Development of IMU-based angle measurement system for finger rehabilitation

With rapid growing of medical demands, especially rehabilitation, for aging society and disabled population, devices such as prosthetics and exoskeletons are required not only to over assistant but to provide more detailed bioinformatics to help patients regain mobility and ability. Traditionally, measurement of posture of human body such as finger motions, is not simple and not compact. As such, the aim of this paper is devoted to development and validation of math model and algorithm to process data collected by multi-axis inertial measurement unit (IMU) for measuring human finger posture. It is showed that with the proposed method, accumulated error can be greatly reduced which exclude recursive calibrations and sensor fusion of IMU systems for real-time rehabilitation.