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

Version 2 2024-06-06, 07:48
Version 1 2016-08-24, 14:17
chapter
posted on 2024-06-06, 07:48 authored by SK Maddumage, ND Nguyen, MP Menikdiwela, Pubudu PathiranaPubudu Pathirana
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.

History

Volume

9677

Chapter number

35

Pagination

395-406

ISSN

0302-9743

eISSN

1611-3349

ISBN-13

9783319396002

Language

eng

Publication classification

B Book chapter, B1 Book chapter

Copyright notice

2016, Springer International Switzerland

Extent

45

Editor/Contributor(s)

Chang CK, Chiari L, Cao Y, Jin H, Mokhtari M, Aloulou H

Publisher

Springer

Place of publication

Berlin, Germany

Title of book

Inclusive smart cities and digital health

Series

Lecture notes in computer science