Robust real-time bio-kinematic movement tracking using multiple kinects for tele-rehabilitation

Pathirana, Pubudu N., Li, Saiyi, Trinh, Hieu M. and Seneviratne, Aruna 2016, Robust real-time bio-kinematic movement tracking using multiple kinects for tele-rehabilitation, IEEE transactions on industrial electronics, vol. 63, no. 3, pp. 1822-1833, doi: 10.1109/TIE.2015.2497662.

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Title Robust real-time bio-kinematic movement tracking using multiple kinects for tele-rehabilitation
Author(s) Pathirana, Pubudu N.ORCID iD for Pathirana, Pubudu N.
Li, Saiyi
Trinh, Hieu M.ORCID iD for Trinh, Hieu M.
Seneviratne, Aruna
Journal name IEEE transactions on industrial electronics
Volume number 63
Issue number 3
Start page 1822
End page 1833
Total pages 12
Publisher IEEE
Place of publication Piscataway, N.J.
Publication date 2016-03
ISSN 0278-0046
Keyword(s) Science & Technology
Automation & Control Systems
Engineering, Electrical & Electronic
Instruments & Instrumentation
Automated human movement assessment
biomedical signal processing
multisensor system
robust linear filtering
Summary This paper investigates the robust and accurate capture of human joint poses and bio-kinematic movements for exercise monitoring in real-time tele-rehabilitation applications. Recently developed model-based estimation ideas are used to improve the accuracy, robustness, and real-time characteristics considered vital for applications, where affordability and domestic use are the primary focus. We use the spatial diversity of the arbitrarily positioned Microsoft Kinect receivers to improve the reliability and promote the uptake of the concept. The skeleton-based information is fused to enhance accuracy and robustness, critical for biomedical applications. A specific version of a robust Kalman filter (KF) in a linear framework is employed to ensure superior estimator convergence and real-time use, compared to other commonly used filters. The algorithmic development was conducted in a generic form and computer simulations were conducted to verify our assertions. Hardware implementations were carried out to test the viability of the proposed state estimator in terms of the core requirements of reliability, accuracy, and real-time use. Performance of the overall system implemented in an information fusion context was evaluated against the commercially available and industry standard Vicon system for different exercise routines, producing comparable results with much less infrastructure and financial investment.
Language eng
DOI 10.1109/TIE.2015.2497662
Field of Research 010203 Calculus of Variations, Systems Theory and Control Theory
010204 Dynamical Systems in Applications
090602 Control Systems, Robotics and Automation
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category C1 Refereed article in a scholarly journal
ERA Research output type C Journal article
Copyright notice ©2016, IEEE
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