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
fDate :
Aug. 30 2011-Sept. 3 2011
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;
Conference_Titel :
Engineering in Medicine and Biology Society, EMBC, 2011 Annual International Conference of the IEEE
Conference_Location :
Boston, MA
Print_ISBN :
978-1-4244-4121-1
Electronic_ISBN :
1557-170X
DOI :
10.1109/IEMBS.2011.6090940
