Validation of a model-based inverse kinematics approach based on wearable inertial sensors

L. Tagliapietra, L. Modenese, E. Ceseracciu, C. Mazzà and M. Reggiani

Computer Methods in Biomechanics and Biomedical Engineering, 2018, vol. 21, issue 16, 834-844

Abstract: Wearable inertial measurement units (IMUs) are a promising solution to human motion estimation. Using IMUs 3D orientations, a model-driven inverse kinematics methodology to estimate joint angles is presented. Estimated joint angles were validated against encoder-measured kinematics (robot) and against marker-based kinematics (passive mechanism). Results are promising, with RMS angular errors respectively lower than 3 and 6 deg over a minimum range of motion of 50 deg (robot) and 160 deg (passive mechanism). Moreover, a noise robustness analysis revealed that the model-driven approach reduces the effects of experimental noises, making the proposed technique particularly suitable for application in human motion analysis.

Date: 2018
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DOI: 10.1080/10255842.2018.1522532

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