Mazomenos, E orcid.org/0000-0003-0357-5996, Cranny, A, Biswas, D et al. (2 more authors) (2014) An Investigation into the Accuracy of Calculating upper Body Joint Angles Using MARG Sensors. In: Procedia Engineering. EUROSENSORS 2014, the 28th European Conference on Solid-State Transducers, 07-10 Sep 2014, Brescia, Italy. Elsevier , pp. 1330-1333.
Abstract
We investigate magnetic, angular rate, and gravity (MARG) sensor modules for deriving shoulder, elbow and lumbar joint angles of the human body. We use three tri-axial MARG sensors, placed proximal to the wrist and elbow and centrally on the chest, and employ a quaternion-based Unscented Kalman Filter technique to estimate orientations from the sensor data, from which joint angles are calculated based on a simple model of the arm. Tests reveal that the method has the potential to accurately derive specific angles. When compared with a camera-based system, a root mean square difference error between 5° - 15° was observed.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2014 The Authors. Published by Elsevier Ltd. This is an open access article under the terms of the Attribution-NonCommercial-NoDerivs 3.0 Unported (CC BY-NC-ND 3.0) (https://creativecommons.org/licenses/by-nc-nd/3.0/) |
Keywords: | accelerometer; gyroscope; inertao sensor; Kalman filter; kinematics; magnetometer; MARG |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 11 May 2020 11:17 |
Last Modified: | 25 Jun 2023 22:15 |
Status: | Published |
Publisher: | Elsevier |
Identification Number: | 10.1016/j.proeng.2014.11.693 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:160487 |