Ambulatory human motion tracking by fusion of inertial and magnetic sensing with adaptive actuation |
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Authors: | H Martin Schepers Daniel Roetenberg Peter H Veltink |
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Institution: | (1) Institute for Biomedical Technology (BMTI), University of Twente, P.O. Box 217, 7500 AE Enschede, The Netherlands;(2) Xsens Technologies B.V., Pantheon 6a, 7521 PR Enschede, The Netherlands |
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Abstract: | Over the last years, inertial sensing has proven to be a suitable ambulatory alternative to traditional human motion tracking
based on optical position measurement systems, which are generally restricted to a laboratory environment. Besides many advantages,
a major drawback is the inherent drift caused by integration of acceleration and angular velocity to obtain position and orientation.
In addition, inertial sensing cannot be used to estimate relative positions and orientations of sensors with respect to each
other. In order to overcome these drawbacks, this study presents an Extended Kalman Filter for fusion of inertial and magnetic
sensing that is used to estimate relative positions and orientations. In between magnetic updates, change of position and
orientation are estimated using inertial sensors. The system decides to perform a magnetic update only if the estimated uncertainty
associated with the relative position and orientation exceeds a predefined threshold. The filter is able to provide a stable
and accurate estimation of relative position and orientation for several types of movements, as indicated by the average rms
error being 0.033 m for the position and 3.6 degrees for the orientation. |
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Keywords: | |
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