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Wearable Robotics: Challenges and Trends pp 69–73Cite as

Wearable Sensory Apparatus for Multi-segment System Orientation Estimation with Long-Term Drift and Magnetic Disturbance Compensation

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Part of the book series: Biosystems & Biorobotics ((BIOSYSROB,volume 16))

Abstract

Orientation assessment based on wearable sensors is becoming crucial for providing feedback information in wearable robotics and sport monitoring. Gravitational acceleration and Earth’s magnetic field are commonly used as a reference vectors for orientation estimation. This paper presents a novel sensory fusion algorithm for assessing the orientations of human body segments in long-term human walking, and enhance performance in environment with magnetic disturbance. The proposed system was experimentally validated. The results show accurate joint angle measurements (error median below \({5}{^\circ }\)) with no expressed drift over time. The incorporated compensation of magnetic disturbances proved assessment with absolute median errors bellow \({2.5}{^\circ }\).

This study was supported by the Slovenia Research Agency, and by EU FP7 project CYBERLEGs under grant FP7-ICT-2011-7-287894.

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References

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Author information

Authors and Affiliations

  1. Laboratory of Robotics, Department of Measurements and Robotics, Faculty of Electrical Engineering, University of Ljubljana, Ljubljana, Slovenia

    Sebastjan Šlajpah, Roman Kamnik & Marko Munih

Authors
  1. Sebastjan Šlajpah
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  2. Roman Kamnik
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  3. Marko Munih
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Corresponding author

Correspondence to Sebastjan Šlajpah .

Editor information

Editors and Affiliations

  1. Spanish National Research Council, Cajal Institute Spanish National Research Council, Madrid, Spain

    José González-Vargas

  2. Spanish National Research Council, Cajal Institute Spanish National Research Council, Madrid, Spain

    Jaime Ibáñez

  3. Cullen College of Engineering, University of Houston Cullen College of Engineering, Houston, Texas, USA

    Jose L. Contreras-Vidal

  4. University of Twente , Enschede, The Netherlands

    Herman van der Kooij

  5. Spanish National Research Council, Cajal Institute Spanish National Research Council, Madrid, Spain

    José Luis Pons

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Šlajpah, S., Kamnik, R., Munih, M. (2017). Wearable Sensory Apparatus for Multi-segment System Orientation Estimation with Long-Term Drift and Magnetic Disturbance Compensation. In: González-Vargas, J., Ibáñez, J., Contreras-Vidal, J., van der Kooij, H., Pons, J. (eds) Wearable Robotics: Challenges and Trends. Biosystems & Biorobotics, vol 16. Springer, Cham. https://doi.org/10.1007/978-3-319-46532-6_12

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  • DOI: https://doi.org/10.1007/978-3-319-46532-6_12

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-46531-9

  • Online ISBN: 978-3-319-46532-6

  • eBook Packages: EngineeringEngineering (R0)

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