Forearm Motion Tracking with Estimating Joint Angles from Inertial Sensor Signals

Ji-Hwan Kim, N. Thang, H. Suh, T. Rasheed, Tae-Seong Kim
{"title":"Forearm Motion Tracking with Estimating Joint Angles from Inertial Sensor Signals","authors":"Ji-Hwan Kim, N. Thang, H. Suh, T. Rasheed, Tae-Seong Kim","doi":"10.1109/BMEI.2009.5305761","DOIUrl":null,"url":null,"abstract":"In this paper, we have attempted forearm movement tracking in 3-D by estimating joint angles of a forearm with an inertial measurement unit (IMU) consisting of a triaxis accelerometer and gyroscope sensors. As the feedback of the forearm motion tracking, we have implemented a 3-D digital forearm model based on the kinematic chain theory utilizing super-quadric surfaces and joints, and attempted to control the digital arm with the estimated joint angles via Kalman filtering. Some preliminary experimental results are presented.","PeriodicalId":6389,"journal":{"name":"2009 2nd International Conference on Biomedical Engineering and Informatics","volume":"36 1","pages":"1-4"},"PeriodicalIF":0.0000,"publicationDate":"2009-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 2nd International Conference on Biomedical Engineering and Informatics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/BMEI.2009.5305761","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5

Abstract

In this paper, we have attempted forearm movement tracking in 3-D by estimating joint angles of a forearm with an inertial measurement unit (IMU) consisting of a triaxis accelerometer and gyroscope sensors. As the feedback of the forearm motion tracking, we have implemented a 3-D digital forearm model based on the kinematic chain theory utilizing super-quadric surfaces and joints, and attempted to control the digital arm with the estimated joint angles via Kalman filtering. Some preliminary experimental results are presented.
基于惯性传感器信号估计关节角度的前臂运动跟踪
在本文中,我们尝试用由三轴加速度计和陀螺仪传感器组成的惯性测量单元(IMU)来估计前臂的关节角度,从而实现前臂运动的三维跟踪。作为前臂运动跟踪的反馈,我们利用超二次曲面和关节实现了基于运动链理论的三维数字前臂模型,并尝试利用估计的关节角度通过卡尔曼滤波对数字手臂进行控制。给出了一些初步的实验结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 求助全文
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信