A human motion capture system based on inertial sensing and a complementary filter

Kan Kanjanapas, Yizhou Wang, Wenlong Zhang, Lauren Whittingham, Masayoshi Tomizuka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

A human motion capture system is becoming one of the most useful tools in rehabilitation application because it can record and reconstruct a patient's motion accurately for motion analysis. In this paper, a human motion capture system is proposed based on inertial sensing. A microprocessor is implemented onboard to obtain raw sensing data from the inertial measurement unit (IMU), and transmit the raw data to the central processing unit. To reject noise in the accelerometer, drift in the gyroscope, and magnetic distortion in the magnetometer, a time varying complementary filter (TVCF) is implemented in the central processing unit to provide accurate attitude estimation. A forward kinematic model of the human arm is developed to create an animation for patients and physical therapists. Performance of the hardware and filtering algorithm is verified by experimental results.

Original languageEnglish (US)
Title of host publicationNonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing;
PublisherAmerican Society of Mechanical Engineers (ASME)
Volume3
ISBN (Print)9780791856147
DOIs
StatePublished - 2013
Externally publishedYes
EventASME 2013 Dynamic Systems and Control Conference, DSCC 2013 - Palo Alto, CA, United States
Duration: Oct 21 2013Oct 23 2013

Other

OtherASME 2013 Dynamic Systems and Control Conference, DSCC 2013
CountryUnited States
CityPalo Alto, CA
Period10/21/1310/23/13

Fingerprint

Program processors
Units of measurement
Gyroscopes
Magnetometers
Animation
Accelerometers
Patient rehabilitation
Microprocessor chips
Kinematics
Hardware
Motion analysis

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Kanjanapas, K., Wang, Y., Zhang, W., Whittingham, L., & Tomizuka, M. (2013). A human motion capture system based on inertial sensing and a complementary filter. In Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; (Vol. 3). [V003T40A004] American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2013-3852

A human motion capture system based on inertial sensing and a complementary filter. / Kanjanapas, Kan; Wang, Yizhou; Zhang, Wenlong; Whittingham, Lauren; Tomizuka, Masayoshi.

Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing;. Vol. 3 American Society of Mechanical Engineers (ASME), 2013. V003T40A004.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kanjanapas, K, Wang, Y, Zhang, W, Whittingham, L & Tomizuka, M 2013, A human motion capture system based on inertial sensing and a complementary filter. in Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing;. vol. 3, V003T40A004, American Society of Mechanical Engineers (ASME), ASME 2013 Dynamic Systems and Control Conference, DSCC 2013, Palo Alto, CA, United States, 10/21/13. https://doi.org/10.1115/DSCC2013-3852
Kanjanapas K, Wang Y, Zhang W, Whittingham L, Tomizuka M. A human motion capture system based on inertial sensing and a complementary filter. In Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing;. Vol. 3. American Society of Mechanical Engineers (ASME). 2013. V003T40A004 https://doi.org/10.1115/DSCC2013-3852
Kanjanapas, Kan ; Wang, Yizhou ; Zhang, Wenlong ; Whittingham, Lauren ; Tomizuka, Masayoshi. / A human motion capture system based on inertial sensing and a complementary filter. Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing;. Vol. 3 American Society of Mechanical Engineers (ASME), 2013.
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