The low cost micro inertial measurement unit

Jędrasiak, Karol; Daniec, Krzysztof; Nawrat, Aleksander

doi:10.1109/iciea.2013.6566403

Cited by 21 publications

(3 citation statements)

References 10 publications

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“…In this solution, IMUs developed by the authors are used [26]. The devices are based on an ARM processor and a low-cost MEMS sensors including 3-axis accelerometer, 3-axis gyroscope and 3-axis magnetometer.…”

Section: System Overviewmentioning

confidence: 99%

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Inertial Motion Capture Costume Design Study

Szczęsna

Skurowski

Lach

et al. 2017

Sensors

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The paper describes a scalable, wearable multi-sensor system for motion capture based on inertial measurement units (IMUs). Such a unit is composed of accelerometer, gyroscope and magnetometer. The final quality of an obtained motion arises from all the individual parts of the described system. The proposed system is a sequence of the following stages: sensor data acquisition, sensor orientation estimation, system calibration, pose estimation and data visualisation. The construction of the system’s architecture with the dataflow programming paradigm makes it easy to add, remove and replace the data processing steps. The modular architecture of the system allows an effortless introduction of a new sensor orientation estimation algorithms. The original contribution of the paper is the design study of the individual components used in the motion capture system. The two key steps of the system design are explored in this paper: the evaluation of sensors and algorithms for the orientation estimation. The three chosen algorithms have been implemented and investigated as part of the experiment. Due to the fact that the selection of the sensor has a significant impact on the final result, the sensor evaluation process is also explained and tested. The experimental results confirmed that the choice of sensor and orientation estimation algorithm affect the quality of the final results.

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Section: System Overviewmentioning

confidence: 99%

“…In our tests we used three IMU devices - two from the external vendors: Fairchild Semiconductor FMT1030 [30] and Xsens MTi-1 [31], and an experimental, custom built one [26]. …”

Section: Sensors Evaluationmentioning

confidence: 99%

Inertial Motion Capture Costume Design Study

Szczęsna

Skurowski

Lach

et al. 2017

Sensors

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show abstract

“…As a result, statics analysis requires the positions and angles of each segment for static free-body diagrams [4][5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Analysis of Human Arm Nonlinear and Linear Mathematical Models

Bieda

Jaskot

2015

Studies in Systems, Decision and Control

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This paper concentrate on the kinematics and dynamics analysis of human upper arm and extends it to the human manipulator. Kinematics is the study of motion without regard to the forces that create it. The representation of the hand position and orientation through the geometries of arm (joint and link parameters) are called direct kinematics. Using forward kinematics, the mathematical model is developed to compute the position and orientation of arm based on the given human joint position. Each human joint is considered as revolute joint. Dynamics of the arm refers to the interaction between forces in the system and change of state of the system. Based on the dynamic equation of motion of the arm nonlinear and linear model of human upper arm has been defined. The presented models of arm motion has been derived using the Euler-Lagrange equation. In this paper the results of a simulation of the proposed models are presented.

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