Title :
A wearable, self-calibrating, wireless sensor network for body motion processing
Author :
Lim, Kwang Yong ; Goh, Francis Young Koon ; Dong, Wei ; Nguyen, Kim Doang ; Chen, I-Ming ; Yeo, SongHuat ; Duh, Henry Been Lirn ; Kim, Chung Gon
Author_Institution :
Robot. Res. Centre, Nanyang Technol. Univ., Singapore
Abstract :
A novel self-calibrating sensing technology using miniature linear encoders and inertial/magnetic measurement unit (IMU) provides the accuracy, fast response and robustness required by many body motion processing applications. Our sensor unit consists of an accelerometer, a 3-axis magnetic sensor, 2 gyroscopes and a miniature linear encoder. The fusion of data from the sensors is accomplished by extracting the gravity related term from the accelerometer and consistently calibrating the gyroscopes and linear encoder when the sensor unit is under static conditions. Using the fused sensors, we developed a complete motion processing system that consists of a gateway where the human kinematics modeling is embedded. A time divided multiple access wireless architecture is adopted to synchronize the sensor network at 100 Hz. Experimental results show that the combination of the IMU and linear encoder produces a low RMS error of 3.5deg and correlation coefficient of 99.01%. A video showing the capture a performer´s upper body motion is also realized.
Keywords :
encoding; linear codes; sensor fusion; wireless sensor networks; 3-axis magnetic sensor; accelerometer; body motion processing; data fusion; frequency 100 Hz; gyroscopes; human kinematics modeling; inertial; magnetic measurement unit; miniature linear encoders; self-calibrating sensor; wearable sensor; wireless sensor network; Accelerometers; Data mining; Gravity; Gyroscopes; Magnetic sensors; Magnetic variables measurement; Robustness; Sensor fusion; Wearable sensors; Wireless sensor networks;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543338