Drift-Free Joint Angle Calculation Using Inertial Measurement Units without Magnetometers: An Exploration of Sensor Fusion Methods for the Elbow and Wrist

Howard Chen; Mark C. Schall; Scott M. Martin; Nathan B. Fethke

doi:10.3390/s23167053

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Drift-Free Joint Angle Calculation Using Inertial Measurement Units without Magnetometers: An Exploration of Sensor Fusion Methods for the Elbow and Wrist

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Drift-Free Joint Angle Calculation Using Inertial Measurement Units without Magnetometers: An Exploration of Sensor Fusion Methods for the Elbow and Wrist

Howard Chen, Mark C. Schall, Scott M. Martin and Nathan B. Fethke

Sensors (Basel, Switzerland), Vol.23(16), 7053

08/09/2023

DOI: 10.3390/s23167053

PMCID: PMC10458653

PMID: 37631592

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Abstract

Joint angles of the lower extremities have been calculated using gyroscope and accelerometer measurements from inertial measurement units (IMUs) without sensor drift by leveraging kinematic constraints. However, it is unknown whether these methods are generalizable to the upper extremity due to differences in motion dynamics. Furthermore, the extent that post-processed sensor fusion algorithms can improve measurement accuracy relative to more commonly used Kalman filter-based methods remains unknown. This study calculated the elbow and wrist joint angles of 13 participants performing a simple ≥30 min material transfer task at three rates (slow, medium, fast) using IMUs and kinematic constraints. The best-performing sensor fusion algorithm produced total root mean square errors (i.e., encompassing all three motion planes) of 6.6°, 3.6°, and 2.0° for the slow, medium, and fast transfer rates for the elbow and 2.2°, 1.7°, and 1.5° for the wrist, respectively.

Details

Title: Subtitle: Drift-Free Joint Angle Calculation Using Inertial Measurement Units without Magnetometers: An Exploration of Sensor Fusion Methods for the Elbow and Wrist
Creators: Howard Chen - University of Alabama in Huntsville
Mark C. Schall - Auburn University
Scott M. Martin - Auburn University
Nathan B. Fethke - University of Iowa
Resource Type: Journal article
Publication Details: Sensors (Basel, Switzerland), Vol.23(16), 7053
DOI: 10.3390/s23167053
PMID: 37631592
PMCID: PMC10458653
NLM abbreviation: Sensors (Basel)
ISSN: 1424-8220
eISSN: 1424-8220
Grant note: DOI: 10.13039/100000125, name: Heartland Center for Occupational Health and Safety at the University of Iowa, award: T42OH008491; DOI: 10.13039/100000125, name: Deep South Center for Occupational Health and Safety at the University of Alabama-Birmingham (UAB) and Auburn University, award: T42OH008436
Language: English
Date published: 08/09/2023
Academic Unit: Roy J. Carver Department of Biomedical Engineering; Occupational and Environmental Health; Industrial and Systems Engineering; Injury Prevention Research Center
Record Identifier: 9984455493102771

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