By Topic

Development and validation of a wearable inertial measurement system for use with lower limb exoskeletons

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Beravs, T. ; Lab. of Robot., Univ. of Ljubljana, Ljubljana, Slovenia ; Rebersek, P. ; Novak, D. ; Podobnik, J.
more authors

This paper presents a system of inertial measurement units, each consisting of an accelerometer, gyroscope and magnetometer. They are characterized by a small size, wireless transmission, and open architecture, with the purpose of either integration into lower limb exoskeletons or general human movement analysis. Kalman filtering and the factored quaternion algorithm are used to track the orientation of each unit, and angles of the human joints are calculated from multiple units. After calibration, the system was tested with a wooden leg mockup and an actual human. The Optotrak optical measurement system was used as a reference. Differences between the inertial measurement system and the Optotrak were less than 2 degrees for the wooden leg and less than 5 degrees for the human leg, suggesting that the system represents a promising possibility for wearable movement tracking and analysis.

Published in:

Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on

Date of Conference:

26-28 Oct. 2011