Comparative analysis of different adaptive filters for tracking lower segments of a human body using inertial motion sensors

Öhberg, Fredrik; Lundström, Ronnie; Grip, Helena

doi:10.1088/0957-0233/24/8/085703

Cited by 21 publications

(21 citation statements)

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“…Although, first order complementary filter is not as accurate as other complex algorithms to calculate angular position based on inertial data from IMU, for instance, Mahony or adjustable Madgwick filter [12], with an average error below 1.1°, it is capable of estimating the angular displacement of the joints presenting an overall error of 3° and a maximum error of 5° in extreme positions, these results are similar to obtained data reported by Kalman-based algorithms [13][14][15] to inertial motion capture systems, whose average error is between 2° and 5° and are acceptable for many low cost applications. The motion capture system developed in this work based on sensor fusion (IMU and flex sensors) to be used in exosuit for human's upper limb has an acceptable performance which presents enormous opportunities in different fields like tele-operation, medical or sport investigation, haptic interfaces, among others, due to its low cost, simple operation, transportability and easy implementation.…”

Section: Discussionsupporting

confidence: 78%

A Real-time Motion Tracking Wireless System for Upper Limb Exosuit Based on Inertial Measurement Units and Flex Sensors

2019

IJE

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A B S T R A C TThis paper puts forward a real-time angular tracking (motion capture) system for a low cost upper limb exosuit based on sensor fusion; which is integrated by an elastic sleeve-mitten, two inertial measurement units (IMU), two flex sensors and a wireless communication system. The device can accurately detect the angular position of the shoulder (flexion-extension, abduction-adduction and internal-external rotation), elbow (flexion-extension and forearm supination-pronation), and wrist (flexion-extension) joints. In addition, the state of the hand (opened-closed). Finaly a PID controller is applied to the exosuit in order to replicate the movements performed by the arm into a 6 DOF robot arm.

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Section: Discussionsupporting

confidence: 78%

A Real-time Motion Tracking Wireless System for Upper Limb Exosuit Based on Inertial Measurement Units and Flex Sensors

2019

IJE

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“…The full-scale range was ±1000°/s for the gyroscopes, ±8 g for the accelerometers and ±4800 µT for the magnetometers. The measurement precision and accuracy of the MoLab TM POSE system for measurements in the spine has been validated against a gold standard optical system (Ertzgaard, Ohberg, Gerdle, & Grip, 2016;Öhberg, Lundström, & Grip, 2013). Outcome measures were based on the IMUs detection of three-dimensional spinal alignment and real-time orientation (Öhberg et al, 2013).…”

Section: Instruments and Measurementsmentioning

confidence: 99%

Variability of lumbar spinal alignment among power- and weightlifters during the deadlift and barbell back squat

Aasa

Bengtsson

Berglund

et al. 2019

Sports Biomechanics

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The aims of the study were to evaluate the relative and absolute variability of upper (T11-L2) and lower (L2-S2) lumbar spinal alignment in power-and weightlifters during the deadlift and back squat exercises, and to compare this alignment between the two lifting groups. Twenty-four competitive powerlifters (n = 14) and weightlifters (n = 10) performed three repetitions of the deadlift and the back squat exercises using a load equivalent to 70% of their respective one-repetition maximum. The main outcome measures were the three-dimensional lumbar spinal alignment for start position, minimum and maximum angle of their spinal alignment, and range of motion measured using inertial measurement units. Relative intra-trial reliability was calculated using the two-way random model intraclass correlation coefficient (ICC) and absolute reliability with minimal detectable change (MDC). The ICC ranged between 0.69 and 0.99 and the MDC between 1°-8°for the deadlift. Corresponding figures for the squat were 0.78-0.99 and 1°-6°. In all participants during both exercises, spinal adjustments were made in both thoracolumbar and lumbopelvic areas in all three dimensions. In conclusion, when performing three repetitions of the deadlift and the squat, lumbar spinal alignment of the lifters did not change much between repetitions and did not differ significantly between power-and weightlifters.

