Design, Implementation, and Experimental Results of a Quaternion-Based Kalman Filter for Human Body Motion Tracking

Yun, Xiaoping; Bachmann, E.R.

doi:10.1109/tro.2006.886270

Cited by 514 publications

(291 citation statements)

References 29 publications

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“…Each of sensor modules integrate 9-axis sensor that combines a 3-axis MEMS gyroscope, a 3-axis MEMS accelerometer, and a 3-axis MEMS magnetometer (sees MPU9150 datasheet for more details). We implement the quaternion-based MARG (Magnetic, Angular Rate, and Gravity) sensor fusion algorithm to estimate the orientation of the modules [15]. With the sensor modules fixed on the body segments, the human motions could be obtained by our kinematics algorithm on the basis of the orientation of sensors.…”

Section: Motion Capture Systemmentioning

confidence: 99%

A single task assessment system of upper-limb motor function after stroke

Pan

Jin

et al. 2016

THC

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Abstract. BACKGROUND: Nowadays, stroke is a leading cause of disability in adults. Assessment of motor performance has played an important role in rehabilitation for post stroke patients. Therefore, it is quite important to develop an automatic assessment system of motor function. OBJECTIVE: The purpose of this study is to assess the performance of the single task upper-limb movements quantitatively among stroke survivors. METHODS: Eleven normal subjects and thirty-five subjects with stroke were involved in this study. The subjects, who were wearing the micro-sensor motion capture system, performed shoulder flexion in a sitting position. The system recorded threedimensional kinematics data of limb movements in quaternions. By extracting the significant features from these data, we built a linear model to acquire the functional assessment score (FAS). RESULTS: All of the kinematics features have a significant statistical difference (P < 0.05) between patients and healthy people, while the feature values have a high correlation with Fugl-Meyer (FM) scores (r > 0.5, p < 0.05), indicating that these features are able to reflect the level of motion impairment. Furthermore, most samples of the linear model locate in the confidence interval after regression, with the residual approaching a normal distribution. These results show that the FAS is capable of motor function assessment for stroke survivors. CONCLUSION: These findings represent an important step towards a system that can be utilized for precise single task motor evaluation after stroke, applicable to clinical research and as a tool for rehabilitation.

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Section: Motion Capture Systemmentioning

confidence: 99%

A single task assessment system of upper-limb motor function after stroke

Pan

Jin

et al. 2016

THC

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“…It is used in orientation representation to improve computational efficiency and avoid singularities. In addition, the use of a quaternion eliminates the need for computing trigonometric functions (Yun and Bachmann, 2006). An attitude quaternion is defined by…”

Section: Quaternion and Attitude Representation And Determinationmentioning

confidence: 99%

Advanced information processing of MEMS motion sensors for gesture interaction

Liu

2016

J. Sens. Sens. Syst.

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Abstract. Sensor-based gesture interaction technology has been widely adopted in consumer electronics. Nevertheless, bias, drift, and noise existing in sensor signals are difficult to eliminate, and accurate movement trajectory information is still needed to achieve flexible interaction application. This paper presents micro-electromechanical system (MEMS) motion sensor information processing algorithms designed on a gesture interaction system which integrates multiple low-cost MEMS motion sensors with ZigBee wireless technology to support embodied communication while acting together with machines. Sensor signal processing systems mainly solve noise removal, signal smoothing, gravity influence separation, coordinate system conversion, and position information retrieval. The attitude information which is an important movement parameter and required by position estimation is calculated with a quaternion-based extended Kalman filter (EKF). The effectiveness of the movement information retrieval of this gesture interface is verified by experiments and test analysis, both in static and moving cases. In the end, related applications of the described sensor information processing are discussed.

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“…It has been successfully applied in several previous works on the human motion tracking [91,108,109,110,111,112]. There are three basic steps involved in the Kalman filtering for human motion tracking: initialization, prediction and correction [113].…”

Section: Fuzzy Kalman Filtermentioning

confidence: 99%

Fuzzy human motion analysis: A review

Lim

Vats

Chan

2015

Pattern Recognition

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Human Motion Analysis (HMA) is currently one of the most popularly active research domains as such significant research interests are motivated by a number of real world applications such as video surveillance, sports analysis, healthcare monitoring and so on. However, most of these real world applications face high levels of uncertainties that can affect the operations of such applications. Hence, the fuzzy set theory has been applied and showed great success in the recent past. In this paper, we aim at reviewing the fuzzy set oriented approaches for HMA, individuating how the fuzzy set may improve the HMA, envisaging and delineating the future perspectives. To the best of our knowledge, there is not found a single survey in the current literature that has discussed and reviewed fuzzy approaches towards the HMA. For ease of understanding, we conceptually classify the human motion into three broad levels: Low-Level (LoL), Mid-Level (MiL), and High-Level (HiL) HMA.

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Design, Implementation, and Experimental Results of a Quaternion-Based Kalman Filter for Human Body Motion Tracking

Cited by 514 publications

References 29 publications

A single task assessment system of upper-limb motor function after stroke

A single task assessment system of upper-limb motor function after stroke

Advanced information processing of MEMS motion sensors for gesture interaction

Fuzzy human motion analysis: A review

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