Estimating Body Segment Orientation by Applying Inertial and Magnetic Sensing Near Ferromagnetic Materials

Inertial and magnetic sensors are very suitable for ambulatory monitoring of human posture and movements. However, ferromagnetic materials near the sensor disturb the local magnetic field and, therefore, the orientation estimation. A Kalman-based fusion algorithm was used to obtain dynamic orientati...

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Bibliographic Details
Published in:IEEE transactions on neural systems and rehabilitation engineering 2007-09, Vol.15 (3), p.469-471
Main Authors: Roetenberg, Daniel, Baten, Chris T. M., Veltink, Peter H.
Format: Article
Language:English
Subjects:
Acceleration
Accelerometers
Algorithms
Biomedical measurements
Computer Simulation
Disturbances
Gyroscopes
Humans
Imaging, Three-Dimensional - methods
Joints - anatomy & histology
Magnetic field measurement
Magnetic materials
Magnetic sensors
Magnetic separation
Magnetics
Magnetometers
Models, Biological
motion tracking
Optical filters
Optical sensors
Reproducibility of Results
Sensitivity and Specificity
validation
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Summary:Inertial and magnetic sensors are very suitable for ambulatory monitoring of human posture and movements. However, ferromagnetic materials near the sensor disturb the local magnetic field and, therefore, the orientation estimation. A Kalman-based fusion algorithm was used to obtain dynamic orientations and to minimize the effect of magnetic disturbances. This paper compares the orientation output of the sensor fusion using three-dimensional inertial and magnetic sensors against a laboratory bound opto-kinetic system (Vicon) in a simulated work environment. With the tested methods, the difference between the optical reference system and the output of the algorithm was 2.6deg root mean square (rms) when no metal was near the sensor module. Near a large metal object instant errors up to 50deg were measured when no compensation was applied. Using a magnetic disturbance model, the error reduced significantly to 3.6deg rms.
ISSN:1534-4320
1558-0210
DOI:10.1109/TNSRE.2007.903946