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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
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
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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
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, 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.

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Eurosensors_2014_5263.pdf - Author's Original
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More information

Published date: 7 September 2014
Venue - Dates: Eurosensors 2014, 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: https://eprints.soton.ac.uk/id/eprint/368695
PURE UUID: 1b30e882-3384-44af-a582-4301248c8c3a
ORCID for Nick Harris: ORCID iD orcid.org/0000-0003-4122-2219

Catalogue record

Date deposited: 13 Sep 2014 11:40
Last modified: 20 Jul 2019 01:21

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Contributors

Author: Evangelos Mazomenos
Author: Andy Cranny
Author: Dwaipayan Biswas
Author: Nick Harris ORCID iD

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