Mimicking 3-DOF Human Upper Neck Movement using Wearable MPU6050 IMU Sensor-Based Device with Tilt Compensation Algorithm

This research proposes the development of a robotic neck with three degrees of freedom (3-DOF) that mimics human upper neck movements. The control system utilizes an MPU6050 IMU-based controller attached to the robot's body, head, and lower neck. Building upon previous work, the study addresses limitations in tracking head movements independently of the user's body and lower neck orientation, encompassing pitch, yaw, and roll. The researchers employ the MPU6050 IMU sensor and a tilt compensation algorithm to determine the angles of both the robotic and human upper neck. Data collected by Arduino and LABView Software from the system is analyzed using statistical methods with JMP Software. The results demonstrate that the robotic neck effectively acquires and imitates human upper neck movement, with a significant reduction in angle difference errors compared to the previous system.