An investigation into the accuracy of calculating upper body joint angles using MARG sensors
An investigation into the accuracy of calculating upper body joint angles using MARG sensors
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 between 5° - 15° was observed.
accelerometer, gyroscope, inertia sensor, kalman filter, kinematics, magnetometer, MARG
Mazomenos, Evangelos
23983827-c7e7-4ee1-bfc8-986aa3594279
Cranny, Andy
2ebc2ccb-7d3e-4a6a-91ac-9f089741939e
Biswas, Dwaipayan
76983b74-d729-4aae-94c3-94d05e9b2ed4
Harris, Nick
237cfdbd-86e4-4025-869c-c85136f14dfd
Maharatna, Koushik
93bef0a2-e011-4622-8c56-5447da4cd5dd
7 September 2014
Mazomenos, Evangelos
23983827-c7e7-4ee1-bfc8-986aa3594279
Cranny, Andy
2ebc2ccb-7d3e-4a6a-91ac-9f089741939e
Biswas, Dwaipayan
76983b74-d729-4aae-94c3-94d05e9b2ed4
Harris, Nick
237cfdbd-86e4-4025-869c-c85136f14dfd
Maharatna, Koushik
93bef0a2-e011-4622-8c56-5447da4cd5dd
Mazomenos, Evangelos, Cranny, Andy, Biswas, Dwaipayan, Harris, Nick and Maharatna, Koushik
(2014)
An investigation into the accuracy of calculating upper body joint angles using MARG sensors.
Eurosensors 2014, Brescia, Italy.
07 - 10 Sep 2014.
4 pp
.
Record type:
Conference or Workshop Item
(Poster)
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 between 5° - 15° was observed.
Text
Eurosensors_2014_5263.pdf
- Author's Original
More information
Published date: 7 September 2014
Venue - Dates:
Eurosensors 2014, Brescia, Italy, 2014-09-07 - 2014-09-10
Keywords:
accelerometer, gyroscope, inertia sensor, kalman filter, kinematics, magnetometer, MARG
Organisations:
Electronic & Software Systems
Identifiers
Local EPrints ID: 368695
URI: http://eprints.soton.ac.uk/id/eprint/368695
PURE UUID: 1b30e882-3384-44af-a582-4301248c8c3a
Catalogue record
Date deposited: 13 Sep 2014 11:40
Last modified: 07 Dec 2024 02:34
Export record
Contributors
Author:
Evangelos Mazomenos
Author:
Andy Cranny
Author:
Dwaipayan Biswas
Author:
Nick Harris
Author:
Koushik Maharatna
Download statistics
Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.
View more statistics