Estimating Body Segment Orientation by Applying Inertial and Magnetic Sensing Near Ferromagnetic Materials

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Roetenberg, Daniel and Baten, Chris T.M. and Veltink, Peter H. (2007) Estimating Body Segment Orientation by Applying Inertial and Magnetic Sensing Near Ferromagnetic Materials. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 15 (3). pp. 469-471. ISSN 1534-4320

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Abstract:Inertial and magnetic sensors are very suitable for ambulatory monitoring of human posture and movements. However, ferromagnetic materials near the sensor disturb the local magnetic field and, therefore, the orientation estimation. A Kalman-based fusion algorithm was used to obtain dynamic orientations and to minimize the effect of magnetic disturbances. This paper compares the orientation output of the sensor fusion using three-dimensional inertial and magnetic sensors against a laboratory bound opto-kinetic system (Vicon) in a simulated work environment. With the tested methods, the difference between the optical reference system and the output of the algorithm was 2.6deg root mean square (rms) when no metal was near the sensor module. Near a large metal object instant errors up to 50deg were measured when no compensation was applied. Using a magnetic disturbance model, the error reduced significantly to 3.6deg rms.
Item Type:Article
Copyright:© 2007 IEEE
Faculty:
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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Link to this item:http://purl.utwente.nl/publications/61456
Official URL:http://dx.doi.org/10.1109/TNSRE.2007.903946
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