The Development and Test of a Device for the Reconstruction of 3-D Position and Orientation by Means of a Kinematic Sensor Assembly With Rate Gyroscopes and Accelerometers

Abstract

Abstract-In this paper, we propose a device for the Position and Orientation (P&O) reconstruction of human segmental locomotion tasks. It is based on three mono-axial accelerometers and three angular velocity sensors, geometrically arranged to form two orthogonal terns. The device was bench tested using step-by-step motorbased equipment. The characteristics of the six channels under bench test conditions were: crosstalk absent, non linearity 0,

Quantitative evaluation of movement using the timed up-and-go test

“…The posture can be determined by measuring the acceleration and angular velocities, although this method has never been used to evaluate and verify continuous activity from static sitting to walking [8]- [10]. Therefore, an accelerometer and rate gyrosensor was attached to the subject's waist and lower limbs to evaluate postural displacement.…”

Two stage Kalman filtering for position estimation using dual Inertial Measurement Units

“…Table 1 shows the mean squared error (in meters) for each motion. Position estimates for linear motion were previously reported with rms error of 6 cm over 12 seconds [4]. The effect of inter-sensor separation was investigated.…”

“…The literature shows frequent use of acceleromters for inclination measurements and as a add-on to gyroscopes for orientation estimation, as reported in [6], [2], [7]. Position and orientation estimates from inertial sensors, with manual bias tuning, have been reported with accuracies of 6 cm and 0.2 degrees during human locomotion task over 12 seconds [4]. Orientation estimates with 3 degree rms error, using only IMUs are reported in [7].…”

Measuring and modelling arm dynamics to support studies into reducing tremor in individuals with multiple sclerosis

“…This would allow assessment of the efficacy of other treatments in a less subjective manner than is currently available. Examples of work using such sensors for measuring body segment positions are can be found in [5] and [6]. These two publications show the progression from using solely accelerometer data to incorporating gyro measurements.…”

“…These two publications show the progression from using solely accelerometer data to incorporating gyro measurements. Although the system in [5] led to estimates that became unreliable even after a very short time, addition of gyros to the system in [6] gave a far better position and orientation reconstruction estimator over a short test.…”