximately three times per recording (i.e., to create a single data file), and under three conditions where participants kicked or punched (i) in the air, (ii) a training shield, or (iii) an opponent. Each participant undertook a minimum of two trials per condition. The data presented was captured using a Vicon optical motion capture system with Plug-In Gait software. Three dimensional trajectories of 39 reflective markers were recorded. The resultant dataset contains a total of 1,411 recordings, with 3,229 single kicks and punches. The recordings are available in C3D file format. The dataset provides the opportunity for kinematic analysis of different combat sport techniques in attacking and defensive situations.

scholarly journals Evaluation of Inertial Sensor Data by a Comparison with Optical Motion Capture Data of Guitar Strumming Gestures

Sensors ◽  
2020 ◽  
Vol 20 (19) ◽  
pp. 5722
Author(s):  
Sérgio Freire ◽  
Geise Santos ◽  
Augusto Armondes ◽  
Eduardo A. L. Meneses ◽  
Marcelo M. Wanderley
Keyword(s):  
Motion Capture ◽  
Inertial Sensor ◽  
Low Cost ◽  
Sensor Data ◽  
Level Control ◽  
Interactive Music ◽  
Acceleration Data ◽  
Optical Motion ◽  
Optical Motion Capture ◽  
High Level

Computing technologies have opened up a myriad of possibilities for expanding the sonic capabilities of acoustic musical instruments. Musicians nowadays employ a variety of rather inexpensive, wireless sensor-based systems to obtain refined control of interactive musical performances in actual musical situations like live music concerts. It is essential though to clearly understand the capabilities and limitations of such acquisition systems and their potential influence on high-level control of musical processes. In this study, we evaluate one such system composed of an inertial sensor (MetaMotionR) and a hexaphonic nylon guitar for capturing strumming gestures. To characterize this system, we compared it with a high-end commercial motion capture system (Qualisys) typically used in the controlled environments of research laboratories, in two complementary tasks: comparisons of rotational and translational data. For the rotations, we were able to compare our results with those that are found in the literature, obtaining RMSE below 10° for 88% of the curves. The translations were compared in two ways: by double derivation of positional data from the mocap and by double integration of IMU acceleration data. For the task of estimating displacements from acceleration data, we developed a compensative-integration method to deal with the oscillatory character of the strumming, whose approximative results are very dependent on the type of gestures and segmentation; a value of 0.77 was obtained for the average of the normalized covariance coefficients of the displacement magnitudes. Although not in the ideal range, these results point to a clearly acceptable trade-off between the flexibility, portability and low cost of the proposed system when compared to the limited use and cost of the high-end motion capture standard in interactive music setups.

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