利用解剖学约束条件,通过 IMU 测量改进肘关节弯曲角度的估算

IF 5.6 4区 医学 Q1 ENGINEERING, BIOMEDICAL
Irbm Pub Date : 2024-02-01 DOI:10.1016/j.irbm.2024.100820
Anna Bicchi, Alessandro Colombo
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引用次数: 0

摘要

目标 惯性测量单元(IMU)是光学跟踪系统的有效替代品,可用于人体运动捕捉,但它们会受到一些干扰,从而限制了其准确性。我们的目标是通过引入一种新的后处理算法来提高根据 IMU 测量结果估算肘关节角度的准确性,该算法使用解剖学约束,不需要任何事先校准或人体测量参数知识。我们使用带有状态约束的误差状态扩展卡尔曼滤波器(ESEKF)来整合解剖约束。我们通过在不同场景中进行测试,并与最先进的光学跟踪系统进行比较,验证了所提出的算法。研究表明,特别是在复杂的手臂运动和强烈的外部干扰下,误差明显减少。在三种不同的测试场景中获得的结果凸显了所开发算法的鲁棒性和有效性,其误差仅为文献中提出的现有免校准校正算法的一半。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Improved Estimation of Elbow Flexion Angle from IMU Measurements Using Anatomical Constraints

Improved Estimation of Elbow Flexion Angle from IMU Measurements Using Anatomical Constraints

Improved Estimation of Elbow Flexion Angle from IMU Measurements Using Anatomical Constraints

Objectives

Inertial Measurement Units (IMUs) are a valid alternative to optical tracking systems for human motion capture, but they are subject to several disturbances that limit their accuracy. We aim to improve the accuracy of elbow joint angle estimation from IMU measurements by introducing a novel postprocessing algorithm that uses anatomical constraints and does not require any prior calibration or knowledge of anthropometric parameters.

Materials and Methods

We propose a new error model that addresses sensor misalignment and fusion errors. We use an error state extended Kalman filter (ESEKF) with state constraints to integrate the anatomical constraints. We validate the proposed algorithm by testing it in different scenarios and comparing it with a state-of-the-art optical tracking system.

Results

The research results highlight the superior performance of the proposed method compared with existing techniques. The study demonstrates a significant reduction in errors, particularly in complex arm movements and under strong external disturbances. The results obtained in the three different tested scenarios underscore the robustness and effectiveness of the developed algorithm, reaching half the error committed by the existing calibration-free correction algorithms proposed in the literature.

Conclusions

The developed technique provides highly accurate estimates of joint angles in several challenging real-world scenarios.

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来源期刊
Irbm
Irbm ENGINEERING, BIOMEDICAL-
CiteScore
10.30
自引率
4.20%
发文量
81
审稿时长
57 days
期刊介绍: IRBM is the journal of the AGBM (Alliance for engineering in Biology an Medicine / Alliance pour le génie biologique et médical) and the SFGBM (BioMedical Engineering French Society / Société française de génie biologique médical) and the AFIB (French Association of Biomedical Engineers / Association française des ingénieurs biomédicaux). As a vehicle of information and knowledge in the field of biomedical technologies, IRBM is devoted to fundamental as well as clinical research. Biomedical engineering and use of new technologies are the cornerstones of IRBM, providing authors and users with the latest information. Its six issues per year propose reviews (state-of-the-art and current knowledge), original articles directed at fundamental research and articles focusing on biomedical engineering. All articles are submitted to peer reviewers acting as guarantors for IRBM''s scientific and medical content. The field covered by IRBM includes all the discipline of Biomedical engineering. Thereby, the type of papers published include those that cover the technological and methodological development in: -Physiological and Biological Signal processing (EEG, MEG, ECG…)- Medical Image processing- Biomechanics- Biomaterials- Medical Physics- Biophysics- Physiological and Biological Sensors- Information technologies in healthcare- Disability research- Computational physiology- …
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