Performance Evaluation of Smartphone Inertial Sensors Measurement for Range of Motion

Mourcou, Quentin; Fleury, Anthony; Franco, Céline; Klopcic, Frédéric; Vuillerme, Nicolas

doi:10.3390/s150923168

Cited by 104 publications

(75 citation statements)

References 24 publications

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“…The filter has been improved recently in [7], employing the accelerometer and magnetometer measurements in a gradient descent algorithm to correct the quaternion obtained through the integration of rate measurements. Mahony and Madgwick filters are widely utilized algorithms and their performances have regularly been considered in comparative Sensors 2020, 20, 803 3 of 29 analyses [9,13,15,[31][32][33]. In [34], an adaptive-gain CF was proposed to provide good estimates, even in dynamic or high-frequency situations.…”

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confidence: 99%

A Novel Fuzzy-Adaptive Extended Kalman Filter for Real-Time Attitude Estimation of Mobile Robots

Odry

Kecskés

Šarčević

et al. 2020

Sensors

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This paper proposes a novel fuzzy-adaptive extended Kalman filter (FAEKF) for the real-time attitude estimation of agile mobile platforms equipped with magnetic, angular rate, and gravity (MARG) sensor arrays. The filter structure employs both a quaternion-based EKF and an adaptive extension, in which novel measurement methods are used to calculate the magnitudes of system vibrations, external accelerations, and magnetic distortions. These magnitudes, as external disturbances, are incorporated into a sophisticated fuzzy inference machine, which executes fuzzy IF-THEN rules-based adaption laws to consistently modify the noise covariance matrices of the filter, thereby providing accurate and robust attitude results. A six-degrees of freedom (6 DOF) test bench is designed for filter performance evaluation, which executes various dynamic behaviors and enables measurement of the true attitude angles (ground truth) along with the raw MARG sensor data. The tuning of filter parameters is performed with numerical optimization based on the collected measurements from the test environment. A comprehensive analysis highlights that the proposed adaptive strategy significantly improves the attitude estimation quality. Moreover, the filter structure successfully rejects the effects of both slow and fast external perturbations. The FAEKF can be applied to any mobile system in which attitude estimation is necessary for localization and external disturbances greatly influence the filter accuracy.The MEMS inertial measurement unit (IMU), composed of tri-axis MEMS accelerometer, gyroscope, and magnetometer sensors, also known as the measurement system of magnetic, angular rate, and gravity (MARG) sensor arrays, is the most commonly utilized device to track the real-time orientation of mobile platforms at present. The low-cost, low power consumption, and small size characteristics meet technological requirements, and therefore these devices have been widely utilized in embedded systems, where the filtering algorithm is executed by a microprocessor. As a result, an attitude and heading reference system (AHRS) has been formed, which provides the complete orientation measurement relative to the Earth's gravitational and magnetic fields (global reference system), where the attitude denotes the roll and pitch angles, whereas heading refers to the yaw Euler angle [19]. The role of the aforementioned filtering algorithm is to combine the individual features of each sensor and provide both properly smoothed and robust attitude results with regard to the global reference system, in either Euler angles or quaternions. The most common method applied in sensor fusion techniques synthesizes the short-term accuracy of gyroscope-based attitude realizations and the accelerometer and magnetometer provide rough, low-frequency attitude corrections. This technique cancels the accumulated error (drift), smooths the signals, and produces long-term stable outputs if the IMU is in stationary states. Significant decrease in estimation performance arises when...

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mentioning

confidence: 99%

A Novel Fuzzy-Adaptive Extended Kalman Filter for Real-Time Attitude Estimation of Mobile Robots

Odry

Kecskés

Šarčević

et al. 2020

Sensors

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“…This, on the one hand, reduces costs, and on the other, eliminates the problem of having to learn how to use a new device. Moreover, studies demonstrated that samples from smartphones sensors (e.g., accelerometer and gyroscope) are accurate enough to be used in clinical domain, such as ADLs recognition [22]. This is also confirmed by the amount of publications that rely on the use of smartphones as acquisition devices for fall detection systems [18,23] and ADLs recognition.…”

Section: Introductionmentioning

confidence: 69%

UniMiB SHAR: A Dataset for Human Activity Recognition Using Acceleration Data from Smartphones

