An error-based micro-sensor capture system for real-time motion estimation |
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Authors: | Lin Yang Shiwei Ye Zhibo Wang Zhipei Huang Jiankang Wu Yongmei Kong Li Zhang |
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Affiliation: | 1. School of Electronic, Electrical and Communication Engineering, University of Chinese Academy of Sciences, Beijing 101408,China;2. Rehabilitation Department of Cardiovascular Hospital, Shanxi 030024, China;3. Beijing Military Region Center for Disease Control and Prevention, Beijing 100042, China |
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Abstract: | A wearable micro-sensor motion capture system with 16 IMUs and an error-compensatory complementary filter algorithm for real-time motion estimation has been developed to acquire accurate 3D orientation and displacement in real life activities. In the proposed filter algorithm, the gyroscope bias error, orientation error and magnetic disturbance error are estimated and compensated, significantly reducing the orientation estimation error due to sensor noise and drift. Displacement estimation, especially for activities such as jumping, has been the challenge in micro-sensor motion capture. An adaptive gait phase detection algorithm has been developed to accommodate accurate displacement estimation in different types of activities. The performance of this system is benchmarked with respect to the results of VICON optical capture system. The experimental results have demonstrated effectiveness of the system in daily activities tracking, with estimation error 0.16 ±0.06 m for normal walking and 0.13 ±0.11 m for jumping motions. |
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Keywords: | motion capture system IMU complementary filter motion estimation |
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