Development of a Visual-Inertial Motion Tracking System for Muscular-Effort/Angular Joint-Position Relation to Obtain a Quantifiable Variable of Spasticity

  • S. M. Orozco-SotoEmail author
  • A. I. Pérez-Sanpablo
  • P. Vera-Bustamante
  • J. M. Ibarra-Zannatha
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 22)


In this work, the development of an electronic instrument to assist in spasticity measurement is presented. The device measures joint angular position of the elbow using inertial measurement units (IMUs) and a monocular camera. A sensor fusion algorithm captures subject’s motion using gyroscopes, accelerometers and camera information. The developed instrument transmits data by wi-fi from a microcontroller to PC, where IMU data is fused with camera data extracted from visual markers. The developed motion tracking system data was compared with a commercial device, showing better results, which encourage its further development for spasticity evaluation.


  1. 1.
    Lance, J.W.: What is spasticity? Lancet (London, England), vol. 335, no. 8689. England, p. 606, March 1990CrossRefGoogle Scholar
  2. 2.
    Pérez-sanpablo, A.I., Ibarra-zannatha, J.M., Cifuentes-garcía, C.A., Rodríguez, L.E.: Implementation of a shoulder and elbow musculoskeletal model in musculoskeletal modelling and simulation software (MSMS). In: IEEE Colombian Conference on Robotics and Automation 2016, pp. 2–6 (2016)Google Scholar
  3. 3.
    Bar-On, L., Aertbelien, E., Molenaers, G., Dan, B., Desloovere, K.: Manually controlled instrumented spasticity assessments: a systematic review of psychometric properties. Dev. Med. Child Neurol. 56(10), 932–950 (2014)CrossRefGoogle Scholar
  4. 4.
    Bar-On, L., Molenaers, G., Aertbelien, E., Monari, D., Feys, H., Desloovere, K.: The relation between spasticity and muscle behavior during the swing phase of gait in children with cerebral palsy. Res. Dev. Disabil. 35(12), 3354–3364 (2014)CrossRefGoogle Scholar
  5. 5.
    Becker, S., Von Werder, S.C.F.A., Lassek, A.-K., Disselhorst-klug, C.: Time-frequency coherence of categorized sEMG data during dy- namic contractions of biceps, triceps and brachioradialis as an approach for spasticity detection. In: International Society of Biomechanics, pp. 1–24 (2017)Google Scholar
  6. 6.
    Rojas, R.: The kalman filter, pp. 1–7 (2003).

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • S. M. Orozco-Soto
    • 1
    Email author
  • A. I. Pérez-Sanpablo
    • 1
  • P. Vera-Bustamante
    • 1
  • J. M. Ibarra-Zannatha
    • 1
  1. 1.Automatic Control DepartmentCINVESTAV Mexico CityMexico CityMexico

Personalised recommendations