Daniel Roetenberg

Ambulatory Position and Orientation Tracking Fusing Magnetic and Inertial Sensing

This paper presents the design and testing of a portable magnetic system combined with miniature inertial sensors for ambulatory 6 degrees of freedom ( DOF) human motion tracking. The magnetic system consists of three orthogonal coils, the source, fixed to the body and 3-D magnetic sensors, fixed to remote body segments, which measure the fields generated by the source. Based on the measured signals, a processor calculates the relative positions and orientations between source and sensor. Magnetic actuation requires a substantial amount of energy which limits the update rate with a set of batteries. Moreover, the magnetic field can easily be disturbed by ferromagnetic materials or other sources. Inertial sensors can be sampled at high rates, require only little energy and do not suffer from magnetic interferences. However, accelerometers and gyroscopes can only measure changes in position and orientation and suffer from integration drift. By combing measurements from both systems in a complementary Kalman filter structure, an optimal solution for position and orientation estimates is obtained. The magnetic system provides 6 DOF measurements at a relatively low update rate while the inertial sensors track the changes position and orientation in between the magnetic updates. The implemented system is tested against a lab-bound camera tracking system for several functional body movements. The accuracy was about 5 mm for position and 3 degrees for orientation measurements. Errors were higher during movements with high velocities due to relative movement between source and sensor within one cycle of magnetic actuation

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 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.

Assessment of hand kinematics using inertial and magnetic sensors

BackgroundAssessment of hand kinematics is important when evaluating hand functioning. Major drawbacks of current sensing glove systems are lack of rotational observability in particular directions, labour intensive calibration methods which are sensitive to wear and lack of an absolute hand orientation estimate.MethodsWe propose an ambulatory system using inertial sensors that can be placed on the hand, fingers and thumb. It allows a full 3D reconstruction of all finger and thumb joints as well as the absolute orientation of the hand. The system was experimentally evaluated for the static accuracy, dynamic range and repeatability.ResultsThe RMS position norm difference of the fingertip compared to an optical system was 5±0.5 mm (mean ± standard deviation) for flexion-extension and 12.4±3.0 mm for combined flexion-extension abduction-adduction movements of the index finger. The difference between index and thumb tips during a pinching movement was 6.5±2.1 mm. The dynamic range of the sensing system and filter was adequate to reconstruct full 80 degrees movements of the index finger performed at 116 times per minute, which was limited by the range of the gyroscope. Finally, the reliability study showed a mean range difference over five subjects of 1.1±0.4 degrees for a flat hand test and 1.8±0.6 degrees for a plastic mold clenching test, which is smaller than other reported data gloves.ConclusionCompared to existing data gloves, this research showed that inertial and magnetic sensors are of interest for ambulatory analysis of the human hand and finger kinematics in terms of static accuracy, dynamic range and repeatability. It allows for estimation of multi-degree of freedom joint movements using low-cost sensors.

Ambulatory Estimation of Relative Foot Positions by Fusing Ultrasound and Inertial Sensor Data

Relative foot position estimation is important for rehabilitation, sports training and functional diagnostics. In this paper an extended Kalman filter fusing ultrasound range estimates and inertial sensors is described. With this filter several gait parameters can be estimated ambulatory. Step lengths and stride widths from 54 walking trials of three healthy subjects were estimated and compared to an optical reference. Mean ( ± standard deviation) of absolute difference was 1.7 cm ( ±1.8 cm) and 1.2 cm ( ±1.2 cm) for step length and stride width respectively. Walking with a turn and walking around in a square area were also investigated and resulted in mean absolute differences of 1.7 cm ( ±2.0 cm) and 1.5 cm ( ±1.5 cm) for step lengths and stride widths. In addition to these relative positions, velocities, orientations and stance and swing times can also be estimated. We conclude that the presented system is low-cost and provides a complete description of footstep kinematics and timing.