2017

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Smartphones, smartwatches, fitness trackers, and ad-hoc wearable devices are being increasingly used to monitor human activities. Data acquired by the hosted sensors are usually processed by machine-learning-based algorithms to classify human activities. The success of those algorithms mostly depends on the availability of training (labeled) data that, if made publicly available, would allow researchers to make objective comparisons between techniques. Nowadays, there are only a few publicly available data sets, which often contain samples from subjects with too similar characteristics, and very often lack specific information so that is not possible to select subsets of samples according to specific criteria. In this article, we present a new dataset of acceleration samples acquired with an Android smartphone designed for human activity recognition and fall detection. The dataset includes 11,771 samples of both human activities and falls performed by 30 subjects of ages ranging from 18 to 60 years. Samples are divided in 17 fine grained classes grouped in two coarse grained classes: one containing samples of 9 types of activities of daily living (ADL) and the other containing samples of 8 types of falls. The dataset has been stored to include all the information useful to select samples according to different criteria, such as the type of ADL performed, the age, the gender, and so on. Finally, the dataset has been benchmarked with four different classifiers and with two different feature vectors. We evaluated four different classification tasks: fall vs. no fall, 9 activities, 8 falls, 17 activities and falls. For each classification task, we performed a 5-fold cross-validation (i.e., including samples from all the subjects in both the training and the test dataset) and a leave-one-subject-out cross-validation (i.e., the test data include the samples of a subject only, and the training data, the samples of all the other subjects). Regarding the classification tasks, the major findings can be summarized as follows: (i) it is quite easy to distinguish between falls and ADLs, regardless of the classifier and the feature vector selected. Indeed, these classes of activities present quite different acceleration shapes that simplify the recognition task; (ii) on average, it is more difficult to distinguish between types of falls than between types of activities, regardless of the classifier and the feature vector selected. This is due to the similarity between the acceleration shapes of different kinds of falls. On the contrary, ADLs acceleration shapes present differences except for a small group. Finally, the evaluation shows that the presence of samples of the same subject both in the training and in the test datasets, increases the performance of the classifiers regardless of the feature vector used. This happens because each human subject differs from other subjects in performing activities even if she shares with them the same physical characteristics.

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“…It was chosen because of its convenience and location, as discussed earlier. However, it has been shown that sensors included in current smartphones are equally accurate as consumer wearables [45]. In that sense, one could replace the SenseWear with, e.g., a smartphone mounted in a typical sports armband used by runners.…”

Section: Discussionmentioning

confidence: 99%

Accelerometry-Based Activity Recognition and Assessment in Rheumatic and Musculoskeletal Diseases

Billiet

Swinnen

Westhovens

et al. 2016

Sensors

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One of the important aspects to be considered in rheumatic and musculoskeletal diseases is the patient’s activity capacity (or performance), defined as the ability to perform a task. Currently, it is assessed by physicians or health professionals mainly by means of a patient-reported questionnaire, sometimes combined with the therapist’s judgment on performance-based tasks. This work introduces an approach to assess the activity capacity at home in a more objective, yet interpretable way. It offers a pilot study on 28 patients suffering from axial spondyloarthritis (axSpA) to demonstrate its efficacy. Firstly, a protocol is introduced to recognize a limited set of six transition activities in the home environment using a single accelerometer. To this end, a hierarchical classifier with the rejection of non-informative activity segments has been developed drawing on both direct pattern recognition and statistical signal features. Secondly, the recognized activities should be assessed, similarly to the scoring performed by patients themselves. This is achieved through the interval coded scoring (ICS) system, a novel method to extract an interpretable scoring system from data. The activity recognition reaches an average accuracy of 93.5%; assessment is currently 64.3% accurate. These results indicate the potential of the approach; a next step should be its validation in a larger patient study.

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Performance Evaluation of Smartphone Inertial Sensors Measurement for Range of Motion

Cited by 104 publications

References 24 publications

A Novel Fuzzy-Adaptive Extended Kalman Filter for Real-Time Attitude Estimation of Mobile Robots

A Novel Fuzzy-Adaptive Extended Kalman Filter for Real-Time Attitude Estimation of Mobile Robots

UniMiB SHAR: A Dataset for Human Activity Recognition Using Acceleration Data from Smartphones

Accelerometry-Based Activity Recognition and Assessment in Rheumatic and Musculoskeletal Diseases

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