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The study to track human arm kinematics applying solutions of Wahba’s Problem upon inertial/magnetic sensors

Maddumage, M. Sajeewani, Nguyen, Nhan Dang, Menikidiwela, Medhani P. and Pathirana, Pubudu N. 2016, The study to track human arm kinematics applying solutions of Wahba’s Problem upon inertial/magnetic sensors. In Chang, Carl K., Chiari, Lorenzo, Cao, Yu, Jin, Hai, Mokhtari, Mounir and Aloulou, Hamdi (ed), Inclusive smart cities and digital health, Springer, Berlin, Germany, pp.395-406, doi: 10.1007/978-3-319-39601-9_35.

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Title The study to track human arm kinematics applying solutions of Wahba’s Problem upon inertial/magnetic sensors
Author(s) Maddumage, M. Sajeewani
Nguyen, Nhan Dang
Menikidiwela, Medhani P.
Pathirana, Pubudu N.ORCID iD for Pathirana, Pubudu N. orcid.org/0000-0001-8014-7798
Title of book Inclusive smart cities and digital health
Editor(s) Chang, Carl K.
Chiari, Lorenzo
Cao, Yu
Jin, Hai
Mokhtari, Mounir
Aloulou, Hamdi
Publication date 2016
Series Lecture notes in computer science
Chapter number 35
Total chapters 45
Start page 395
End page 406
Total pages 12
Publisher Springer
Place of Publication Berlin, Germany
Keyword(s) wearable sensors
arm activity monitoring
MEMS sensors
Wahba's problem and solutions
Summary Long-term, off-site human monitoring systems are emerging with respect to the skyrocketing expenditures engaged with rehabilitation therapies for neurological diseases. Inertial/magnetic sensor modules are well known as a worthy solution for this problem. Much attention and effort are being paid for minimizing drift problem of angular rates, yet the rest of kinematic measurements (earth’s magnetic field and gravitational orientation) are only themselves capable enough to track movements applying the theory for solving historicalWahbas Problem. Further, these solutions give a closed form solution which makes it mostly suitable for real time Mo-Cap systems. This paper examines the feasibility of some typical solutions of Wahba’s Problem named TRIAD method, Davenport’s q method, Singular Value Decomposition method and QUEST algorithm upon current inertial/magnetic sensor measurements for tracking human arm movements. Further, the theoretical assertions are compared through controlled experiments with both simulated and actual accelerometer and magnetometer measurements.
ISBN 9783319396002
ISSN 0302-9743
1611-3349
Language eng
DOI 10.1007/978-3-319-39601-9_35
Field of Research 080110 Simulation and Modelling
010501 Algebraic Structures In Mathematical Physics
080201 Analysis of Algorithms and Complexity
Socio Economic Objective 970109 Expanding Knowledge in Engineering
HERDC Research category B1 Book chapter
ERA Research output type B Book chapter
Copyright notice ©2016, Springer International Switzerland
Persistent URL http://hdl.handle.net/10536/DRO/DU:30085653

Document type: Book Chapter
Collection: School of Engineering
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