Naslov
Model Based Inertial Sensing for Measuring the Kinematics of Sit-to-Stand Motion

Autori
Musić, Josip ; Kamnik, Roman ; Zanchi, Vlasta ; Munih, Marko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
"Challenges in Remote Sensing" - Proceedings of 3rd WSEAS International Conference on Remote Sensing (REMOTE'07) / Revetria, Roberto ; Cecchi, Antonella ; Schenone, Maurizio ; Mladenov Valeri ; Zemliak, Alexander ; Zanchi Vlasta - Venecija : WSEAS Press, 2007, 8-13

ISBN
978-960-6766-17-6

Skup
3rd WSEAS International Conference on Remote Sensing (REMOTE'07)

Mjesto i datum
Venecija, Italija, 21.11.2007. - 23.11.2007

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
inertial sensors; human dynamic body model; extended kalman filter; sit-to-stand transfer

Sažetak
In this paper a method for measuring kinematics of sit-to-stand movement using inertial sensors and human body model is presented. The presented approach fuses data from inertial sensors (accelerometers and gyroscopes) and data from three-segment human body model using Extended Kalman filtering technique and in this way eliminates drawbacks associated with inertial sensors. Dynamic human body model is constructed based on principles of Lagrangian dynamics and incorporates shank, thigh and HAT (Head-Arms-Trunk) segments. The model equations, which are non-linear and coupled differential equations, are incorporated in the EKF to produce better kinematic parameter estimation of sit-to-stand motion. The moments needed in model equations (ankle, knee and hip moments) are calculated based on EKF last best estimate and Newton-Euler inverse dynamic approach. Outputs from EKF are segmental angles, angular rates of change and angular accelerations. These parameters fully describe the motion kinematics of human body. The performance of the method is verified by reference measurements acquired with Optotrak optical motion analysis system. Obtained results are presented and discussed. Conclusions are drawn and guidelines for future method improvement are suggested.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Drvna tehnologija

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