Joint parameter estimation using Magneto and Inertial measurement units

Yu Tao Liu; Yong An Zhang; Ming Zeng

doi:10.23919/ChiCC.2017.8027688

Joint parameter estimation using Magneto and Inertial measurement units

Yu Tao Liu
, Yong An Zhang
, Ming Zeng

School of Astronautics

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This paper aims to propose an effortless procedure to determine the joint center location and limb length using Magneto and Inertial Measurement Units (M-IMU) based motion capture data. By exploiting the joint acceleration kinematic constraints, we establish an explicit relationship between the M-IMU measurements and the joint center location. Then, with a least square algorithm, the joint parameters can be estimated from the M-IMU measurements generated by a set of prescribed joint motions. The whole procedure doesn't require any knowledge about human anatomy and additional equipment. Computer simulations and experiments with four healthy subjects are conducted to validate the proposed algorithm. Simulation results show that the proposed method is robust against the measurement noise. Experiments show good limb length estimate can be obtained compared with the manual measurements.

Original language	English
Title of host publication	Proceedings of the 36th Chinese Control Conference, CCC 2017
Editors	Tao Liu, Qianchuan Zhao
Publisher	IEEE Computer Society
Pages	2225-2230
Number of pages	6
ISBN (Electronic)	9789881563934
DOIs	https://doi.org/10.23919/ChiCC.2017.8027688
State	Published - 7 Sep 2017
Event	36th Chinese Control Conference, CCC 2017 - Dalian, China Duration: 26 Jul 2017 → 28 Jul 2017

Publication series

Name	Chinese Control Conference, CCC
ISSN (Print)	1934-1768
ISSN (Electronic)	2161-2927

Conference

Conference	36th Chinese Control Conference, CCC 2017
Country/Territory	China
City	Dalian
Period	26/07/17 → 28/07/17

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being

Keywords

Acceleration kinematics
Joint parameters
Least square estimation
Motion capture

Access to Document

10.23919/ChiCC.2017.8027688

Cite this

@inproceedings{bb27ae3218d54b5e95021217d247e40b,

title = "Joint parameter estimation using Magneto and Inertial measurement units",

abstract = "This paper aims to propose an effortless procedure to determine the joint center location and limb length using Magneto and Inertial Measurement Units (M-IMU) based motion capture data. By exploiting the joint acceleration kinematic constraints, we establish an explicit relationship between the M-IMU measurements and the joint center location. Then, with a least square algorithm, the joint parameters can be estimated from the M-IMU measurements generated by a set of prescribed joint motions. The whole procedure doesn't require any knowledge about human anatomy and additional equipment. Computer simulations and experiments with four healthy subjects are conducted to validate the proposed algorithm. Simulation results show that the proposed method is robust against the measurement noise. Experiments show good limb length estimate can be obtained compared with the manual measurements.",

keywords = "Acceleration kinematics, Joint parameters, Least square estimation, Motion capture",

author = "Liu, \{Yu Tao\} and Zhang, \{Yong An\} and Ming Zeng",

note = "Publisher Copyright: {\textcopyright} 2017 Technical Committee on Control Theory, CAA.; 36th Chinese Control Conference, CCC 2017 ; Conference date: 26-07-2017 Through 28-07-2017",

year = "2017",

month = sep,

day = "7",

doi = "10.23919/ChiCC.2017.8027688",

language = "英语",

series = "Chinese Control Conference, CCC",

publisher = "IEEE Computer Society",

pages = "2225--2230",

editor = "Tao Liu and Qianchuan Zhao",

booktitle = "Proceedings of the 36th Chinese Control Conference, CCC 2017",

address = "美国",

}

Liu, YT, Zhang, YA & Zeng, M 2017, Joint parameter estimation using Magneto and Inertial measurement units. in T Liu & Q Zhao (eds), Proceedings of the 36th Chinese Control Conference, CCC 2017., 8027688, Chinese Control Conference, CCC, IEEE Computer Society, pp. 2225-2230, 36th Chinese Control Conference, CCC 2017, Dalian, China, 26/07/17. https://doi.org/10.23919/ChiCC.2017.8027688

Joint parameter estimation using Magneto and Inertial measurement units. / Liu, Yu Tao; Zhang, Yong An; Zeng, Ming.
Proceedings of the 36th Chinese Control Conference, CCC 2017. ed. / Tao Liu; Qianchuan Zhao. IEEE Computer Society, 2017. p. 2225-2230 8027688 (Chinese Control Conference, CCC).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Joint parameter estimation using Magneto and Inertial measurement units

AU - Liu, Yu Tao

AU - Zhang, Yong An

AU - Zeng, Ming

PY - 2017/9/7

Y1 - 2017/9/7

N2 - This paper aims to propose an effortless procedure to determine the joint center location and limb length using Magneto and Inertial Measurement Units (M-IMU) based motion capture data. By exploiting the joint acceleration kinematic constraints, we establish an explicit relationship between the M-IMU measurements and the joint center location. Then, with a least square algorithm, the joint parameters can be estimated from the M-IMU measurements generated by a set of prescribed joint motions. The whole procedure doesn't require any knowledge about human anatomy and additional equipment. Computer simulations and experiments with four healthy subjects are conducted to validate the proposed algorithm. Simulation results show that the proposed method is robust against the measurement noise. Experiments show good limb length estimate can be obtained compared with the manual measurements.

AB - This paper aims to propose an effortless procedure to determine the joint center location and limb length using Magneto and Inertial Measurement Units (M-IMU) based motion capture data. By exploiting the joint acceleration kinematic constraints, we establish an explicit relationship between the M-IMU measurements and the joint center location. Then, with a least square algorithm, the joint parameters can be estimated from the M-IMU measurements generated by a set of prescribed joint motions. The whole procedure doesn't require any knowledge about human anatomy and additional equipment. Computer simulations and experiments with four healthy subjects are conducted to validate the proposed algorithm. Simulation results show that the proposed method is robust against the measurement noise. Experiments show good limb length estimate can be obtained compared with the manual measurements.

KW - Acceleration kinematics

KW - Joint parameters

KW - Least square estimation

KW - Motion capture

UR - https://www.scopus.com/pages/publications/85032187704

U2 - 10.23919/ChiCC.2017.8027688

DO - 10.23919/ChiCC.2017.8027688

M3 - 会议稿件

AN - SCOPUS:85032187704

T3 - Chinese Control Conference, CCC

SP - 2225

EP - 2230

BT - Proceedings of the 36th Chinese Control Conference, CCC 2017

A2 - Liu, Tao

A2 - Zhao, Qianchuan

PB - IEEE Computer Society

T2 - 36th Chinese Control Conference, CCC 2017

Y2 - 26 July 2017 through 28 July 2017

ER -

Joint parameter estimation using Magneto and Inertial measurement units

Abstract

Publication series

Conference

UN SDGs

Keywords

Access to Document

Other files and links

Fingerprint

Cite this