Joint axis and position estimation from inertial measurement data by exploiting kinematic constraints
Seel T, Schauer T, Raisch J (2012)
Publication Type: Conference contribution
Publication year: 2012
Pages Range: 45-49
Conference Proceedings Title: Proceedings of the IEEE International Conference on Control Applications
ISBN: 9781467345033
Abstract
We consider 6d inertial measurement units (IMU) attached to rigid bodies, e.g. human limb segments or links of a robotic manipulator, which are connected by hinge joints and spheroidal joints. Novel methods for joint axis estimation and joint position estimation are presented that exploit the kinematic constraints induced by these two types of joints. The presented methods do not require any knowledge about the sensor units' positions or orientations and do not include integration, i.e. they are insensitive to measurement bias. By means of a three-links simulation model, the estimation algorithms are validated and convergence is analyzed. Finally, the algorithms are tested using experimental data from IMU-based human gait analysis. © 2012 IEEE.
Authors with CRIS profile
Involved external institutions
Technische Universität Berlin
Germany (DE)
Max-Planck-Institut für Dynamik komplexer technischer Systeme / Max Planck Institute for Dynamics of Complex Technical Systems
Germany (DE)
Germany (DE)
Max-Planck-Institut für Dynamik komplexer technischer Systeme / Max Planck Institute for Dynamics of Complex Technical Systems
Germany (DE)
How to cite
APA:
Seel, T., Schauer, T., & Raisch, J. (2012). Joint axis and position estimation from inertial measurement data by exploiting kinematic constraints. In Proceedings of the IEEE International Conference on Control Applications (pp. 45-49).
MLA:
Seel, Thomas, Thomas Schauer, and Jorg Raisch. "Joint axis and position estimation from inertial measurement data by exploiting kinematic constraints." Proceedings of the 2012 IEEE International Conference on Control Applications, CCA 2012 2012. 45-49.
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