Human pose recovery for rehabilitation using ambulatory sensors

Abstract

Abstract-In this paper, an approach for lower-leg pose recovery from ambulatory sensors is implemented and validated in a clinical setting. Inertial measurement units are attached to patients undergoing physiotherapy. The sensor data is combined with a kinematic model within an extended Kalman filter framework to perform joint angle estimation. Anthropometric joint limits and process noise adaptation are employed to improve the quality of the joint angle estimation. The proposed approach is tested on 7 patients following total hip or knee joint replacement surgery. The proposed approach achieves an average root-mean-square error of 0.12 radians at key poses.

Inertial Sensors for Human Motion Analysis: A Comprehensive Review

“…Sensor fusion techniques are useful methods to overcome the individual limitations of each of them separately. Most of studies that fuse data from various sensors combine gyroscopes and accelerometers [8], [33], [34], [35], [36], [37], [38], [39], [40], [41], [42], [43], [44], [45], [46], [47], [48], [49], [50], [51], [52], [53], [54], [55], [56], [57], [58], [59], [60], [61], [62], [63], [64], [65], [66], [67], [68], [69], [70], [71], [72], [73], [74], [75], [76], [77], [78], [79], [80],…”

“…EKFs are the KF variation that most frequently appears in motion analysis. EKFs are used for the sensor fusion of gyroscopes and accelerometers in order to estimate the joint orientation [8], [38], [66], [70], [72], [92], [96], joint orientation and location [55], [76], [79], [88], [108], and segment orientation [77], [78]. Researchers also use EKFs to fuse gyroscope and accelerometer data with magnetometer measurements to estimate the orientation of joints [138], [142] or segments [117], [118], [135], [140], [145].…”

“…Another common approach for the error reduction in most of the biomechanical models is to take into account the anatomic parameters, such as the joints location with respect to the sensors or the segments length [8], [17], [19], [20], [23], [24], [25], [26], [35], [37], [38], [46], [46], [64], [73], [76], [77], [78], [79], [83], [87], [88], [89], [91], [92], [93], [94], [95], [96], [98], [99], [105], [106], [107], [108], [119], [129], [132], [137], [138], [143], [150], [151], [154]. Fig.…”

Simultaneous exercise recognition and evaluation in prescribed routines: Approach to virtual coaches

“…EKFs are the KF variation that most frequently appear in motion analysis. EKFs are used for the sensor fusion of gyroscopes and accelerometers in order to estimate the joints orientation [8], [38], [66], [70], [72], [92], [96], joints orientation and location [55], [76], [79], [88], [108] and segment orientation [77], [78]. Researchers also use EKFs to fuse gyroscope and accelerometer data with magnetometer measurements to estimate the orientation of joints [138], [142] or segments [117], [118], [135], [140], [145].…”