Cart (Loading....) | Create Account
Close category search window
 

Calibrated 2D Angular Kinematics by Single-Axis Accelerometers: From Inverted Pendulum to {\rm N} -Link Chain

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

4 Author(s)
Bagala, F. ; Dept. of Electron., Comput. Sci. & Syst., Univ. of Bologna, Bologna, Italy ; Fuschillo, V.L. ; Chiari, L. ; Cappello, A.

A new method for the estimation of multi-link angular kinematics in the sagittal plane, using one single-axis accelerometer (SAA) per segment, is presented in this paper. A preliminary calibration, using SAAs and a reference system (encoder or stereo-photogrammetry), allows the estimation of sensors position and orientation and segment lengths. These parameters are then used to predict the chain kinematics using the SAAs only. To evaluate the method, the algorithm is first tested on a mechanical arm equipped with a reference encoder. A general method for estimating the kinematics of an N-link chain is also provided. Finally, a three-link biomechanical model is applied to a human subject to estimate the joint angles during squat tasks; a stereo-photogrammetric system is used for validation. The results are very close to the reference values. Mean descriptive (predictive) root mean squared error (RMSE) is 0.15° (0.16°) for the inverted pendulum, and 0.39° (0.59° ) for the shank, 0.82° (1.06° ) for the thigh, 0.87° (1.09° ) for the HAT (head-arm-trunk) in the three-link model. The mean value of RMSE without calibration is 1.02° for the inverted pendulum, and 11.01° (shank), 11.39° (thigh) and 12.21° (HAT) in the three-link model. These results suggest that, after the calibration procedure, one SAA per segment is enough to estimate 2D joint angles accurately in a kinematic chain of any number of links.

Published in:

Sensors Journal, IEEE  (Volume:12 ,  Issue: 3 )

Date of Publication:

March 2012

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.