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“…Motion of the body segments, as well as the chair, were recorded with a portable movement (Madgwick, 2010;Öhberg et al, 2013). The IMUs were placed on the back of the head using an elastic Velcro strap and at the spine on processus spinosus at level Th2 and S2 using adhesive tape on the skin.…”

Section: Data Acquisitionmentioning

confidence: 99%

Seated postural neck and trunk reactions to sideways perturbations with or without a cognitive task

Stenlund

Lundström

Lindroos

et al. 2015

Journal of Electromyography and Kinesiology

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30Driving on irregular terrain will expose the driver to sideways mechanical shocks or 31 perturbations that may cause musculoskeletal problems. How a cognitive task, imposed on the 32 driver, affects seated postural reactions during perturbations is unknown. The aim of the 33 present study was to investigate seated postural reactions in the neck and trunk among healthy 34 adults exposed to sideways perturbations with or without a cognitive task. Twenty-three 35 healthy male subjects aged 19-36 years, were seated on a chair mounted on a motion system 36 and randomly exposed to 20 sideways perturbations (at two peak accelerations 5.1 or 13.2 37 m/s 2 ) in two conditions: counting backwards or not. Kinematics were recorded for upper body 38 segments using inertial measurement units attached to the body and electromyography (EMG) Driving on irregular terrain, e.g. within forestry, mining or agriculture, will expose the seated 54 driver to substantial mechanical shocks or perturbations. Exposure to mechanical shocks 55 could, due to known health risks for the lower lumbar spine, be evaluated using the 56 international standard ISO 2631ISO -5 (2004. The standard does not, however, include muscle 57 activities which may be overactive during unexpected shocks, thus creating excessive load on 58 spinal joints (Bazrgari et al., 2008). Lately, studies have reported musculoskeletal problems in 59 the neck region among drivers of various vehicles (Hagberg et al., 2006; Smith and Williams, 60 2014). Whether this is associated with the exposure to mechanical shocks and postural 61 reactions in the driver remains unclear. 63The biodynamic reaction after a mechanical shock or perturbation in a seated position results 64in -due to inertia in the trunk -a delay in subsequent head movement (Allum et al., 1997; 65 Kumar et al., 2005; Vibert et al., 2001). For an unpredictable perturbation, passive mechanics 66 (inertia, stiffness, and viscosity) constitute the first stabilizing mechanism. Secondly, skeletal 67 muscle reflexes are added (Tarkka, 1986). Thirdly, voluntary reactions contribute to the 68 stabilisation process (Mazzini and Schieppati, 1992). 70Postural reactions in the neck or trunk due to perturbations in seated positions depend on 71 several factors attributed to the perturbation characteristics, such as the amplitude and 72 direction (Masani et al., 2009; Preuss and Fung, 2008; Sacher et al., 2012; St-Onge et al., 73 2011; Zedka et al., 1998), acceleration (Kumar et al., 2004a Siegmund and Blouin, 2009; 74 Siegmund et al., 2002) and complexity (Xia et al., 2008). Other factors are awareness of an 75 upcoming perturbation (Siegmund et al., 2003a) to be at high acceleration levels for some driver categories and thus important to analyse (Rehn et al., 2005; Solecki, 2007). 79 81The neck and trunk muscles seem to have a reciprocal activation pattern in response to a 82 sideways load (Kumar et al., 2004a, b; Masani et al., 2009; Preuss et al., 2005; Vibert et al., 83 2001; Zedka et al., 1...

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Comparative analysis of different adaptive filters for tracking lower segments of a human body using inertial motion sensors

Cited by 21 publications

References 36 publications

A Real-time Motion Tracking Wireless System for Upper Limb Exosuit Based on Inertial Measurement Units and Flex Sensors

A Real-time Motion Tracking Wireless System for Upper Limb Exosuit Based on Inertial Measurement Units and Flex Sensors

Variability of lumbar spinal alignment among power- and weightlifters during the deadlift and barbell back squat

Seated postural neck and trunk reactions to sideways perturbations with or without a cognitive task

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