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":null,"pages":null},"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.