Abstract
This chapter deals with the estimation of human kinematics using magneto and inertial sensing technology. A magneto-inertial measurement unit typically embeds a triaxial gyroscope, a triaxial accelerometer, and a triaxial magnetic sensor in the same assembly. By combining the information provided by each sensor within a sensor fusion framework, it is possible to determine the unit orientation with respect to a common global coordinate system. Recent advances in the construction of microelectromechanical system devices have made possible the manufacturing of small and light devices. These advances have widened the range of possible applications to include areas such as human movement. This chapter aims at providing the reader with a picture of the state of the art in the measurement and estimation methods for the description of human joint kinematics using magneto-inertial sensing technology. In the first section, fundamental concepts of rigid body kinematics are introduced with special reference to magneto-inertial measurements. Then a short description of the operational characteristics of accelerometers, gyroscopes, and magnetometers is provided. The third section reports theory and methods for the estimation of the orientation and position of magneto-inertial measurement units along with the implementation of a Kalman filter for 3D orientation estimate as an example. In the last section, a critical review of the most common methodologies for the joint kinematic estimation is reported.
Abbreviations
- ALI:
-
Anatomical landmark identification
- ARW:
-
Angle Random Walk
- ACS:
-
Anatomical coordinate system
- BCS:
-
Body-fixed coordinate system
- CoR:
-
Center of rotation
- CS:
-
Coordinate system
- DoFs:
-
Degree of freedom
- EKF:
-
Extended Kalman filter
- FUN:
-
Functional
- KF:
-
Kalman filter
- GCS:
-
Global coordinate system
- IMU:
-
Inertial measurement unit
- MCS:
-
MIMU coordinate system
- MEMS:
-
Microelectromechanical systems
- (M)IMU:
-
(Magneto)-inertial measurement unit
- MUL:
-
Manual Unit Alignment
- NEMS:
-
Nano-electromechanical systems
- VRW:
-
Velocity Random Walk
- 〈⋅, ⋅〉:
-
Dot product between vectors
- ⊗:
-
Quaternion multiplication
- [q×]:
-
Skew-symmetric operator
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Cereatti, A., Della Croce, U., Sabatini, A.M. (2018). Three-Dimensional Human Kinematic Estimation Using Magneto-Inertial Measurement Units. In: Handbook of Human Motion. Springer, Cham. https://doi.org/10.1007/978-3-319-14418-4_162
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