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A comparison for capturing arm kinematics using solutions of Wahba's problem and ordinary data fusion mechanisms

Version 2 2024-06-03, 12:04
Version 1 2018-02-13, 16:52
conference contribution
posted on 2024-06-03, 12:04 authored by MS Karunarathne, Pubudu PathiranaPubudu Pathirana
Rehabilitation is becoming one of critical and essential part in medicine due to fast aging population, the people with various disabilities and increasing health care expenditure. With the advancement of wearable sensor technologies, inertial sensors with magnetometers are well known as a worthy solution for these challenges since it is affordable and precise solution. However, the measurements from IMU devices are engaged with accuracy deficiencies in attitude estimations due to noisiness in measurements. The accuracy improvement of estimation using IMUs has investigated in various studies in literature, though there is a room for further discussions of such improvements with less heavy and complex algorithms. This paper is focused to investigate the applicability of some typical solutions of Wahba's Problem and ordinary filtering mechanism with inertial sensor measurements to accurately capture human arm kinematics. Additionally, these algorithms are compared and validated with real-time sensor measurements.



Rajpura, India

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Publication classification

E Conference publication, E1 Full written paper - refereed

Copyright notice

2016, IEEE

Title of proceedings

WECON 2016 : Proceedings of the 5th International Conference on Wireless Networks and Embedded Systems


Wireless Networks and Embedded Systems : International Conference (6th : 2016 : Rajpura, India)


Institute of Electrical and Electronics Engineers

Place of publication

Piscataway, N.J.


Wireless Networks and Embedded Systems International Conference