An adaptive orientation misalignment calibration method for shoulder movements using inertial sensors: A feasibility study

Qualitative assessment of the progress in physical rehabilitation largely depends on accurate measurement of the range of movements and other kinematic parameters. In clinical practice, wearable inertial sensors have proved to be a potential candidate for such measurements, over the traditional marker based optical systems due to cost and space considerations. The accuracy of wearable sensors have a significant dependence on the initial orientation calibration and the assumption that the sensor will not slip or move with respect to the attached limb. This article introduces a novel calibration algorithm to correct initial orientation misalignment, as well as to track and correct subsequent alignment errors progressively throughout the experiment. The theoretical assertions are validated through controlled experiments with simulated accelerometer and gyroscope measurements.