Open-Source Software Library For Real-Time Inertial Measurement Unit Data-Based Inverse Kinematics Using OpenSim

Abstract

\n An open-source software library for multithreaded real-time inverse kinematical (IK) analysis of inertial measurement unit (IMU) data using OpenSim was developed. Its operation delays and throughputs were measured with a varying number of IMUs and parallel computing IK threads using two different musculoskeletal models, one a lower-body and torso model and the other a full-body model. Full-body inverse kinematics with data from 12 IMUs could be calculated in real-time with a mean delay below 100 ms and at more than 900 samples per second. Live visualization of IK is an option but results in limited IK throughput. The effect of this limitation was assessed by comparing the range of motion (ROM) of each joint from visualized real-time IK to the ROM from offline IK at IMU sampling frequency, resulting in mean ROM differences below 0.3 degrees. The software library enables real-time inverse kinematical analysis with different numbers of IMUs and customizable musculoskeletal models, making it possible to do subject-specific full-body motion analysis outside the motion laboratory in real-time.