DocumentCode
2484745
Title
Joint angle estimation in rehabilitation with inertial sensors and its integration with Kinect
Author
Bo, Antonio Padilha Lanari ; Hayashibe, Mitsuhiro ; Poignet, Philippe
Author_Institution
LIRMM, Montpellier, France
fYear
2011
fDate
Aug. 30 2011-Sept. 3 2011
Firstpage
3479
Lastpage
3483
Abstract
In this paper, we explore the combined use of inertial sensors and the Kinect for applications on rehabilitation robotics and assistive devices. In view of the deficiencies of each individual system, a new method based on Kalman filtering was developed in order to perform online calibration of sensor errors automatically whenever measurements from Kinect are available. The method was evaluated on experiments involving healthy subjects performing multiple DOF tasks.
Keywords
Kalman filters; inertial systems; medical robotics; patient rehabilitation; Kalman filtering; Kinect integration; assistive devices; inertial sensors; joint angle estimation; multiple DOF tasks; online calibration; rehabilitation robotics; sensor errors; Accelerometers; Calibration; Estimation; Joints; Performance evaluation; Sensors; Three dimensional displays; Calibration; Joints; Robotics;
fLanguage
English
Publisher
ieee
Conference_Titel
Engineering in Medicine and Biology Society, EMBC, 2011 Annual International Conference of the IEEE
Conference_Location
Boston, MA
ISSN
1557-170X
Print_ISBN
978-1-4244-4121-1
Electronic_ISBN
1557-170X
Type
conf
DOI
10.1109/IEMBS.2011.6090940
Filename
6090940
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