Shoulder Range of Motion Measurement Using Inertial Measurement Unit-Validation with a Robot Arm

The invention of inertial measurement units allowed the construction of sensors suitable for human motion tracking that are more affordable than expensive optical motion capture systems, but there are a few factors influencing their accuracy, such as the calibration methods and the fusion algorithms...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2023-06, Vol.23 (12), p.5364
Main Authors: Białecka, Martyna, Gruszczyński, Kacper, Cisowski, Paweł, Kaszyński, Jakub, Baka, Cezary, Lubiatowski, Przemysław
Format: Article
Language:English
Subjects:
Accelerometers
Accuracy
Analysis
Calibration
Error analysis
Human body
Human mechanics
Human motion
Industrial robots
inertial measurement unit
Inertial platforms
Kinematics
Measurement
Measuring instruments
Motion capture
Motion sensors
Orthopedics
Proprioception
Range of motion
Robot arms
Robot dynamics
Robots
sensor accuracy
Sensors
shoulder
validation
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Summary:The invention of inertial measurement units allowed the construction of sensors suitable for human motion tracking that are more affordable than expensive optical motion capture systems, but there are a few factors influencing their accuracy, such as the calibration methods and the fusion algorithms used to translate sensor readings into angles. The main purpose of this study was to test the accuracy of a single RSQ Motion sensor in comparison to a highly precise industrial robot. The secondary objectives were to test how the type of sensor calibration affects its accuracy and whether the time and magnitude of the tested angle have an impact on the sensor's accuracy. We performed sensor tests for nine repetitions of nine static angles made by the robot arm in eleven series. The chosen robot movements mimicked shoulder movements in a range of motion test (flexion, abduction, and rotation). The RSQ Motion sensor appeared to be very accurate, with a root-mean-square error below 0.15°. Furthermore, we found a moderate-to-strong correlation between the sensor error and the magnitude of the measured angle but only for the sensor calibrated with the gyroscope and accelerometer readings. Although the high accuracy of the RSQ Motion sensors was demonstrated in this paper, they require further study on human subjects and comparisons to the other devices known as the gold standards in orthopedics.
ISSN:1424-8220
1424-8220
DOI:10.3390/s23125364