A novel low-cost 4-DOF wireless human arm motion tracker

Tasbolat Taunyazov, Bukeikhan Omarali, Almas Shintemirov

Research output: Chapter in Book/Report/Conference proceedingConference contribution

10 Citations (Scopus)

Abstract

A human arm can be described as a five degrees-of-freedom (DOF) serial manipulator. The fifth degree-rotation around the forearm axis only contributes to the wrist orientation. Hence, if it is ignored the elbow and wrist joint positions can be tracked using an upper arm orientation and the elbow joint angle. The paper presents a novel low-cost design of a 4-DOF human arm wearable tracker system for wireless dynamic tracking of upper limb position and orientation. The proposed design utilizes a single inertial measurement unit coupled with an Unscented Kalman filter for the upper arm orientation quaternion and a potentiometer sensor for elbow joint angle estimations. The presented arm tracker prototype implements wireless communication with the control PC for sensor data transmission and real-Time visualization using a Blender open source 3D computer graphics software and was verified with an Xsens MVN motion tracking system. The demonstration video is available at the authors' research web-site www.alaris.kz.

Original languageEnglish
Title of host publication2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
PublisherIEEE Computer Society
Pages157-162
Number of pages6
Volume2016-July
ISBN (Electronic)9781509032877
DOIs
Publication statusPublished - Jul 26 2016
Event6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - Singapore, Singapore
Duration: Jun 26 2016Jun 29 2016

Other

Other6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
CountrySingapore
CitySingapore
Period6/26/166/29/16

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

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