基于惯性传感器信号估计关节角度的前臂运动跟踪

Ji-Hwan Kim, N. Thang, H. Suh, T. Rasheed, Tae-Seong Kim
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引用次数: 5

摘要

在本文中,我们尝试用由三轴加速度计和陀螺仪传感器组成的惯性测量单元(IMU)来估计前臂的关节角度,从而实现前臂运动的三维跟踪。作为前臂运动跟踪的反馈,我们利用超二次曲面和关节实现了基于运动链理论的三维数字前臂模型,并尝试利用估计的关节角度通过卡尔曼滤波对数字手臂进行控制。给出了一些初步的实验结果。
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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.
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