Ji-Hwan Kim, N. Thang, H. Suh, T. Rasheed, Tae-Seong Kim
{"title":"基于惯性传感器信号估计关节角度的前臂运动跟踪","authors":"Ji-Hwan Kim, N. Thang, H. Suh, T. Rasheed, Tae-Seong Kim","doi":"10.1109/BMEI.2009.5305761","DOIUrl":null,"url":null,"abstract":"In this paper, we have attempted forearm movement tracking in 3-D by estimating joint angles of a forearm with an inertial measurement unit (IMU) consisting of a triaxis accelerometer and gyroscope sensors. As the feedback of the forearm motion tracking, we have implemented a 3-D digital forearm model based on the kinematic chain theory utilizing super-quadric surfaces and joints, and attempted to control the digital arm with the estimated joint angles via Kalman filtering. Some preliminary experimental results are presented.","PeriodicalId":6389,"journal":{"name":"2009 2nd International Conference on Biomedical Engineering and Informatics","volume":"36 1","pages":"1-4"},"PeriodicalIF":0.0000,"publicationDate":"2009-10-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":"{\"title\":\"Forearm Motion Tracking with Estimating Joint Angles from Inertial Sensor Signals\",\"authors\":\"Ji-Hwan Kim, N. Thang, H. Suh, T. Rasheed, Tae-Seong Kim\",\"doi\":\"10.1109/BMEI.2009.5305761\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we have attempted forearm movement tracking in 3-D by estimating joint angles of a forearm with an inertial measurement unit (IMU) consisting of a triaxis accelerometer and gyroscope sensors. As the feedback of the forearm motion tracking, we have implemented a 3-D digital forearm model based on the kinematic chain theory utilizing super-quadric surfaces and joints, and attempted to control the digital arm with the estimated joint angles via Kalman filtering. Some preliminary experimental results are presented.\",\"PeriodicalId\":6389,\"journal\":{\"name\":\"2009 2nd International Conference on Biomedical Engineering and Informatics\",\"volume\":\"36 1\",\"pages\":\"1-4\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2009-10-30\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"5\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2009 2nd International Conference on Biomedical Engineering and Informatics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/BMEI.2009.5305761\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 2nd International Conference on Biomedical Engineering and Informatics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/BMEI.2009.5305761","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Forearm Motion Tracking with Estimating Joint Angles from Inertial Sensor Signals
In this paper, we have attempted forearm movement tracking in 3-D by estimating joint angles of a forearm with an inertial measurement unit (IMU) consisting of a triaxis accelerometer and gyroscope sensors. As the feedback of the forearm motion tracking, we have implemented a 3-D digital forearm model based on the kinematic chain theory utilizing super-quadric surfaces and joints, and attempted to control the digital arm with the estimated joint angles via Kalman filtering. Some preliminary experimental results are presented.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
