TY - GEN
T1 - A human motion capture system based on inertial sensing and a complementary filter
AU - Kanjanapas, Kan
AU - Wang, Yizhou
AU - Zhang, Wenlong
AU - Whittingham, Lauren
AU - Tomizuka, Masayoshi
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
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U2 - 10.1115/DSCC2013-3852
DO - 10.1115/DSCC2013-3852
M3 - Conference contribution
AN - SCOPUS:84902363130
SN - 9780791856147
T3 - ASME 2013 Dynamic Systems and Control Conference, DSCC 2013
BT - Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing;
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2013 Dynamic Systems and Control Conference, DSCC 2013
Y2 - 21 October 2013 through 23 October 2013
ER -